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07/17/2023
Can Euclidean Symmetry be Leveraged in Reinforcement Learning and Planning?
In robotic tasks, changes in reference frames typically do not influence...
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06/10/2023
On Robot Grasp Learning Using Equivariant Models
Real-world grasp detection is challenging due to the stochasticity in gr...
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03/08/2023
A General Theory of Correct, Incorrect, and Extrinsic Equivariance
Although equivariant machine learning has proven effective at many tasks...
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10/31/2022
SEIL: Simulation-augmented Equivariant Imitation Learning
In robotic manipulation, acquiring samples is extremely expensive becaus...
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10/31/2022
Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection
Given point cloud input, the problem of 6-DoF grasp pose detection is to...
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06/08/2022
Integrating Symmetry into Differentiable Planning
We study how group symmetry helps improve data efficiency and generaliza...
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05/28/2022
BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework
We present BulletArm, a novel benchmark and learning-environment for rob...
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03/09/2022
On-Robot Policy Learning with O(2)-Equivariant SAC
Recently, equivariant neural network models have been shown to be useful...
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02/18/2022
Sample Efficient Grasp Learning Using Equivariant Models
In planar grasp detection, the goal is to learn a function from an image...
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10/28/2021