Department of Artificial Intelligence, Yonsei University; Department of Artificial Intelligence, Yonsei University, School of Mechanical Engineering, Yonsei University; Samsung Research, School of Mechanical Engineering, Yonsei University
Hyunwoo Ryu, Hong-in Lee, Jeong-Hoon Lee, Jongeun Choi
Robotics;Manipulation;Robotic manipulation;Equivariance;SE(3);SO(3);Energy-based model;Lie group;Representation theory;Equivariant robotics;Roto-translation equivariance;End-to-end;Point clouds;Graph neural networks;Imitation learning;Learning from demonstration;Sample efficient;Few shot;Unseen object;Category-level manipulation;MCMC;Langevin dynamics
Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning