2 papers
cs.RO2025
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…
cs.RO2025
MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress
Kai Gao, Fan Wang, Erica Aduh +2
Robot picking and packing tasks require dexterous manipulation skills, such as rearranging objects to establish a good grasping pose, or placing and pushing items to achieve tight…