On discrete symmetries of robotics systems: A group-theoretic and
data-driven analysis

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On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis

21 February 2023

Daniel Felipe Ordoñez Apraez

Francesc Moreno-Noguer

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Papers citing "On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis"

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Title
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 84 16 0 26 Mar 2024
Approximately Equivariant Networks for Imperfectly Symmetric Dynamics Rui Wang Robin Walters Rose Yu 95 82 0 28 Jan 2022
Residual Pathway Priors for Soft Equivariance Constraints Marc Finzi Gregory W. Benton A. Wilson BDL UQCV 70 59 0 02 Dec 2021
An Adaptable Approach to Learn Realistic Legged Locomotion without Examples Daniel Felipe Ordoñez Apraez Antonio Agudo Francesc Moreno-Noguer Mario Martin 74 8 0 28 Oct 2021
Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events Tzu-Yuan Lin Ray Zhang Justin Yu Maani Ghaffari 63 36 0 29 Jun 2021
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation Niklas Funk Charles B. Schaff Rishabh Madan Takuma Yoneda Julen Urain De Jesus ... Stefan Bauer S. Srinivasa Tapomayukh Bhattacharjee Matthew R. Walter Jan Peters 80 35 0 05 May 2021
Geometric Deep Learning: Grids, Groups, Graphs, Geodesics, and Gauges M. Bronstein Joan Bruna Taco S. Cohen Petar Velivcković GNN 362 1,160 0 27 Apr 2021
A Practical Method for Constructing Equivariant Multilayer Perceptrons for Arbitrary Matrix Groups Marc Finzi Max Welling A. Wilson 162 197 0 19 Apr 2021
MDP Homomorphic Networks: Group Symmetries in Reinforcement Learning Elise van der Pol Daniel E. Worrall H. V. Hoof F. Oliehoek Max Welling BDL AI4CE 80 162 0 30 Jun 2020
Chirality Nets for Human Pose Regression Raymond A. Yeh Yuan-Ting Hu Alex Schwing 3DH 55 50 0 31 Oct 2019
Learning Symmetric and Low-energy Locomotion Wenhao Yu Greg Turk Chenxi Liu 111 186 0 24 Jan 2018
Self-Normalizing Neural Networks Günter Klambauer Thomas Unterthiner Andreas Mayr Sepp Hochreiter 470 2,519 0 08 Jun 2017
Equivariance Through Parameter-Sharing Siamak Ravanbakhsh J. Schneider Barnabás Póczós 92 258 0 27 Feb 2017
Geometric deep learning: going beyond Euclidean data M. Bronstein Joan Bruna Yann LeCun Arthur Szlam P. Vandergheynst GNN 813 3,293 0 24 Nov 2016
Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification Kaiming He Xinming Zhang Shaoqing Ren Jian Sun VLM 341 18,651 0 06 Feb 2015