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Pose(Current) & Pose(Target) -> PoseDelta
Express absolute movement targets as relative pose deltas from the current end-effector position to enable cross-embodiment policy transfer.
Problem it solves
Absolute target poses prevent policy generalization across robots with differing physical scales and kinematic dimensions.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.