2024
Contact-Rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka +1
RA-L 2024
This letter presents a differential geometric control approach that leverages <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">SE(3)</i> group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve in