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Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning

16 June 2022

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Papers citing "Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning"

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Title
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 120 2 0 12 Mar 2025
Coarse-to-Fine 3D Keyframe Transporter Xupeng Zhu David Klee Dian Wang Boce Hu Haojie Huang Arsh Tangri Robin Walters Robert Platt 134 1 0 03 Feb 2025
Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation Ethan Chun Yilun Du Anthony Simeonov Tomas Lozano-Perez L. Kaelbling 67 26 0 07 Feb 2023
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields Anthony Simeonov Yilun Du Lin Yen-Chen Alberto Rodriguez L. Kaelbling Tomas Lozano-Perez Pulkit Agrawal 74 57 0 17 Nov 2022
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 77 36 0 16 Nov 2022
Equiformer: Equivariant Graph Attention Transformer for 3D Atomistic Graphs Yi-Lun Liao Tess E. Smidt 133 241 0 23 Jun 2022
A Tale of Two Flows: Cooperative Learning of Langevin Flow and Normalizing Flow Toward Energy-Based Model Jianwen Xie Y. Zhu Jilong Li Ping Li 55 50 0 13 May 2022
Convergence of the Riemannian Langevin Algorithm Khashayar Gatmiry Santosh Vempala 47 21 0 22 Apr 2022
$$\mathrm{SO}(2)$-Equivariant Reinforcement Learning$ $\mathrm{SO}(2)$ -Equivariant Reinforcement Learning Dian Wang Robin Walters Robert Platt 84 81 0 08 Mar 2022
Equivariant Transporter Network Hao-zhe Huang Dian Wang Robin Walters Robert Platt 100 59 0 18 Feb 2022
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation Anthony Simeonov Yilun Du Andrea Tagliasacchi J. Tenenbaum Alberto Rodriguez Pulkit Agrawal Vincent Sitzmann 122 246 0 09 Dec 2021
Independent SE(3)-Equivariant Models for End-to-End Rigid Protein Docking O. Ganea Xinyuan Huang Charlotte Bunne Yatao Bian Regina Barzilay Tommi Jaakkola Andreas Krause 83 154 0 15 Nov 2021
Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimation Xiaolong Li Yijia Weng Li Yi Leonidas Guibas A. L. Abbott Shuran Song He Wang 3DPC 80 53 0 30 Oct 2021
Hierarchical Primitive Composition: Simultaneous Activation of Skills with Inconsistent Action Dimensions in Multiple Hierarchies Jeong-Hoon Lee Jongeun Choi 64 8 0 05 Oct 2021
Implicit Behavioral Cloning Peter R. Florence Corey Lynch Andy Zeng Oscar Ramirez Ayzaan Wahid Laura Downs Adrian S. Wong Johnny Lee Igor Mordatch Jonathan Tompson OffRL 115 389 0 01 Sep 2021
Learning Equivariant Energy Based Models with Equivariant Stein Variational Gradient Descent P. Jaini Lars Holdijk Max Welling 73 11 0 15 Jun 2021
Vector Neurons: A General Framework for SO(3)-Equivariant Networks Congyue Deng Or Litany Yueqi Duan A. Poulenard Andrea Tagliasacchi Leonidas Guibas 3DPC 178 326 0 25 Apr 2021
Learning Energy-Based Model with Variational Auto-Encoder as Amortized Sampler Jianwen Xie Zilong Zheng Ping Li 61 53 0 29 Dec 2020
SE(3)-Transformers: 3D Roto-Translation Equivariant Attention Networks F. Fuchs Daniel E. Worrall Volker Fischer Max Welling 3DPC 153 692 0 18 Jun 2020
Generative PointNet: Deep Energy-Based Learning on Unordered Point Sets for 3D Generation, Reconstruction and Classification Jianwen Xie Yifei Xu Zilong Zheng Song-Chun Zhu Ying Nian Wu 3DPC 123 82 0 02 Apr 2020
Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud Weijing Shi Ragunathan R. Rajkumar 3DPC 224 740 0 02 Mar 2020
Self-supervised 6D Object Pose Estimation for Robot Manipulation Xinke Deng Yu Xiang Arsalan Mousavian Clemens Eppner Timothy Bretl Dieter Fox 3DPC SSL 87 187 0 23 Sep 2019
Unsupervised Learning of Object Keypoints for Perception and Control Tejas D. Kulkarni Ankush Gupta Catalin Ionescu Sebastian Borgeaud Malcolm Reynolds Andrew Zisserman Volodymyr Mnih SSL OCL 53 196 0 19 Jun 2019
Energy-Based Continuous Inverse Optimal Control Yifei Xu Jianwen Xie Tianyang Zhao Chris L. Baker Yibiao Zhao Ying Nian Wu 74 19 0 10 Apr 2019
QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation Dmitry Kalashnikov A. Irpan P. Pastor Julian Ibarz Alexander Herzog ... Deirdre Quillen E. Holly Mrinal Kalakrishnan Vincent Vanhoucke Sergey Levine 128 1,467 0 27 Jun 2018
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation Peter R. Florence Lucas Manuelli Russ Tedrake SSL 101 279 0 22 Jun 2018
RGCNN: Regularized Graph CNN for Point Cloud Segmentation Gusi Te Wei Hu Zongming Guo Amin Zheng 3DPC 59 323 0 08 Jun 2018
Relational inductive biases, deep learning, and graph networks Peter W. Battaglia Jessica B. Hamrick V. Bapst Alvaro Sanchez-Gonzalez V. Zambaldi ... Pushmeet Kohli M. Botvinick Oriol Vinyals Yujia Li Razvan Pascanu AI4CE NAI 761 3,121 0 04 Jun 2018
Learning Descriptor Networks for 3D Shape Synthesis and Analysis Jianwen Xie Zilong Zheng Ruiqi Gao Wenguan Wang Song-Chun Zhu Ying Nian Wu GAN 3DV 70 145 0 02 Apr 2018
Tensor field networks: Rotation- and translation-equivariant neural networks for 3D point clouds Nathaniel Thomas Tess E. Smidt S. Kearnes Lusann Yang Li Li Kai Kohlhoff Patrick F. Riley 3DPC 95 973 0 22 Feb 2018
Dynamic Graph CNN for Learning on Point Clouds Yue Wang Yongbin Sun Ziwei Liu Sanjay E. Sarma M. Bronstein Justin Solomon GNN 3DPC 257 6,149 0 24 Jan 2018
Learning to Draw Samples: With Application to Amortized MLE for Generative Adversarial Learning Dilin Wang Qiang Liu GAN BDL 116 119 0 06 Nov 2016
Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge Andy Zeng Kuan-Ting Yu Shuran Song Daniel Suo Ed Walker Alberto Rodriguez Jianxiong Xiao SSL 60 458 0 29 Sep 2016
Cooperative Training of Descriptor and Generator Networks Jianwen Xie Yang Lu Ruiqi Gao Song-Chun Zhu Ying Nian Wu GAN 55 143 0 29 Sep 2016
Stein Variational Gradient Descent: A General Purpose Bayesian Inference Algorithm Qiang Liu Dilin Wang BDL 73 1,092 0 16 Aug 2016
Group Equivariant Convolutional Networks Taco S. Cohen Max Welling BDL 169 1,941 0 24 Feb 2016
A Theory of Generative ConvNet Jianwen Xie Yang Lu Song-Chun Zhu Ying Nian Wu DiffM GAN 94 320 0 10 Feb 2016
End-to-End Training of Deep Visuomotor Policies Sergey Levine Chelsea Finn Trevor Darrell Pieter Abbeel BDL 315 3,437 0 02 Apr 2015
Adam: A Method for Stochastic Optimization Diederik P. Kingma Jimmy Ba ODL 1.9K 150,115 0 22 Dec 2014
Auto-Encoding Variational Bayes Diederik P. Kingma Max Welling BDL 452 16,929 0 20 Dec 2013