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cs.RO2024★ 1 cited
ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policy
Chenrui Tie, Yue Chen, Ruihai Wu +4
Imitation learning, e.g., diffusion policy, has been proven effective in various robotic manipulation tasks. However, extensive demonstrations are required for policy robustness an…
cs.RO2024
EqvAfford: SE(3) Equivariance for Point-Level Affordance Learning
Yue Chen, Chenrui Tie, Ruihai Wu +1
Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such e…