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FOCI Policy: Focus on Object-Centric Interactions for Relational Manipulation Policies

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

Object-centric manipulation policies improve generalization by modeling object motion instead of directly predicting robot actions. However, existing methods are often limited by representations which are either too simplistic to capture interaction dynamics or too dense to learn efficiently. We observe that many rigid relational manipulation tasks are governed by short interaction phases where the relative motion between task-relevant objects is tightly constrained. Based on this observation, we propose \textsc{Foci Policy}, an interaction-centric framework that achieves a two-fold abstractio

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