3 papers
cs.RO2025
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…
cs.RO2025
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…
cs.RO2025
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…