ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy

This repository contains the weights for ReMAP-DP, as presented in the paper ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy.

Project Page: https://icr-lab.github.io/ReMAP-DP/

Description

ReMAP-DP is a novel framework synergizing standardized perspective reprojection with a structure-aware dual-stream diffusion policy. By coupling re-projected views with pixel-aligned PointMaps, the architecture leverages learnable modality embeddings to fuse frozen semantic features and explicit geometric descriptors. This ensures precise implicit patch-level alignment, bridging the gap between 2D semantic reasoning and 3D spatial awareness for high-precision robotic manipulation tasks.

Citation

@misc{yang2026remapdpreprojectedmultiviewaligned,
      title={ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy}, 
      author={Xinzhang Yang and Renjun Wu and Jinyan Liu and Xuesong Li},
      year={2026},
      eprint={2603.14977},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2603.14977}, 
}