Tootfinder

Equivariant Volumetric Grasping
Pinhao Song, Yutong Hu, Pengteng Li, Renaud Detry
https://arxiv.org/abs/2507.18847 https://arxiv.org/pdf/2507.18847

Equivariant Volumetric Grasping
We propose a new volumetric grasp model that is equivariant to rotations around the vertical axis, leading to a significant improvement in sample efficiency. Our model employs a tri-plane volumetric feature representation -- i.e., the projection of 3D features onto three canonical planes. We introduce a novel tri-plane feature design in which features on the horizontal plane are equivariant to 90° rotations, while the sum of features from the other two planes remains invariant to the same tran…