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Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions.
Estimating the jacobian of the singular value decomposition: Theory and applications
Théodore Papadopoulo and Manolis IA Lourakis · 2000
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An efficient least-squares trilateration algorithm for mobile robot localization
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Closed-form algorithms in mobile positioning: Myths and misconceptions
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Charles R Qi, Hao Su, Kaichun Mo, and Leonidas J Guibas · 2017
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Dense object nets: Learning dense visual object descriptors by and for robotic manipulation
Peter R Florence, Lucas Manuelli, and Russ Tedrake · 2018
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Solving rubik’s cube with a robot hand
Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, et al · 2019
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Yue Wang, Yongbin Sun, Ziwei Liu, Sanjay E Sarma, Michael M Bronstein, and Justin M Solomon · 2019
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Maurice Weiler and Gabriele Cesa · 2019
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RLBench: The robot learning benchmark learning environment
S James, Z Ma, D R Arrojo, and A J Davison · 2020
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Learning quadrupedal locomotion over challenging terrain
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2020
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Plannable approximations to mdp homomorphisms: Equivariance under actions
Equivariant transporter network
Haojie Huang, Dian Wang, Robin Walters, and Robert Platt · 2022
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Structdiffusion: Object-centric diffusion for semantic rearrangement of novel objects
Weiyu Liu, Tucker Hermans, Sonia Chernova, and Chris Paxton · 2022
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Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, and Marco Hutter · 2022
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Neural descriptor fields: SE(3)-Equivariant object representations for manipulation
Anthony Simeonov, Yilun Du, Andrea Tagliasacchi, Joshua B Tenenbaum, Alberto Rodriguez, Pulkit Agrawal, and Vincent Sitzmann · 2022
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So (2) equivariant reinforcement learning
Dian Wang and Robin Walters · 2022
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Elise van der Pol, Thomas Kipf, Frans A Oliehoek, and Max Welling · 2020
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Vector neurons: A general framework for SO(3)-equivariant networks
Congyue Deng, Or Litany, Yueqi Duan, Adrien Poulenard, Andrea Tagliasacchi, and Leonidas Guibas · 2021
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Transporter networks: Rearranging the visual world for robotic manipulation
Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, and Johnny Lee · 2021
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Flingbot: The unreasonable effectiveness of dynamic manipulation for cloth unfolding
Huy Ha and Shuran Song · 2022
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The surprising effectiveness of equivariant models in domains with latent symmetry
Dian Wang, Jung Yeon Park, Neel Sortur, Lawson LS Wong, Robin Walters, and Robert Platt
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Equivariant q q learning in spatial action spaces
Dian Wang, Robin Walters, Xupeng Zhu, and Robert Platt
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MIRA: Mental imagery for robotic affordances
Yen-Chen Lin, Pete Florence, Andy Zeng, Jonathan T Barron, Yilun Du, Wei-Chiu Ma, Anthony Simeonov, Alberto Rodriguez Garcia, and Phillip Isola · 2023
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TAX-Pose: Task-Specific Cross-Pose estimation for robot manipulation
Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, and David Held · 2023
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SE(3)-Equivariant relational rearrangement with neural descriptor fields
Anthony Simeonov, Yilun Du, Yen-Chen Lin, Alberto Rodriguez Garcia, Leslie Pack Kaelbling, Tomás Lozano-Pérez, and Pulkit Agrawal · 2023
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Neural volumetric memory for visual locomotion control
Ruihan Yang, Ge Yang, and Xiaolong Wang · 2023
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