arXiv: cs.AI preprintsInternational6 November 2026
Aligning Policy Encoders with a Shape Teacher
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arXiv:2611.08275v1 Announce Type: cross Abstract: 3D-aware representations can improve robotic manipulation by providing geometric information that is robust to changes in viewpoint, object position, and occlusion. However, using 3D inputs at deployment requires additional sensing and processing, making image-based policies more practical. We ask whether an image-based policy can acquire 3D shape information during training while retaining a purely image-based interface at deployment. We propose shape-teacher alignment, a training-time mechanism that uses a pretrained 3D shape representation a
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