MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.
Equivariant descriptor fields: Se (3)-equivariant energy-based models for end-to-end visual robotic manipulation learning
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A novel tri-plane equivariant volumetric grasp model adapts GIGA and IGD planners with flow matching and deformable attention to achieve higher real-time performance than non-equivariant baselines.
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Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models
MCF-Proto adds a motion-centric local action frame and prototype parameterization to VLA models, inducing emergent geometric structure and improved robustness from standard demonstrations alone.
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Equivariant Volumetric Grasping
A novel tri-plane equivariant volumetric grasp model adapts GIGA and IGD planners with flow matching and deformable attention to achieve higher real-time performance than non-equivariant baselines.