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.
gradsim: Differen- tiable simulation for system identification and visuo- motor control.International Conference on Learning Representations (ICLR)
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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.