
GitHub - Steven-xzr/USEEK: USEEK: Unsupervised SE(3) …
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation (ICRA2023) Project website: https://sites.google.com/view/useek . The paper is available at https://arxiv.org/abs/2209.13864 .
SE(3)-equivariant keypoint (USEEK) discovery. We then first evaluate USEEK against state-of-the-art keypoint discovery baselines through visual metrics. Next, we leverage USEEK to enable a robot to pick up an intra-category object from a randomly initialized pose and then place it in a specified pose via one-shot imitation learning.
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-student structure to decouple the unsupervised keypoint discovery and SE(3)-equivariant keypoint detection.
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for ... - GitHub
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulation (ICRA2023)
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for …
2022年9月28日 · 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 generalizable manipulation. USEEK follows a teacher-student structure to decouple the unsupervised keypoint discovery and SE(3)-equivariant keypoint detection.
【具身智能】论文系列解读-RL-ViGen & ArrayBot & USEEK
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属性的关键点。大量实验表明,useek 检测到的关键点具有丰富的语义,这使得功能知识能够从 ...
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for ... - GitHub
2022年10月3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 can infer the category-level task-relevant object frames in an efficient and explainable manner, enabling manipulation of any intra-category objects from and to any poses.
USEEK - Google Sites
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...
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for …
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 can infer the...
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