EquAct embeds SE(3) equivariance into a multi-task keyframe manipulation transformer with language conditioning, improving spatial generalization over non-equivariant baselines.
Vector neurons: A general framework for so (3)-equivariant networks
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EquAct: An SE(3)-Equivariant Multi-Task Transformer for Open-Loop Robotic Manipulation
EquAct embeds SE(3) equivariance into a multi-task keyframe manipulation transformer with language conditioning, improving spatial generalization over non-equivariant baselines.