1 citations · 2 across the 15 of their papers we have counts for
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Generalizable Hierarchical Skill Learning via Object-Centric Representation
Haibo Zhao, Yu Qi, Boce Hu +9
We present Generalizable Hierarchical Skill Learning (GSL), a novel framework for hierarchical policy learning that significantly improves policy generalization and sample efficien…
Clebsch-Gordan Transformer: Fast and Global Equivariant Attention
Owen Lewis Howell, Linfeng Zhao, Xupeng Zhu +6
The global attention mechanism is one of the keys to the success of transformer architecture, but it incurs quadratic computational costs in relation to the number of tokens. On th…
SE(3)-Equivariant Diffusion Policy in Spherical Fourier Space
Xupeng Zhu, Fan Wang, Robin Walters +1
Diffusion Policies are effective at learning closed-loop manipulation policies from human demonstrations but generalize poorly to novel arrangements of objects in 3D space, hurting…
EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation
Xupeng Zhu, Yu Qi, Yizhe Zhu +2
Transformer architectures can effectively learn language-conditioned, multi-task 3D open-loop manipulation policies from demonstrations by jointly processing natural language instr…
3D Equivariant Visuomotor Policy Learning via Spherical Projection
Boce Hu, Dian Wang, David Klee +5
Equivariant models have recently been shown to improve the data efficiency of diffusion policy by a significant margin. However, prior work that explored this direction focused pri…
A Practical Guide for Incorporating Symmetry in Diffusion Policy
Dian Wang, Boce Hu, Shuran Song +2
Recently, equivariant neural networks for policy learning have shown promising improvements in sample efficiency and generalization, however, their wide adoption faces substantial…
Push-Grasp Policy Learning Using Equivariant Models and Grasp Score Optimization
Boce Hu, Heng Tian, Dian Wang +4
Goal-conditioned robotic grasping in cluttered environments remains a challenging problem due to occlusions caused by surrounding objects, which prevent direct access to the target…
Hierarchical Equivariant Policy via Frame Transfer
Haibo Zhao, Dian Wang, Yizhe Zhu +6
Recent advances in hierarchical policy learning highlight the advantages of decomposing systems into high-level and low-level agents, enabling efficient long-horizon reasoning and…
Coarse-to-Fine 3D Keyframe Transporter
Xupeng Zhu, David Klee, Dian Wang +5
Recent advances in Keyframe Imitation Learning (IL) have enabled learning-based agents to solve a diverse range of manipulation tasks. However, most approaches ignore the rich symm…