相关论文: A Practical Guide for Incorporating Symmetry in Di…

Learning diverse policies for non-prehensile manipulation is essential for improving skill transfer and generalization to out-of-distribution scenarios. In this work, we enhance exploration through a two-fold approach within a hybrid…

Visual imitation learning with 3D point clouds has advanced robotic manipulation by providing geometry-aware, appearance-invariant observations. However, point cloud-based policies remain highly sensitive to sensor noise, pose…

Policy learning is an important component of many real-world learning systems. A major challenge in policy learning is how to adapt efficiently to unseen environments or tasks. Recently, it has been suggested to exploit invariant…

Incorporating symmetries can lead to highly data-efficient and generalizable models by defining equivalence classes of data samples related by transformations. However, characterizing how transformations act on input data is often…

Image restoration is an inherently ill posed inverse problem. Equivariant networks that embed geometric symmetry priors can mitigate this ill posedness and improve performance. However, current understanding of the relationship between…

Incorporating inductive biases is a promising approach for tackling challenging robot learning domains with sample-efficient solutions. This paper identifies partially observable domains where symmetries can be a useful inductive bias for…

A method is introduced for the construction of meshless discretization schemes which preserve Lie symmetries of the differential equations that these schemes approximate. The method exploits the fact that equivariant moving frames provide a…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

Group equivariance (e.g. SE(3) equivariance) is a critical physical symmetry in science, from classical and quantum physics to computational biology. It enables robust and accurate prediction under arbitrary reference transformations. In…

Quantum neural network architectures that have little-to-no inductive biases are known to face trainability and generalization issues. Inspired by a similar problem, recent breakthroughs in machine learning address this challenge by…

Diffusion models have emerged as powerful generative tools with applications in computer vision and scientific machine learning (SciML), where they have been used to solve large-scale probabilistic inverse problems. Traditionally, these…

In addressing the challenge of Crystal Structure Prediction (CSP), symmetry-aware deep learning models, particularly diffusion models, have been extensively studied, which treat CSP as a conditional generation task. However, ensuring…

Representations learnt through deep neural networks tend to be highly informative, but opaque in terms of what information they learn to encode. We introduce an approach to probabilistic modelling that learns to represent data with two…

The introduction of convolutional layers greatly advanced the performance of neural networks on image tasks due to innately capturing a way of encoding and learning translation-invariant operations, matching one of the underlying symmetries…

Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…

Equivariant neural networks provide a principled framework for incorporating symmetry into learning architectures and have been extensively analyzed through the lens of their separation power, that is, the ability to distinguish inputs…

Feature selection eliminates redundancy among features to improve downstream task performance while reducing computational overhead. Existing methods often struggle to capture intricate feature interactions and adapt across diverse…

Equivariant neural networks enforce symmetry within the structure of their convolutional layers, resulting in a substantial improvement in sample efficiency when learning an equivariant or invariant function. Such models are applicable to…

In recent years, the use of machine learning has become increasingly popular in the context of lattice field theories. An essential element of such theories is represented by symmetries, whose inclusion in the neural network properties can…

Endoscopic Submucosal Dissection (ESD) is a well-established technique for removing epithelial lesions. Predicting dissection trajectories in ESD videos offers significant potential for enhancing surgical skill training and simplifying the…