Stanford's Jeannette Bohg proposes MoFPo to automate robotic coordinate frame selection

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The method runs parallel denoising to dynamic-select the best frame.

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Every roboticist has cursed a coordinate frame at 2am. There are just so many: world, base, tool, task, camera ... Our work learns which one to trust.

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Dian Wang@Dian_Wang_

Long horizon bimanual mobile manipulation requires reasoning in many coordinate frames: base, L/R hands, etc. In which frame would policy work best? It really depends, so don’t pick. Mixture of Frames Policy: denoise in multiple frame in parallel. 🌐http://mofpo.github.io (1/9)

2:19 PM · Jul 14, 2026

Chris Paxton@chris_j_paxton

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Debugging coordinate frames is my personal hell so this sounds nice

Every roboticist has cursed a coordinate frame at 2am. There are just so many: world, base, tool, task, camera ... Our work learns which one to trust. https://twitter.com/Dian_Wang_/status/2077126996161855677

2:56 PM · Jul 14, 2026

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Source Posts on X

Every roboticist has cursed a coordinate frame at 2am. There are just so many: world, base, tool, task, camera ... Our work learns which one to trust.

DW

Dian Wang@Dian_Wang_

Long horizon bimanual mobile manipulation requires reasoning in many coordinate frames: base, L/R hands, etc. In which frame would policy work best? It really depends, so don’t pick. Mixture of Frames Policy: denoise in multiple frame in parallel. 🌐http://mofpo.github.io (1/9)

2:19 PM · Jul 14, 2026

Chris Paxton@chris_j_paxton

CP

Debugging coordinate frames is my personal hell so this sounds nice

Every roboticist has cursed a coordinate frame at 2am. There are just so many: world, base, tool, task, camera ... Our work learns which one to trust. https://twitter.com/Dian_Wang_/status/2077126996161855677

2:56 PM · Jul 14, 2026