Mixture of Frames Policy: denoising in multiple frames for bimanual manipulation, at CoRL 2026
leto__jean · x · 2026-11-10
The team will present Mixture of Frames Policy (MoFP) at CoRL 2026: main poster (Nov 9, 5–6:30 PM, Griffin 2F #120) and a UMI Arena Spotlight (Nov 12, 2:55–3:20 PM).
The problem: long-horizon bimanual mobile manipulation requires reasoning across many coordinate frames (base, left/right hands), and which frame works best depends on the task. MoFP's answer is "don't pick"—denoise in multiple frames in parallel and let the policy learn to combine them.
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