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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…
cs.RO2024
ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robots
Zhixuan Xu, Chongkai Gao, Zixuan Liu +10
To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of man…