Related papers: RiEMann: Near Real-Time SE(3)-Equivariant Robot Ma…
End-to-end learning for visual robotic manipulation is known to suffer from sample inefficiency, requiring large numbers of demonstrations. The spatial roto-translation equivariance, or the SE(3)-equivariance can be exploited to improve the…
If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don't guarantee such generalization. Our insight is to add…
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. Often, task success is defined…
A truly generalizable approach to rigid segmentation and motion estimation is fundamental to 3D understanding of articulated objects and moving scenes. In view of the closely intertwined relationship between segmentation and motion…
This paper introduces a novel approach to improve robotic grasping in dynamic environments by integrating Gaussian Process Distance Fields (GPDF), SE(3) equivariant networks, and Riemannian Mixture Models. The aim is to enable robots to…
Acquiring a multi-task imitation policy in 3D manipulation poses challenges in terms of scene understanding and action prediction. Current methods employ both 3D representation and multi-view 2D representation to predict the poses of the…
Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level…
Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment.…
Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions with the objects, but also presents…
Incorporating equivariance as an inductive bias into deep learning architectures to take advantage of the data symmetry has been successful in multiple applications, such as chemistry and dynamical systems. In particular, roto-translations…
Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…
Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents NeuPAN: a real-time, highly accurate, map-free,…
Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However,…
Machine learning has enabled the prediction of quantum chemical properties with high accuracy and efficiency, allowing to bypass computationally costly ab initio calculations. Instead of training on a fixed set of properties, more recent…
Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…
We introduce Equivariant Neural Field Expectation Maximization (EFEM), a simple, effective, and robust geometric algorithm that can segment objects in 3D scenes without annotations or training on scenes. We achieve such unsupervised…
Riemannian metrics on the position-orientation space M(3) that are roto-translation group SE(3) invariant play a key role in image analysis tasks like enhancement, denoising, and segmentation. These metrics enable roto-translation…
We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embeddings created from…
For robots to work alongside humans and perform in unstructured environments, they must learn new motion skills and adapt them to unseen situations on the fly. This demands learning models that capture relevant motion patterns, while…