EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation
Jingyun Yang,Congyue Deng,Jimmy Wu,Rika Antonova,Leonidas Guibas,Jeannette Bohg,Jingyun Yang,Congyue Deng,Jimmy Wu,Rika Antonova,Leonidas Guibas,Jeannette Bohg
If a robot masters folding a kitchen towel, we would expect it to master folding a large beach towel. However, existing policy learning methods that rely on data augmentation still don’t guarantee such generalization. Our insight is to add equivariance to both the visual object representation and policy architecture. We propose EquivAct which utilizes SIM(3)-equivariant network structures that gua...
