Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Tasks

arXiv:2404.13478v1 Announce Type: cross
Abstract: Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined based on the relationship between two objects - for instance, hanging a mug on a rack. In such cases, the solution should be equivariant to the initial position of the objects as well as the …

arxiv cs.cv cs.lg cs.ro placement reasoning tasks type