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DynaSlots: A Slot-Level 3D Dynamics Pretraining Framework for Robot Manipulation

DynaSlots is an action-label-free 3D visual pretraining framework that decomposes each point cloud frame into a small set of temporally consistent slots and models dynamics at the slot level rather than the scene level. A temporal slot propagation module keeps slot assignments consistent across frames; an inverse dynamics model extracts a latent action for each slot from feature differences; and a diffusion-based forward dynamics model, paired with a self-supervised interaction head, predicts each slot's future state and learns pairwise proximity and motion relationships.

Part of the event: DynaSlots: A Slot-Level 3D Dynamics Pretraining Framework

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