14 citations · 43 across the 6 of their papers we have counts for
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cs.RO2023★ 12 cited
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang +4
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation task…
cs.RO2022★ 11 cited
Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning
Hyunwoo Ryu, Hong-in Lee, Jeong-Hoon Lee +1
End-to-end learning for visual robotic manipulation is known to suffer from sample inefficiency, requiring large numbers of demonstrations. The spatial roto-translation equivarianc…