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We present RiEMann, an end-to-end near Real-time SE(3)-Equivariant Robot Manipulation imitation learning framework from scene point cloud input.
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F. Fuchs, D. Worrall, V. Fischer, and M. Welling · 2020
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What matters in learning from offline human demonstrations for robot manipulation
A. Mandlekar, D. Xu, J. Wong, S. Nasiriany, C. Wang, R. Kulkarni, L. Fei-Fei, S. Savarese, Y. Zhu, and R. Martín-Martín · 2021
Equivariant transporter network
H. Huang, D. Wang, R. Walters, and R. Platt · 2022
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X. Zhu, D. Wang, O. Biza, G. Su, R. Walters, and R. Platt · 2022
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Edge grasp network: A graph-based se (3)-invariant approach to grasp detection
H. Huang, D. Wang, X. Zhu, R. Walters, and R. Platt · 2022
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Libero: Benchmarking knowledge transfer for lifelong robot learning
B. Liu, Y. Zhu, C. Gao, Y. Feng, Q. Liu, Y. Zhu, and P. Stone · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
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An introduction to equivariant convolutional neural networks for continuous groups
E. J. Bekkers · 2021
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Vector neurons: A general framework for so (3)-equivariant networks
C. Deng, O. Litany, Y. Duan, A. Poulenard, A. Tagliasacchi, and L. J. Guibas · 2021
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Lietransformer: Equivariant self-attention for lie groups
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Gemnet: Universal directional graph neural networks for molecules
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Transporter networks: Rearranging the visual world for robotic manipulation
A. Zeng, P. Florence, J. Tompson, S. Welker, J. Chien, M. Attarian, T. Armstrong, I. Krasin, D. Duong, V. Sindhwani, et al · 2021
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Learning to rearrange deformable cables, fabrics, and bags with goal-conditioned transporter networks
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Neural descriptor fields: Se (3)-equivariant object representations for manipulation
A. Simeonov, Y. Du, A. Tagliasacchi, J. B. Tenenbaum, A. Rodriguez, P. Agrawal, and V. Sitzmann · 2022
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C. Chi, S. Feng, Y. Du, Z. Xu, E. Cousineau, B. Burchfiel, and S. Song · 2023
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Se (3)-equivariant relational rearrangement with neural descriptor fields
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C. Pan, B. Okorn, H. Zhang, B. Eisner, and D. Held · 2023
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Equivact: Sim (3)-equivariant visuomotor policies beyond rigid object manipulation
J. Yang, C. Deng, J. Wu, R. Antonova, L. Guibas, and J. Bohg · 2023
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Perceiver-actor: A multi-task transformer for robotic manipulation
M. Shridhar, L. Manuelli, and D. Fox · 2023
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Useek: Unsupervised se (3)-equivariant 3d keypoints for generalizable manipulation
Z. Xue, Z. Yuan, J. Wang, X. Wang, Y. Gao, and H. Xu · 2023
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Maniskill2: A unified benchmark for generalizable manipulation skills
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Mplib: a lightweight python package for motion planning, 2023
haosulab · 2023
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Fourier transporter: Bi-equivariant robotic manipulation in 3d
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