On-Robot Learning With Equivariant Models

9 March 2022

Papers citing "On-Robot Learning With Equivariant Models"

43 / 43 papers shown

Title
Canonical Policy: Learning Canonical 3D Representation for Equivariant Policy Zhiyuan Zhang Zhengtong Xu Jai Nanda Lakamsani Yu She SSL LM&Ro 3DPC 33 0 0 24 May 2025
3D Equivariant Visuomotor Policy Learning via Spherical Projection Boce Hu Dian Wang David Klee Heng Tian Xupeng Zhu Haojie Huang Robert Platt Robin Walters 49 0 0 22 May 2025
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation Zechu Li Yufeng Jin Daniel Felipe Ordoñez Apraez Claudio Semini Puze Liu Georgia Chalvatzaki 358 0 0 08 May 2025
Permutation Equivariant Neural Networks for Symmetric Tensors Edward Pearce-Crump 111 1 0 14 Mar 2025
SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey Joohwan Seo Soochul Yoo Junwoo Chang Hyunseok An Hyunwoo Ryu Soomi Lee Arvind Kruthiventy Jongeun Choi R. Horowitz 80 2 0 12 Mar 2025
Equivariant Reinforcement Learning Frameworks for Quadrotor Low-Level Control Beomyeol Yu Taeyoung Lee 92 0 0 27 Feb 2025
Coarse-to-Fine 3D Keyframe Transporter Xupeng Zhu David Klee Dian Wang Boce Hu Haojie Huang Arsh Tangri Robin Walters Robert Platt 96 1 0 03 Feb 2025
Self-supervised Transformation Learning for Equivariant Representations Jaemyung Yu Jaehyun Choi Dong-Jae Lee H. Hong Junmo Kim 57 0 0 15 Jan 2025
Does equivariance matter at scale? Johann Brehmer S. Behrends P. D. Haan Taco S. Cohen 66 12 0 30 Oct 2024
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies Haojie Huang Haotian Liu Dian Wang Robin Walters Robert Platt 3DPC 306 4 0 23 Sep 2024
Equivariant Reinforcement Learning under Partial Observability Hai Nguyen Andrea Baisero David Klee Dian Wang Robert Platt Christopher Amato 47 16 0 26 Aug 2024
OrbitGrasp: $SE(3)$ -Equivariant Grasp Learning Boce Hu Xupeng Zhu Dian Wang Zihao Dong Haojie Huang Chenghao Wang Robin Walters Robert Platt 3DPC 47 12 0 03 Jul 2024
Equivariant Diffusion Policy Dian Wang Stephen M. Hart David Surovik Tarik Kelestemur Haojie Huang Haibo Zhao Mark Yeatman Jiuguang Wang Robin Walters Robert Platt DiffM 85 27 0 01 Jul 2024
Equivariant Offline Reinforcement Learning Arsh Tangri Ondrej Biza Dian Wang David Klee Owen Howell Robert Platt OffRL 77 4 0 20 Jun 2024
Imagination Policy: Using Generative Point Cloud Models for Learning Manipulation Policies Haojie Huang Karl Schmeckpeper Dian Wang Ondrej Biza Yaoyao Qian Haotian Liu Mingxi Jia Robert Platt Robin Walters VGen LM&Ro 57 8 0 17 Jun 2024
Improved Canonicalization for Model Agnostic Equivariance Siba Smarak Panigrahi Arnab Kumar Mondal 56 3 0 23 May 2024
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation Chongkai Gao Zhengrong Xue Shuying Deng Tianhai Liang Siqi Yang Lin Shao Huazhe Xu 3DPC 52 13 0 28 Mar 2024
Leveraging Symmetry in RL-based Legged Locomotion Control Zhi Su Xiaoyu Huang Daniel Felipe Ordoñez Apraez Yunfei Li Zhongyu Li ... Giulio Turrisi Massimiliano Pontil Claudio Semini Yi Wu Koushil Sreenath 60 15 0 26 Mar 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 49 6 0 23 Feb 2024
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D Hao-zhe Huang Owen Howell Dian Wang Xu Zhu Robin Walters Robert Platt 60 24 0 22 Jan 2024
$CAPGrasp: An $\mathbb{R}^3\times \text{SO(2)-equivariant}$ Continuous Approach-Constrained Generative Grasp Sampler$ CAPGrasp: An $\mathbb{R}^3\times \text{SO(2)-equivariant}$ Continuous Approach-Constrained Generative Grasp Sampler Zehang Weng Haofei Lu Jens Lundell Danica Kragic SLR 85 0 0 18 Oct 2023
Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation Hyunwoo Ryu Jiwoo Kim Hyun Seok Ahn Junwoo Chang Joohwan Seo Taehan Kim Yubin Kim Chaewon Hwang Jongeun Choi R. Horowitz DiffM 53 36 0 06 Sep 2023
Symmetric Models for Visual Force Policy Learning Colin Kohler A. S. Srikanth Eshan Arora Robert Platt 46 10 0 28 Aug 2023
On-Robot Bayesian Reinforcement Learning for POMDPs Hai V. Nguyen Sammie Katt Yuchen Xiao Chris Amato OffRL 36 1 0 22 Jul 2023
Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry Shengchao Yan Baohe Zhang Yuan Zhang Joschka Boedecker Wolfram Burgard 65 2 0 28 Jun 2023
SO(2)-Equivariant Downwash Models for Close Proximity Flight Henry Smith Ajay Shankar Jennifer Gielis J. Blumenkamp A. Prorok 44 7 0 30 May 2023
Geometric Algebra Transformer Johann Brehmer P. D. Haan S. Behrends Taco S. Cohen 54 29 0 28 May 2023
EDGI: Equivariant Diffusion for Planning with Embodied Agents Johann Brehmer Joey Bose P. D. Haan Taco S. Cohen DiffM 45 35 0 22 Mar 2023
A General Theory of Correct, Incorrect, and Extrinsic Equivariance Dian Wang Xu Zhu Jung Yeon Park Mingxi Jia Guanang Su Robert Platt Robin Walters 48 14 0 08 Mar 2023
The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry Dian Wang Jung Yeon Park Neel Sortur Lawson L. S. Wong Robin Walters Robert Platt AAML 50 36 0 16 Nov 2022
SEIL: Simulation-augmented Equivariant Imitation Learning Ming Jia Dian Wang Guanang Su David Klee Xu Zhu Robin Walters Robert Platt 52 19 0 31 Oct 2022
Sample Efficient Grasp Learning Using Equivariant Models Xu Zhu Dian Wang Ondrej Biza Guanang Su Robin Walters Robert Platt DRL 99 69 0 18 Feb 2022
Equivariant Transporter Network Hao-zhe Huang Dian Wang Robin Walters Robert Platt 76 56 0 18 Feb 2022
Equivariant $Q$ Learning in Spatial Action Spaces Dian Wang Robin Walters Xu Zhu Robert Platt 59 75 0 28 Oct 2021
Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives Lars Berscheid C. Friedrich Torsten Kröger DRL 21 23 0 23 Mar 2021
Action Priors for Large Action Spaces in Robotics Ondrej Biza Dian Wang Robert Platt Jan-Willem van de Meent Lawson L. S. Wong 33 14 0 11 Jan 2021
Learning Invariances in Neural Networks Gregory W. Benton Marc Finzi Pavel Izmailov A. Wilson 35 70 0 22 Oct 2020
Trajectory Prediction using Equivariant Continuous Convolution Robin Walters Jinxi Li Rose Yu 32 44 0 21 Oct 2020
MDP Homomorphic Networks: Group Symmetries in Reinforcement Learning Elise van der Pol Daniel E. Worrall H. V. Hoof F. Oliehoek Max Welling BDL AI4CE 43 158 0 30 Jun 2020
Reinforcement Learning with Augmented Data Michael Laskin Kimin Lee Adam Stooke Lerrel Pinto Pieter Abbeel A. Srinivas OffRL 58 653 0 30 Apr 2020
Incorporating Symmetry into Deep Dynamics Models for Improved Generalization Rui Wang Robin Walters Rose Yu AI4CE 89 171 0 08 Feb 2020
End-to-End Robotic Reinforcement Learning without Reward Engineering Avi Singh Larry Yang Kristian Hartikainen Chelsea Finn Sergey Levine SSL OffRL 62 267 0 16 Apr 2019
TossingBot: Learning to Throw Arbitrary Objects with Residual Physics Andy Zeng Shuran Song Johnny Lee Alberto Rodriguez Thomas Funkhouser 59 377 0 27 Mar 2019