RoboMP-DINOv2: Prompts, Not Filters for Robust Robot Manipulation

arXiv:2609.25506 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Code: https://github.com/han20192019/RoboMP_DINOv2

Terminology

• Transformer — 10× in this paper · explained in 2 episodes
• Embeddings — 6× in this paper · explained in 2 episodes
• Aggregation — 5× in this paper · explained in 1 episode
• Feature Extraction — 5× in this paper · explained in 2 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Grounding — 5× in this paper · explained in 3 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Distribution Shift — 4× in this paper · explained in 5 episodes
• Segmentation Masks — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Diffusion Process — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Diffusion Transformer Policy
• DINOv2: Learning Robust Visual Features without Supervision
• Learning Generalizable Manipulation Policies with Object-Centric 3D Representations

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