# GMT: Goal-Conditioned Multimodal Transformer for 6-DOF Object Trajectory Synthesis in 3D Scenes

arXiv: https://arxiv.org/abs/2603.17993 · HTML: https://mlsanity.com/paper/2603.17993/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 54 of its 69 references that are in the map.
- First posted on arXiv 18 Mar 2026.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)

## Builds on (most cited first, 30 of 54)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Convolutional LSTM Network: A Machine Learning Approach for Precipitation Nowcasting](https://mlsanity.com/paper/1506.04214/) (2015)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [Perceiver: General Perception with Iterative Attention](https://mlsanity.com/paper/2103.03206/) (2021)
- [Human Motion Diffusion Model](https://mlsanity.com/paper/2209.14916/) (2022)
- [Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks](https://mlsanity.com/paper/2401.14159/) (2024)
- [SAM 3: Segment Anything with Concepts](https://mlsanity.com/paper/2511.16719/) (2025)
- [End-to-End Training of Deep Visuomotor Policies](https://mlsanity.com/paper/1504.00702/) (2015)
- [MotionDiffuse: Text-Driven Human Motion Generation with Diffusion Model](https://mlsanity.com/paper/2208.15001/) (2022)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Perceiver IO: A General Architecture for Structured Inputs & Outputs](https://mlsanity.com/paper/2107.14795/) (2021)
- [T2M-GPT: Generating Human Motion from Textual Descriptions with Discrete Representations](https://mlsanity.com/paper/2301.06052/) (2023)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [Interaction Networks for Learning about Objects, Relations and Physics](https://mlsanity.com/paper/1612.00222/) (2016)
- [YOLOv11: An Overview of the Key Architectural Enhancements](https://mlsanity.com/paper/2410.17725/) (2024)
- [MoMask: Generative Masked Modeling of 3D Human Motions](https://mlsanity.com/paper/2312.00063/) (2023)
- [Image Generation from Scene Graphs](https://mlsanity.com/paper/1804.01622/) (2018)
- [Flexible Diffusion Modeling of Long Videos](https://mlsanity.com/paper/2205.11495/) (2022)
- [VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking](https://mlsanity.com/paper/2303.11301/) (2023)
- [Project Aria: A New Tool for Egocentric Multi-Modal AI Research](https://mlsanity.com/paper/2308.13561/) (2023)
- [Deep Predictive Coding Networks for Video Prediction and Unsupervised Learning](https://mlsanity.com/paper/1605.08104/) (2016)
- [Scaling Autoregressive Video Models](https://mlsanity.com/paper/1906.02634/) (2019)

## Built on by (most cited first, 1 of 1)

- [EgoFlow: Gradient-Guided Flow Matching for Egocentric 6DoF Object Motion Generation](https://mlsanity.com/paper/2604.01421/) (2026)

## Abstract (arXiv)

Synthesizing controllable 6-DOF object manipulation trajectories in 3D environments is essential for enabling robots to interact with complex scenes, yet remains challenging due to the need for accurate spatial reasoning, physical feasibility, and multimodal scene understanding. Existing approaches often rely on 2D or partial 3D representations, limiting their ability to capture full scene geometry and constraining trajectory precision. We present GMT, a multimodal transformer framework that generates realistic and goal-directed object trajectories by jointly leveraging 3D bounding box geometry, point cloud context, semantic object categories, and target end poses. The model represents trajectories as continuous 6-DOF pose sequences and employs a tailored conditioning strategy that fuses geometric, semantic, contextual, and goaloriented information. Extensive experiments on synthetic and real-world benchmarks demonstrate that GMT outperforms state-of-the-art human motion and human-object interaction baselines, such as CHOIS and GIMO, achieving substantial gains in spatial accuracy and orientation control. Our method establishes a new benchmark for learningbased manipulation planning and shows strong generalization to diverse objects and cluttered 3D environments. Project page: https://huajian- zeng.github. io/projects/gmt/.