RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation

no code implementations • 28 Mar 2024 • Chongkai Gao, Zhengrong Xue, Shuying Deng, Tianhai Liang, Siqi Yang, Lin Shao, Huazhe Xu

RiEMann learns a manipulation task from scratch with 5 to 10 demonstrations, generalizes to unseen SE(3) transformations and instances of target objects, resists visual interference of distracting objects, and follows the near real-time pose change of the target object.

Imitation Learning Object +3

ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment

no code implementations • ICCV 2023 • Bingyang Zhou, Haoyu Zhou, Tianhai Liang, Qiaojun Yu, Siheng Zhao, Yuwei Zeng, Jun Lv, Siyuan Luo, Qiancai Wang, Xinyuan Yu, Haonan Chen, Cewu Lu, Lin Shao

We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations.

Keypoint Detection