USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation
Zhengrong Xue,Zhecheng Yuan,Jiashun Wang,Xueqian Wang,Yang Gao,Huazhe Xu,Zhengrong Xue,Zhecheng Yuan,Jiashun Wang,Xueqian Wang,Yang Gao,Huazhe Xu
Can a robot manipulate intra-category unseen objects in arbitrary poses with the help of a mere demonstration of grasping pose on a single object instance? In this paper, we try to address this intriguing challenge by using USEEK, an unsupervised SE(3)-equivariant keypoints method that enjoys alignment across instances in a category, to perform generaliz-able manipulation. USEEK follows a teacher-...
