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

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 category-level task-relevant object frames in an efficient and explainable manner, enabling manipulation of any intra-category objects from and to any poses.

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 demonstration object. Then, they generalize to the corresponding points from objects of unseen shapes within the same category and in unobserved poses at training ...

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

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 ...

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 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...

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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 demonstration object. Then, they generalize to the corresponding points from objects of unseen shapes within the same category and in unobserved poses at training ...

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 category-level...