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 .

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.

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 Generalizable Manipulation (ICRA2023)

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...

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 and demonstrates that the keypoints produced by USEEK possess rich semantics, thus successfully transferring the functional knowledge from the demonstration object to the novel ones.

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...

USeek curates the latest and most practical AI tools and applications from around the world for you, offering professional reviews, usage tutorials, and best practice guides. Covering a wide range of applications in AI writing, painting, audio, video, and more, it helps you quickly find and master the right AI tools for your needs.

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.