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

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/o94eqtt53ga7puty7abkkald0
- Original: https://arxiv.org/abs/2610.32330

## Summary

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.