# Attention-DP3: Spatially Object-aware 3D Diffusion Policy via Geometry-aligned Attentional Conditioning > Source: > Published: 2026-09-15 02:30:00+00:00 3D point-cloud observations are inherently ambiguous in complex, cluttered manipulation scenes, where target objects may be partially occluded or tightly intermingled with visually similar distractors. As a result, standard 3D diffusion policies often struggle to localize and exploit task-relevant g