End-to-end learning for visual robotic manipulation is known to suffer from
sample inefficiency, requiring large numbers of demonstrations. The spatial
roto-translation equivariance, or the SE(3)-equivariance can be exploited to
improve the sample efficiency for learning robotic manipulation. In this paper,
we present SE(3)-equivariant models for visual robotic manipulation from point
clouds that can be trained fully end-to-end. By utilizing the representation
theory of the Lie group, we construct novel SE(3)-equivariant energy-based
models that allow highly sample efficient end-to-end learning. We show that our
models can learn from scratch without prior knowledge and yet are highly sample
efficient (5~10 demonstrations are enough). Furthermore, we show that our
models can generalize to tasks with (i) previously unseen target object poses,
(ii) previously unseen target object instances of the category, and (iii)
previously unseen visual distractors. We experiment with 6-DoF robotic
manipulation tasks to validate our models' sample efficiency and
generalizability. Codes are available at: this https URL

本文利用李群的表示理论构建了新的 SE (3) - 等变能量模型，允许高样本的端到端学习。我们证明这些模型可以从头开始学习，但具有很高的样本效率，并且可以推广到具有不同要求的任务中。