@RobotPlatt
Check out our new grasping work, OrbitGrasp! It achieved a 98% grasping success rate by learning the SE(3)-equivariant grasp quality distribution using spherical harmonics. I’ll be at #CoRL2024 to present this paper.View quoted post on X
Checkout our new work, Imagination Policy. We leverage a point cloud diffusion model to “imagine” a target scene, then use SVD to calculate rigid transformations that bring objects to the imagined scene as robot actions. More importantly, Imagination Policy is bi-equivariant!View quoted post on X
Introducing Equivariant Diffusion Policy, a novel sample efficient BC algorithm based on equivariant diffusion. Our method leverages the symmetry in policy denoising to boost learning — needing 5x less training data in sim and mastering complex tasks in real-world with <60 demos.View quoted post on X
