---
license: apache-2.0
tags:
- robotic manipulation
---

# Cortical Policy: A Dual-Stream View Transformer for Robotic Manipulation

[![Paper](https://img.shields.io/badge/Paper-arXiv-red)](https://arxiv.org/pdf/2603.21051)
[![GitHub](https://img.shields.io/badge/Code-GitHub-black)](https://github.com/iLearn-Lab/ICLR26-Cortical_Policy)

**Official pretrained weights for Cortical Policy (ICLR 2026).** This model integrates static and dynamic visual streams to enhance spatial reasoning and dynamic adaptation for robotic manipulation.


## 📂 Repository Structure

This repository contains the necessary checkpoints to run and evaluate the Cortical Policy framework. The weights are organized into two main categories:

* **`dynamic_view_stream_backbone_weights/`**: Contains the pretrained weights for the Gaze Model (dynamic-view stream), pre-trained on Ego4D and fine-tuned for position awareness.
* **`policy_weights/`**: Contains the final trained policy checkpoints (`model.pth`) along with the corresponding YAML configuration files (`exp_cfg.yaml`, `mvt_cfg.yaml`).

## 🛠️ Usage

Please refer to our official GitHub repository for the complete installation guide, data preparation steps, and training/evaluation scripts:

👉 **[iLearn-Lab/ICLR26-Cortical_Policy](https://github.com/iLearn-Lab/ICLR26-Cortical_Policy)**

## 📝 Citation

If you find our model or code useful in your research, please cite our ICLR 2026 paper:

```bibtex
@inproceedings{zhang2026cortical,
  title={Cortical Policy: A Dual-Stream View Transformer for Robotic Manipulation},
  author={Xuening Zhang and Qi Lv and Xiang Deng and Miao Zhang and Xingbo Liu and Liqiang Nie},
  booktitle={The Fourteenth International Conference on Learning Representations},
  year={2026}
}
```