A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.
Symme- try considerations for learning task symmetric robot policies
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Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.