Screw Attention: Rigid-Body Algebra Inside a Transformer

arXiv:2610.00904v2 Announce Type: replace-cross Abstract: Learned manipulation policies rediscover from data the spatial relations that rigid-body mechanics supplies in closed form, which leaves them fragile to geometric change. We present Screw Attention, a transformer layer in which the relation between two bodies is a spatial transform rather than a graph edge. Each pair of tokens carries the relative pose and, for robot joints, the joint screw. Messages are transported along this relation into the receiver's frame, while the attention scores see only frame-invariant quantities. By construc

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