AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulation

🌐Website | 📚arXiv

Sixiang Chen*, Jiaming Liu*, Siyuan Qian*, Han Jiang, Lily Li, Renrui Zhang, Zhuoyang Liu, Chenyang Gu, Chengkai Hou, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang

AC-DiT is a end-to-end mobile manipulation framework 🤖, which enhances the coordination between the mobile base and the manipulator by introducing two key mechanisms: mobile-to-body conditioning and perception-aware multimodal adaptation.

✨ News ✨

• The code is coming in several weeks (before 2025/08/03)! 🔥
• [2025/07/03] AC-DiT has now been posted on arXiv! 🚀

📢 Coming Soon 📢

• AC-DiT Model 📦: Model details.

• Simulation Experiments 📈: Code for data collection, training, and evaluation on ManiSkill-HAB benchmark.

📚 BibTeX 📚

@misc{chen2025acditadaptivecoordinationdiffusion,
      title={AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulation}, 
      author={Sixiang Chen and Jiaming Liu and Siyuan Qian and Han Jiang and Lily Li and Renrui Zhang and Zhuoyang Liu and Chenyang Gu and Chengkai Hou and Pengwei Wang and Zhongyuan Wang and Shanghang Zhang},
      year={2025},
      eprint={2507.01961},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2507.01961}, 
}