USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation (ICRA2023) Project website: https://sites.google.com/view/useek . The paper is available at …

2022年9月28日 · USEEK follows a teacher-student structure to decouple the unsupervised keypoint discovery and SE(3)-equivariant keypoint detection. With USEEK in hand, the robot …

Useek: Unsupervised se (3)-equivariant 3d keypoints for generalizable manipulation

SE(3)-equivariant keypoints (USEEK) for intra-category any-pose object manipulation. The keypoints from USEEK are first used to specify the task-relevant local coordinate frame of a …

2023年8月31日 · 我们提出了 useek，一种无监督的 se(3) 等变关键点检测器，可通过一次性模仿学习实现通用的拾取和放置。 useek 使用师生结构，以便可以以无监督的方式获取具有所需 …

USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation (ICRA2023)

2022年9月28日 · This paper uses 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-student structure to decouple the unsupervised keypoint discovery and SE(3)-equivariant keypoint detection. With USEEK in hand, the robot can infer the category …

USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation (ICRA2023) - Steven-xzr/USEEK

2022年3月19日 · From a novel mutual reconstruction perspective, we present an unsupervised method to generate consistent semantic keypoints from point clouds explicitly. To achieve this, …