mlsanityData to 7 Oct 2026

Equivariant Transporter Network

arXiv 2202.09400 ↗First posted 18 Feb 2022cs.RO cs.CV cs.LGcited by 44

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Abstract (arXiv)

Transporter Net is a recently proposed framework for pick and place that is able to learn good manipulation policies from a very few expert demonstrations. A key reason why Transporter Net is so sample efficient is that the model incorporates rotational equivariance into the pick module, i.e. the model immediately generalizes learned pick knowledge to objects presented in different orientations. This paper proposes a novel version of Transporter Net that is equivariant to both pick and place orientation. As a result, our model immediately generalizes place knowledge to different place orientations in addition to generalizing pick knowledge as before. Ultimately, our new model is more sample efficient and achieves better pick and place success rates than the baseline Transporter Net model.

Key facts. Cited by 44 papers in the map (data through 7 Oct 2026). Builds on 25 of its 44 references that are in the map. First posted on arXiv 18 Feb 2022.

Builds on

25 of 44 references.

References · 25

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  4. 2016Group Equivariant Convolutional Networkscited by 1,154
  5. 2015End-to-End Training of Deep Visuomotor Policiescited by 847
  6. 2019General E(2)-Equivariant Steerable CNNscited by 441
  7. 2018PCN: Point Completion Networkcited by 382
  8. 2020Transporter Networks: Rearranging the Visual World for Robotic Manipulationcited by 342
  9. 2017Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewardscited by 302
  10. 2016Steerable CNNscited by 298
  11. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 200
  12. 2017Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matchingcited by 124
13 more
  1. 2018Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learningcited by 121
  2. 2018Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approachcited by 117
  3. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 100
  4. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  5. 2021Equivariant Q Learning in Spatial Action Spacescited by 61
  6. 2019Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassemblycited by 51
  7. 2021Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordancescited by 38
  8. 2021NeRP: Neural Rearrangement Planning for Unknown Objectscited by 33
  9. 2020Self-supervised Learning for Precise Pick-and-place without Object Modelcited by 20
  10. 2020Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Datacited by 13
  11. 2019GRIP: Generative Robust Inference and Perception for Semantic Robot Manipulation in Adversarial Environmentscited by 6
  12. 2020Self-Supervised Goal-Conditioned Pick and Placecited by 5
  13. 2022GASCN: Graph Attention Shape Completion Networkcited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 8; 2023: 8; 2024: 11; 2025: 11; 2026: 6.

44 papers.

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  1. 2024EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learningcited by 72
  2. 2024Equivariant Diffusion Policycited by 61
  3. 2022Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learningcited by 54
  4. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  5. 2023Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulationcited by 51
  6. 2023Geometric Algebra Transformercited by 46
  7. 2024Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrationscited by 35
  8. 2022Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detectioncited by 34
  9. 2022The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetrycited by 32
  10. 2024Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3Dcited by 32
  11. 2023Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangementcited by 29
  12. 2024HardNet: Hard-Constrained Neural Networks with Universal Approximation Guaranteescited by 29
32 more
  1. 2024ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matchingcited by 25
  2. 2022SEIL: Simulation-augmented Equivariant Imitation Learningcited by 22
  3. 2024Deep SE(3)-Equivariant Geometric Reasoning for Precise Placement Taskscited by 19
  4. 2023A General Theory of Correct, Incorrect, and Extrinsic Equivariancecited by 18
  5. 2023Leveraging Symmetries in Pick and Placecited by 18
  6. 2024Imagination Policy: Using Generative Point Cloud Models for Learning Manipulation Policiescited by 18
  7. 2023CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generationcited by 17
  8. 2024Equivariant Reinforcement Learning under Partial Observabilitycited by 17
  9. 2022Learning Physically Realizable Skills for Online Packing of General 3D Shapescited by 12
  10. 2024RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentationcited by 12
  11. 2025Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objectscited by 10
  12. 2022Transporters with Visual Foresight for Solving Unseen Rearrangement Taskscited by 9
  13. 2025SE(3)-Equivariant Robot Learning and Control: A Tutorial Surveycited by 8
  14. 2024MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policiescited by 6
  15. 2025Constraint-Preserving Data Generation for Visuomotor Policy Learningcited by 6
  16. 2025A Practical Guide for Incorporating Symmetry in Diffusion Policycited by 4
  17. 20253D Equivariant Visuomotor Policy Learning via Spherical Projectioncited by 4
  18. 2025EfficientFlow: Efficient Equivariant Flow Policy Learning for Embodied AIcited by 4
  19. 2025Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulationcited by 3
  20. 2025Coarse-to-Fine 3D Keyframe Transportercited by 2
  21. 2025Slot-Level Robotic Placement via Visual Imitation from Single Human Videocited by 2
  22. 2023A Reinforcement Learning Approach for Robotic Unloading from Visual Observationscited by 1
  23. 2026EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Modelscited by 1
  24. 2022Unsupervised Reward Shaping for a Robotic Sequential Picking Task from Visual Observations in a Logistics Scenariocited by 0
  25. 2023SEAL: Semantic Frame Execution And Localization for Perceiving Afforded Robot Actionscited by 0
  26. 2025Generalization Bounds for Equivariant Networks on Markov Datacited by 0
  27. 2025Multi-Group Equivariant Augmentation for Reinforcement Learning in Robot Manipulationcited by 0
  28. 2026Group-Invariant Unsupervised Skill Discovery: Symmetry-aware Skill Representations for Generalizable Behaviorcited by 0
  29. 2026Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classificationcited by 0
  30. 2026Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentationcited by 0
  31. 2026SymVD: Symmetric Vision Language Action Distillation for Robot Manipulationcited by 0
  32. 2026EquivDP3: A SIM(3)-Invariant Point-Cloud Encoder for Data-Efficient Humanoid Loco-Manipulationcited by 0