3d diffuser actor: Policy diffusion with 3d scene representations
We marry diffusion policies and 3D scene representations for robot manipulation. Diffusion
policies learn the action distribution conditioned on the robot and environment state using …
policies learn the action distribution conditioned on the robot and environment state using …
Contact-rich se (3)-equivariant robot manipulation task learning via geometric impedance control
This letter presents a differential geometric control approach that leverages SE (3) group
invariance and equivariance to increase transferability in learning robot manipulation tasks …
invariance and equivariance to increase transferability in learning robot manipulation tasks …
Dexdiffuser: Generating dexterous grasps with diffusion models
We introduce DexDiffuser, a novel dexterous grasping method that generates, evaluates,
and refines grasps on partial object point clouds. DexDiffuser includes the conditional …
and refines grasps on partial object point clouds. DexDiffuser includes the conditional …
Denoising heat-inspired diffusion with insulators for collision free motion planning
Diffusion models have risen as a powerful tool in robotics due to their flexibility and multi-
modality. While some of these methods effectively address complex problems, they often …
modality. While some of these methods effectively address complex problems, they often …
Robot manipulation task learning by leveraging se (3) group invariance and equivariance
J Seo, N Potu Surya Prakash, X Zhang… - arXiv e …, 2023 - ui.adsabs.harvard.edu
This paper presents a differential geometric control approach that leverages SE (3) group
invariance and equivariance to increase transferability in learning robot manipulation tasks …
invariance and equivariance to increase transferability in learning robot manipulation tasks …
RiEMann: Near Real-Time SE (3)-Equivariant Robot Manipulation without Point Cloud Segmentation
We present RiEMann, an end-to-end near Real-time SE (3)-Equivariant Robot Manipulation
imitation learning framework from scene point cloud input. Compared to previous methods …
imitation learning framework from scene point cloud input. Compared to previous methods …
EquiBot: SIM (3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Building effective imitation learning methods that enable robots to learn from limited data
and still generalize across diverse real-world environments is a long-standing problem in …
and still generalize across diverse real-world environments is a long-standing problem in …
Scale-Equivariant Object Perception for Autonomous Driving
T Cho, H Nam, J Choi - IEEE Transactions on Intelligent …, 2024 - ieeexplore.ieee.org
In autonomous driving, precise perception of surrounding objects is crucial for ensuring
safety. To this end, many advanced object detection models have been developed using …
safety. To this end, many advanced object detection models have been developed using …
Human Motion Prediction: Assessing Direct and Geometry-Aware Approaches in 3D Space
Predicting 3D human motion is a complex task, owing to the unpredictable nature of human
movements. The influx of deep learning innovations and the availability of extensive …
movements. The influx of deep learning innovations and the availability of extensive …
OrbitGrasp: -Equivariant Grasp Learning
While grasp detection is an important part of any robotic manipulation pipeline, reliable and
accurate grasp detection in $ SE (3) $ remains a research challenge. Many robotics …
accurate grasp detection in $ SE (3) $ remains a research challenge. Many robotics …