A heterogeneous SE(3)-equivariant graph policy (HEPi) outperforms Transformer and homogeneous equivariant baselines on a new seven-task manipulation reinforcement learning benchmark.
The agent controls the object’s linear velocity v
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Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objects
A heterogeneous SE(3)-equivariant graph policy (HEPi) outperforms Transformer and homogeneous equivariant baselines on a new seven-task manipulation reinforcement learning benchmark.