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.
Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
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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.