Per-Frame Deep Sets enables scaling single-sphere to five-sphere transport on a quadruped by performing permutation-invariant pooling within each history frame, reaching 100% no-drop success in simulation where standard encoders plateau.
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S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot
Per-Frame Deep Sets enables scaling single-sphere to five-sphere transport on a quadruped by performing permutation-invariant pooling within each history frame, reaching 100% no-drop success in simulation where standard encoders plateau.