OrbitGrasp: $SE(3)$ -Equivariant Grasp Learning

3 July 2024

Xupeng Zhu

Haojie Huang

Robin Walters

Robert Platt

3DPC

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Papers citing "OrbitGrasp: $SE(3)$-Equivariant Grasp 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
Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks Ben Eisner Yi Yang Todor Davchev Mel Vecerík Jonathan Scholz David Held 65 12 0 20 Apr 2024
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D Hao-zhe Huang Owen Howell Dian Wang Xu Zhu Robin Walters Robert Platt 84 25 0 22 Jan 2024
ICGNet: A Unified Approach for Instance-Centric Grasping René Zurbrugg Yifan Liu Francis Engelmann Suryansh Kumar Marco Hutter Vaishakh Patil Fisher Yu 3DV 78 10 0 18 Jan 2024
AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains Haoshu Fang Chenxi Wang Hongjie Fang Minghao Gou Jirong Liu Hengxu Yan Wenhai Liu Yichen Xie Cewu Lu 115 207 0 16 Dec 2022
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
SEIL: Simulation-augmented Equivariant Imitation Learning Ming Jia Dian Wang Guanang Su David Klee Xu Zhu Robin Walters Robert Platt 84 19 0 31 Oct 2022
Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection Hao-zhe Huang Dian Wang Xu Zhu Robin Walters Robert Platt 3DPC 71 37 0 31 Oct 2022
Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning Hyunwoo Ryu Jeong-Hoon Lee Honglak Lee Jongeun Choi 92 56 0 16 Jun 2022
On-Robot Learning With Equivariant Models Dian Wang Ming Jia Xu Zhu Robin Walters Robert Platt OffRL SSL 73 41 0 09 Mar 2022
Sample Efficient Grasp Learning Using Equivariant Models Xu Zhu Dian Wang Ondrej Biza Guanang Su Robin Walters Robert Platt DRL 143 70 0 18 Feb 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
Equivariant $Q$ Learning in Spatial Action Spaces Dian Wang Robin Walters Xu Zhu Robert Platt 86 78 0 28 Oct 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
Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations Zhenyu Jiang Yifeng Zhu Maxwell Svetlik Kuan Fang Yuke Zhu 70 140 0 04 Apr 2021
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter Michel Breyer Jen Jen Chung Lionel Ott Roland Siegwart Juan I. Nieto 3DPC 72 172 0 04 Jan 2021
Gauge Equivariant Mesh CNNs: Anisotropic convolutions on geometric graphs P. D. Haan Maurice Weiler Taco S. Cohen Max Welling 137 130 0 11 Mar 2020
6-DOF GraspNet: Variational Grasp Generation for Object Manipulation Arsalan Mousavian Clemens Eppner Dieter Fox 3DPC 86 565 0 25 May 2019
On the Continuity of Rotation Representations in Neural Networks Yi Zhou Connelly Barnes Jingwan Lu Jimei Yang Hao Li 3DH 77 1,289 0 17 Dec 2018
PointNetGPD: Detecting Grasp Configurations from Point Sets Hongzhuo Liang Xiaojian Ma Shuang Li Michael Görner Song Tang Bin Fang F. Sun Jianwei Zhang 3DPC 65 334 0 17 Sep 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
Grasp Pose Detection in Point Clouds A. T. Pas Marcus Gualtieri Kate Saenko Robert Platt 3DPC 119 561 0 29 Jun 2017
Steerable CNNs Taco S. Cohen Max Welling BDL 140 499 0 27 Dec 2016
SGDR: Stochastic Gradient Descent with Warm Restarts I. Loshchilov Frank Hutter ODL 333 8,130 0 13 Aug 2016
Group Equivariant Convolutional Networks Taco S. Cohen Max Welling BDL 169 1,941 0 24 Feb 2016
Improving neural networks by preventing co-adaptation of feature detectors Geoffrey E. Hinton Nitish Srivastava A. Krizhevsky Ilya Sutskever Ruslan Salakhutdinov VLM 453 7,663 0 03 Jul 2012

OrbitGrasp: SE(3)SE(3)SE(3)-Equivariant Grasp Learning

Papers citing "OrbitGrasp: $SE(3)$-Equivariant Grasp Learning"

OrbitGrasp: $SE(3)$ -Equivariant Grasp Learning