PIEGraph augments a spring-mass particle model with an equivariant GNN and novel action representation to predict accurate object dynamics for robotic manipulation from few interactions.
We need to prove the following equivalence a=R −(atan2(e−s)+2π)(x−e) =R −(atan2(Rθe+g−(Rθs+g)+2π)(Rθx+g−(R θe+g))
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Learning Equivariant Neural-Augmented Object Dynamics From Few Interactions
PIEGraph augments a spring-mass particle model with an equivariant GNN and novel action representation to predict accurate object dynamics for robotic manipulation from few interactions.