4 papers
Group-Invariant Unsupervised Skill Discovery: Symmetry-aware Skill Representations for Generalizable Behavior
Junwoo Chang, Joseph Park, Roberto Horowitz +2
Unsupervised skill discovery aims to acquire behavior primitives that improve exploration and accelerate downstream task learning. However, existing approaches often ignore the geo…
Symmetry-Aware Steering of Equivariant Diffusion Policies: Benefits and Limits
Minwoo Park, Junwoo Chang, Jongeun Choi +1
Equivariant diffusion policies (EDPs) combine the generative expressivity of diffusion models with the strong generalization and sample efficiency afforded by geometric symmetries.…
EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks
Joohwan Seo, Arvind Kruthiventy, Soomi Lee +5
This paper presents a framework for learning vision-based robotic policies for contact-rich manipulation tasks that generalize spatially across task configurations. We focus on ach…
SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey
Joohwan Seo, Soochul Yoo, Junwoo Chang +6
Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-ba…