Continuous SE(3) equivariance is embedded in the policy by representing states, actions, and denoising steps in spherical Fourier space, improving generalization to novel 3D arrangements.
Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection
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abstract
Given point cloud input, the problem of 6-DoF grasp pose detection is to identify a set of hand poses in SE(3) from which an object can be successfully grasped. This important problem has many practical applications. Here we propose a novel method and neural network model that enables better grasp success rates relative to what is available in the literature. The method takes standard point cloud data as input and works well with single-view point clouds observed from arbitrary viewing directions.
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cs.RO 1years
2025 1verdicts
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SE(3)-Equivariant Diffusion Policy in Spherical Fourier Space
Continuous SE(3) equivariance is embedded in the policy by representing states, actions, and denoising steps in spherical Fourier space, improving generalization to novel 3D arrangements.