R3DP Checkpoints

This repository provides full checkpoints for R3DP: Real-Time 3D-Aware Policy for Embodied Manipulation.

The source code is released separately in the R3DP GitHub repository.

Important License Notice

The released checkpoints contain both R3DP-authored parameters and VGGT parameters.

Because VGGT parameters are included, use and redistribution of these checkpoints are subject to the VGGT License and applicable VGGT checkpoint terms.

These checkpoints are intended for non-commercial research use only.

The original VGGT model is developed by Meta Platforms, Inc. and affiliates. Users are responsible for complying with the VGGT License and acceptable use policy.

Source Code

Please refer to the R3DP GitHub repository for installation, training, and evaluation instructions.

Citation

If you find R3DP useful in your research, please cite:

@misc{zhang2026r3dprealtime3dawarepolicy,
      title={R3DP: Real-Time 3D-Aware Policy for Embodied Manipulation}, 
      author={Yuhao Zhang and Wanxi Dong and Yue Shi and Yi Liang and Jingnan Gao and Qiaochu Yang and Yaxing Lyu and Zhixuan Liang and Yibin Liu and Congsheng Xu and Xianda Guo and Wei Sui and Yaohui Jin and Xiaokang Yang and Yanyan Xu and Yao Mu},
      year={2026},
      eprint={2603.14498},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2603.14498}, 
}