SOURCE-LINKED INTELLIGENCE

LIFD: Anchored Diffusion for 3D-Aware Scene Memory in Robotic Manipulation

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

Robotic manipulation under partial observability requires spatial information that extends beyond the current view. Geometry-aware RGB features describe visible structure, but previously observed regions may disappear as the robot or scene moves. Maintaining a useful scene representation therefore requires retaining observation history while inferring missing content without losing its connection to visible evidence. We introduce LIFD (Look, Imagine, Focus, and Do), a framework for persistent, 3D-aware scene memory. LIFD learns a scene-token representation from multi-view agreement and complet

Read original source ↗ Open in workspace

recordType

paper

region

Global