R3DP: Real-Time 3D-Aware Policy for Embodied Manipulation
Embodied manipulation requires accurate 3D understanding of objects and their spatial relations to plan and execute contact-rich actions. While large-scale 3D vision models provide strong priors, their computational cost incurs prohibitive latency for real-time control. We propose Real-time 3D-aware Policy (R3DP), which integrates powerful 3D priors into manipulation policies without sacrificing real-time performance. A core innovation of R3DP is the asynchronous fast-slow collaboration module, which seamlessly integrates large-scale 3D priors into the policy without compromising real-time performance. The system maintains real-time efficiency by querying the pre-trained slow system (VGGT...
| Authors | Yuhao Zhang, Wanxi Dong, Yue Shi et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 March 2026 |
| Last updated at source | 28 March 2026 |
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