EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks

EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks

15 July 2025

Joohwan Seo

Arvind Kruthiventy

Soomi Lee

Megan Teng

Xiang Zhang

Seoyeon Choi

Jongeun Choi

Roberto Horowitz

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