EquiVLA is the first general framework for end-to-end SO(2)-equivariant VLA models using EquiPerceptor and EquiActor modules, reporting improved success rates on LIBERO, CALVIN, and real-robot benchmarks.
Seil: Simulation-augmented equivariant imitation learning
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A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.
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EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models
EquiVLA is the first general framework for end-to-end SO(2)-equivariant VLA models using EquiPerceptor and EquiActor modules, reporting improved success rates on LIBERO, CALVIN, and real-robot benchmarks.
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Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.