Learns rotation-aware point-cloud embeddings calibrated to SO(3) geodesic error, enabling model-free RL for vision-based in-hand reorientation without pose or flow inputs.
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Rotation-Aware Point-Cloud Embeddings for Vision-Based In-Hand Reorientation
Learns rotation-aware point-cloud embeddings calibrated to SO(3) geodesic error, enabling model-free RL for vision-based in-hand reorientation without pose or flow inputs.