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

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

16 June 2022
Hyunwoo Ryu
Jeong-Hoon Lee
Honglak Lee
Jongeun Choi
ArXivPDFHTML

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

49 / 49 papers shown
Title
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI
Lik Hang Kenny Wong
Xueyang Kang
Kaixin Bai
Jianwei Zhang
45
0
0
01 May 2025
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
Joohwan Seo
N. Prakash
Soomi Lee
Arvind Kruthiventy
Megan Teng
Jongeun Choi
R. Horowitz
25
0
0
23 Apr 2025
Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
Sizhe Yang
Wenye Yu
Jia Zeng
Jun Lv
Kerui Ren
Cewu Lu
Dahua Lin
Jiangmiao Pang
3DGS
48
1
0
17 Apr 2025
Diffusion Models for Robotic Manipulation: A Survey
Diffusion Models for Robotic Manipulation: A Survey
Rosa Wolf
Yitian Shi
Sheng Liu
Rania Rayyes
49
1
0
11 Apr 2025
Histogram Transporter: Learning Rotation-Equivariant Orientation Histograms for High-Precision Robotic Kitting
Histogram Transporter: Learning Rotation-Equivariant Orientation Histograms for High-Precision Robotic Kitting
Jiadong Zhou
Yadan Zeng
Huixu Dong
I. Chen
55
0
0
16 Mar 2025
SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey
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
67
2
0
12 Mar 2025
Coarse-to-Fine 3D Keyframe Transporter
Coarse-to-Fine 3D Keyframe Transporter
Xupeng Zhu
David M. Klee
Dian Wang
Boce Hu
Haojie Huang
Arsh Tangri
Robin Walters
Robert W. Platt
67
0
0
03 Feb 2025
MatrixNet: Learning over symmetry groups using learned group representations
MatrixNet: Learning over symmetry groups using learned group representations
Lucas Laird
Circe Hsu
Asilata Bapat
Robin Walters
AI4CE
33
0
0
17 Jan 2025
$SE(3)$ Equivariant Ray Embeddings for Implicit Multi-View Depth
  Estimation
SE(3)SE(3)SE(3) Equivariant Ray Embeddings for Implicit Multi-View Depth Estimation
Yinshuang Xu
Dian Chen
Katherine Liu
Sergey Zakharov
Rares Ambrus
Kostas Daniilidis
Vitor Campagnolo Guizilini
MDE
26
0
0
11 Nov 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
Cheng-Chun Hsu
Bowen Wen
Jie Xu
Yashraj S. Narang
Xiaolong Wang
Yuke Zhu
Joydeep Biswas
Stan Birchfield
DiffM
32
8
0
01 Nov 2024
Neural Attention Field: Emerging Point Relevance in 3D Scenes for
  One-Shot Dexterous Grasping
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
Qianxu Wang
Congyue Deng
Tyler Ga Wei Lum
Yuanpei Chen
Yaodong Yang
Jeannette Bohg
Yixin Zhu
Leonidas J. Guibas
39
4
0
30 Oct 2024
Diffusion for Multi-Embodiment Grasping
Diffusion for Multi-Embodiment Grasping
Roman Freiberg
Alexander Qualmann
Ngo Anh Vien
Gerhard Neumann
18
3
0
24 Oct 2024
TL-PCA: Transfer Learning of Principal Component Analysis
TL-PCA: Transfer Learning of Principal Component Analysis
Sharon Hendy
Yehuda Dar
77
1
0
14 Oct 2024
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies
Haojie Huang
Haotian Liu
Dian Wang
Robin Walters
Robert Platt
3DPC
44
2
0
23 Sep 2024
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially
  Symmetric Flow Matching
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching
Niklas Funk
Julen Urain
João Carvalho
V. Prasad
Georgia Chalvatzaki
Jan Peters
42
5
0
06 Sep 2024
EqvAfford: SE(3) Equivariance for Point-Level Affordance Learning
EqvAfford: SE(3) Equivariance for Point-Level Affordance Learning
Yue Chen
Chenrui Tie
Ruihai Wu
Hao Dong
24
3
0
04 Aug 2024
SE(3)-bi-equivariant Transformers for Point Cloud Assembly
SE(3)-bi-equivariant Transformers for Point Cloud Assembly
Ziming Wang
Rebecka Jörnsten
3DPC
28
2
0
12 Jul 2024
BiEquiFormer: Bi-Equivariant Representations for Global Point Cloud
  Registration
BiEquiFormer: Bi-Equivariant Representations for Global Point Cloud Registration
Stefanos Pertigkiozoglou
Evangelos Chatzipantazis
Kostas Daniilidis
3DPC
30
1
0
11 Jul 2024
OrbitGrasp: $SE(3)$-Equivariant Grasp Learning
OrbitGrasp: SE(3)SE(3)SE(3)-Equivariant Grasp Learning
Boce Hu
Xupeng Zhu
Dian Wang
Zihao Dong
Haojie Huang
Chenghao Wang
Robin Walters
Robert Platt
3DPC
21
9
0
03 Jul 2024
Equivariant Diffusion Policy
Equivariant Diffusion Policy
Dian Wang
Stephen M. Hart
David Surovik
Tarik Kelestemur
Haojie Huang
Haibo Zhao
Mark Yeatman
Jiuguang Wang
Robin Walters
Robert Platt
DiffM
41
19
0
01 Jul 2024
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data
  Efficient Learning
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Jingyun Yang
Zi-ang Cao
Congyue Deng
Rika Antonova
Shuran Song
Jeannette Bohg
DiffM
44
28
0
01 Jul 2024
Open-vocabulary Pick and Place via Patch-level Semantic Maps
Open-vocabulary Pick and Place via Patch-level Semantic Maps
Mingxi Jia
Haojie Huang
Zhewen Zhang
Chenghao Wang
Linfeng Zhao
Dian Wang
J. Liu
Robin Walters
Robert Platt
Stefanie Tellex
LM&Ro
37
5
0
21 Jun 2024
Equivariant Offline Reinforcement Learning
Equivariant Offline Reinforcement Learning
Arsh Tangri
Ondrej Biza
Dian Wang
David M. Klee
Owen Howell
Robert Platt
OffRL
24
3
0
20 Jun 2024
Imagination Policy: Using Generative Point Cloud Models for Learning
  Manipulation Policies
Imagination Policy: Using Generative Point Cloud Models for Learning Manipulation Policies
Haojie Huang
Karl Schmeckpeper
Dian Wang
Ondrej Biza
Yaoyao Qian
Haotian Liu
Mingxi Jia
Robert Platt
Robin Walters
VGen
LM&Ro
26
6
0
17 Jun 2024
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
Tong Zhang
Yingdong Hu
Jiacheng You
Yang Gao
19
7
0
15 Jun 2024
Region-aware Grasp Framework with Normalized Grasp Space for Efficient
  6-DoF Grasping
Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
Siang Chen
Pengwei Xie
Wei Tang
Dingchang Hu
Yixiang Dai
Guijin Wang
37
1
0
03 Jun 2024
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved
  Dual-Arm Manipulation
Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
Gaurav Singh
Sanket Kalwar
Md Faizal Karim
Bipasha Sen
Nagamanikandan Govindan
Srinath Sridhar
K. M. Krishna
21
7
0
06 Apr 2024
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without
  Point Cloud Segmentation
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation
Chongkai Gao
Zhengrong Xue
Shuying Deng
Tianhai Liang
Siqi Yang
Lin Shao
Huazhe Xu
3DPC
24
10
0
28 Mar 2024
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D
Hao-zhe Huang
Owen Howell
Dian Wang
Xu Zhu
Robin G. Walters
Robert W. Platt
24
22
0
22 Jan 2024
Multi-task real-robot data with gaze attention for dual-arm fine
  manipulation
Multi-task real-robot data with gaze attention for dual-arm fine manipulation
Heecheol Kim
Y. Ohmura
Y. Kuniyoshi
14
2
0
15 Jan 2024
Unified framework for diffusion generative models in SO(3): applications
  in computer vision and astrophysics
Unified framework for diffusion generative models in SO(3): applications in computer vision and astrophysics
Yesukhei Jagvaral
F. Lanusse
Rachel Mandelbaum
DiffM
17
5
0
18 Dec 2023
SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous
  Manipulation
SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation
Qianxu Wang
Haotong Zhang
Congyue Deng
Yang You
Hao Dong
Yixin Zhu
Leonidas J. Guibas
21
18
0
25 Oct 2023
EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object
  Manipulation
EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation
Jingyun Yang
Congyue Deng
Jimmy Wu
Rika Antonova
Leonidas J. Guibas
Jeannette Bohg
LM&Ro
18
31
0
24 Oct 2023
Denoising Heat-inspired Diffusion with Insulators for Collision Free
  Motion Planning
Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning
Junwoo Chang
Hyunwoo Ryu
Jiwoo Kim
Soochul Yoo
Jongeun Choi
Joohwan Seo
N. Prakash
R. Horowitz
DiffM
AI4CE
8
6
0
19 Oct 2023
Learning to Act from Actionless Videos through Dense Correspondences
Learning to Act from Actionless Videos through Dense Correspondences
Po-Chen Ko
Jiayuan Mao
Yilun Du
Shao-Hua Sun
Josh Tenenbaum
20
73
0
12 Oct 2023
Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assembly
Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assembly
Ruihai Wu
Chenrui Tie
Yushi Du
Yan Zhao
Hao Dong
21
19
0
13 Sep 2023
Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3)
  for Visual Robotic Manipulation
Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation
Hyunwoo Ryu
Jiwoo Kim
Hyun Seok Ahn
Junwoo Chang
Joohwan Seo
Taehan Kim
Yubin Kim
Chaewon Hwang
Jongeun Choi
R. Horowitz
DiffM
16
33
0
06 Sep 2023
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via
  Geometric Impedance Control
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo
N. Prakash
Xiang Zhang
Changhao Wang
Jongeun Choi
M. Tomizuka
R. Horowitz
24
12
0
29 Aug 2023
One-shot Imitation Learning via Interaction Warping
One-shot Imitation Learning via Interaction Warping
Ondrej Biza
Skye Thompson
Kishore Reddy Pagidi
Abhinav Kumar
Elise van der Pol
Robin G. Walters
Thomas Kipf
Jan Willem van de Meent
Lawson L. S. Wong
Robert W. Platt
15
13
0
21 Jun 2023
Banana: Banach Fixed-Point Network for Pointcloud Segmentation with
  Inter-Part Equivariance
Banana: Banach Fixed-Point Network for Pointcloud Segmentation with Inter-Part Equivariance
Congyue Deng
Jiahui Lei
Bokui Shen
Kostas Daniilidis
Leonidas J. Guibas
3DPC
20
15
0
25 May 2023
EFEM: Equivariant Neural Field Expectation Maximization for 3D Object
  Segmentation Without Scene Supervision
EFEM: Equivariant Neural Field Expectation Maximization for 3D Object Segmentation Without Scene Supervision
Jiahui Lei
Congyue Deng
Karl Schmeckpeper
Leonidas J. Guibas
Kostas Daniilidis
3DPC
8
21
0
27 Mar 2023
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial
  Understanding with Objects
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects
Jiahui Fu
Yilun Du
Kurran Singh
J. Tenenbaum
John J. Leonard
18
8
0
13 Mar 2023
A General Theory of Correct, Incorrect, and Extrinsic Equivariance
A General Theory of Correct, Incorrect, and Extrinsic Equivariance
Dian Wang
Xu Zhu
Jung Yeon Park
Mingxi Jia
Guanang Su
Robert W. Platt
Robin G. Walters
16
13
0
08 Mar 2023
Local Neural Descriptor Fields: Locally Conditioned Object
  Representations for Manipulation
Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation
Ethan Chun
Yilun Du
Anthony Simeonov
Tomas Lozano-Perez
L. Kaelbling
17
24
0
07 Feb 2023
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
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
19
52
0
17 Nov 2022
Equiformer: Equivariant Graph Attention Transformer for 3D Atomistic
  Graphs
Equiformer: Equivariant Graph Attention Transformer for 3D Atomistic Graphs
Yi-Lun Liao
Tess E. Smidt
73
211
0
23 Jun 2022
Equivariant Transporter Network
Equivariant Transporter Network
Hao-zhe Huang
Dian Wang
Robin G. Walters
Robert W. Platt
51
53
0
18 Feb 2022
Vector Neurons: A General Framework for SO(3)-Equivariant Networks
Vector Neurons: A General Framework for SO(3)-Equivariant Networks
Congyue Deng
Or Litany
Yueqi Duan
A. Poulenard
Andrea Tagliasacchi
Leonidas J. Guibas
3DPC
102
314
0
25 Apr 2021
Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud
Point-GNN: Graph Neural Network for 3D Object Detection in a Point Cloud
Weijing Shi
Ragunathan
R. Rajkumar
3DPC
139
731
0
02 Mar 2020
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