Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
Anthony Simeonov,Yilun Du,Andrea Tagliasacchi,Joshua B. Tenenbaum,Alberto Rodriguez,Pulkit Agrawal,Vincent Sitzmann,Anthony Simeonov,Yilun Du,Andrea Tagliasacchi,Joshua B. Tenenbaum,Alberto Rodriguez,Pulkit Agrawal,Vincent Sitzmann
We present Neural Descriptor Fields (NDFs), an object representation that encodes both points and relative poses between an object and a target (such as a robot gripper or a rack used for hanging) via category-level descriptors. We employ this representation for object manipulation, where given a task demonstration, we want to repeat the same task on a new object instance from the same category. W...
