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08/15/2023
Leveraging Symmetries in Pick and Place
Robotic pick and place tasks are symmetric under translations and rotati...
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06/10/2023
On Robot Grasp Learning Using Equivariant Models
Real-world grasp detection is challenging due to the stochasticity in gr...
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03/08/2023
A General Theory of Correct, Incorrect, and Extrinsic Equivariance
Although equivariant machine learning has proven effective at many tasks...
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11/16/2022
The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry
Extensive work has demonstrated that equivariant neural networks can sig...
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11/03/2022
Leveraging Fully Observable Policies for Learning under Partial Observability
Reinforcement learning in partially observable domains is challenging du...
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10/31/2022
SEIL: Simulation-augmented Equivariant Imitation Learning
In robotic manipulation, acquiring samples is extremely expensive becaus...
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10/31/2022
Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection
Given point cloud input, the problem of 6-DoF grasp pose detection is to...
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05/28/2022
BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework
We present BulletArm, a novel benchmark and learning-environment for rob...
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03/09/2022
On-Robot Policy Learning with O(2)-Equivariant SAC
Recently, equivariant neural network models have been shown to be useful...
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03/08/2022
SO(2)-Equivariant Reinforcement Learning
Equivariant neural networks enforce symmetry within the structure of the...
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02/18/2022
Sample Efficient Grasp Learning Using Equivariant Models
In planar grasp detection, the goal is to learn a function from an image...
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02/18/2022
Equivariant Transporter Network
Transporter Net is a recently proposed framework for pick and place that...
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10/28/2021
Equivariant Q Learning in Spatial Action Spaces
Recently, a variety of new equivariant neural network model architecture...
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01/11/2021
Action Priors for Large Action Spaces in Robotics
In robotics, it is often not possible to learn useful policies using pur...
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10/06/2020
Policy learning in SE(3) action spaces
In the spatial action representation, the action space spans the space o...
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09/25/2018