Screw Attention: Rigid-Body Algebra Inside a Transformer

Excerpt

arXiv:2610.00904v1 Announce Type: cross Abstract: Learned manipulation policies rediscover from data the spatial relations that rigid-body mechanics supplies in closed form. This costs data, and it leaves the policies fragile to geometric changes in the scene. We present Screw Attention, a transformer layer in which the relation between two bodies is a spatial transform rather than a graph edge. Every token is a body with a pose. Each pair of tokens carries the relative pose and, for robot joint