PoCoDP3: Pose- and Contact-Aware Visual-Tactile Policy for Contact-Rich 3D Manipulation

Imitation learning in contact-rich tasks requires both global spatial awareness and fine-grained in-hand interaction understanding. However, vision-only policies based on images or point clouds are often susceptible to occlusion and struggle to capture critical contact details, particularly in visually ambiguous regions or during subtle tactile interactions. In this work, we present PoCoDP3, a pose- and contact-aware visual-tactile policy that integrates 3D point clouds and tactile inputs to generate actions in contact-rich tasks. PoCoDP3 introduces a dual-branch tactile encoder that jointly models contact dynamics and estimates in-hand object pose, enabling structured tactile representations for precise contact-rich manipulation. A contact-driven cross-modal fusion mechanism adaptively prioritizes sensory modalities based on real-time interaction cues, enabling efficient visual-tactile integration. Moreover, a reference-guided diffusion policy leverages reference action offsets to reduce sampling steps, significantly accelerating inference while maintaining action quality. Experiments across simulation and real-world tasks demonstrate that PoCoDP3 consistently outperforms representative 2D and 3D policies in terms of both accuracy and inference efficiency.