mlsanityData to 7 Oct 2026

Sample Efficient Grasp Learning Using Equivariant Models

arXiv 2202.09468 ↗First posted 18 Feb 2022cs.ROcited by 52

Not on the map. Why?

Abstract (arXiv)

In planar grasp detection, the goal is to learn a function from an image of a scene onto a set of feasible grasp poses in SE(2). In this paper, we recognize that the optimal grasp function is SE(2)-equivariant and can be modeled using an equivariant convolutional neural network. As a result, we are able to significantly improve the sample efficiency of grasp learning, obtaining a good approximation of the grasp function after only 600 grasp attempts. This is few enough that we can learn to grasp completely on a physical robot in about 1.5 hours.

Key facts. Cited by 52 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Feb 2022.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 5; 2023: 13; 2024: 18; 2025: 13; 2026: 3.

52 papers.

Sort:

By area:

  1. 2024Equivariant Diffusion Policycited by 61
  2. 2023Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulationcited by 51
  3. 2023Geometric Algebra Transformercited by 46
  4. 2023Approximation-Generalization Trade-offs under (Approximate) Group Equivariancecited by 45
  5. 2022Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detectioncited by 34
  6. 2022The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetrycited by 32
  7. 2024Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3Dcited by 32
  8. 2022SEIL: Simulation-augmented Equivariant Imitation Learningcited by 22
  9. 2024Improving Equivariant Model Training via Constraint Relaxationcited by 22
  10. 2024AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulationcited by 20
  11. 2023A General Theory of Correct, Incorrect, and Extrinsic Equivariancecited by 18
  12. 2023Leveraging Symmetries in Pick and Placecited by 18
38 more
  1. 2024Imagination Policy: Using Generative Point Cloud Models for Learning Manipulation Policiescited by 18
  2. 2024Equivariant Reinforcement Learning under Partial Observabilitycited by 17
  3. 2022Equivariant Networks for Zero-Shot Coordinationcited by 16
  4. 2024RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentationcited by 12
  5. 2022Continual Vision-based Reinforcement Learning with Group Symmetriescited by 10
  6. 2023SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenescited by 9
  7. 2023ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touchcited by 9
  8. 2024Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Framescited by 9
  9. 2024Approximate Equivariance in Reinforcement Learningcited by 9
  10. 2024Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wristcited by 7
  11. 2024Symmetry-Based Structured Matrices for Efficient Approximately Equivariant Networkscited by 7
  12. 2024On-Robot Reinforcement Learning with Goal-Contrastive Rewardscited by 7
  13. 2025SE(3)-Equivariant Diffusion Policy in Spherical Fourier Spacecited by 7
  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. 2023QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulationcited by 5
  17. 2023SO(2)-Equivariant Downwash Models for Close Proximity Flightcited by 5
  18. 2024Equivariant Offline Reinforcement Learningcited by 5
  19. 2024Equivariant Action Sampling for Reinforcement Learning and Planningcited by 4
  20. 2025A Practical Guide for Incorporating Symmetry in Diffusion Policycited by 4
  21. 20253D Equivariant Visuomotor Policy Learning via Spherical Projectioncited by 4
  22. 2025EfficientFlow: Efficient Equivariant Flow Policy Learning for Embodied AIcited by 4
  23. 2025Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulationcited by 3
  24. 2023Learning from Pixels with Expert Observationscited by 2
  25. 2023On-Robot Bayesian Reinforcement Learning for POMDPscited by 2
  26. 2023Docking Multirotors in Close Proximity using Learnt Downwash Modelscited by 2
  27. 2024Segment as You Wish -- Free-Form Language-Based Segmentation for Medical Imagescited by 2
  28. 2024AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Taskscited by 2
  29. 2025Coarse-to-Fine 3D Keyframe Transportercited by 2
  30. 2025Generalizable Hierarchical Skill Learning via Object-Centric Representationcited by 2
  31. 2023Can Euclidean Symmetry be Leveraged in Reinforcement Learning and Planning?cited by 1
  32. 2024Pseudo-Labeling and Contextual Curriculum Learning for Online Grasp Learning in Robotic Bin Pickingcited by 1
  33. 2025Symmetries-enhanced Multi-Agent Reinforcement Learningcited by 1
  34. 2025Learning Abstract World Models with a Group-Structured Latent Spacecited by 1
  35. 2025MTF-Grasp: A Multi-tier Federated Learning Approach for Robotic Graspingcited by 1
  36. 2026EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flowscited by 1
  37. 2025Generalization Bounds for Equivariant Networks on Markov Datacited by 0
  38. 2025Multi-Group Equivariant Augmentation for Reinforcement Learning in Robot Manipulationcited by 0

50 most cited of 52 All 52 (JSON)