EqvAfford: SE(3) Equivariance for Point-Level Affordance Learning
EqvAfford: SE(3) Equivariance for Point-Level Affordance Learning
Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no matter what the pose of a drawer is (translation, rotation and tilt), the manipulation strategy is …