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Learning Foresight without Explicit Trajectories for 3D Diffusion Policies

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

3D diffusion policies are strong at generating geometrically grounded actions from current observations, but successful manipulation requires not only knowing what motion is feasible now, but also anticipating where the interaction is heading. Existing policies largely leave such foresight to emerge implicitly from action learning. We introduce Movement Trend Guidance, a simple but effective way to provide this foresight without introducing an explicit plan. From a short observation history, the policy learns a compact latent representation of interaction evolution. During training, sparse fut

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