Cover Image

SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Seo, Joohwan, Yoo, Soochul, Chang, Junwoo, An, Hyunseok, Ryu, Hyunwoo, Lee, Soomi, Kruthiventy, Arvind, Choi, Jongeun, Horowitz, Roberto
Format:	Preprint
Published:	2025
Subjects:	Robotics Machine Learning Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
by: Seo, Joohwan, et al.
Published: (2025)

EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks
by: Seo, Joohwan, et al.
Published: (2025)

Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning
by: Chang, Junwoo, et al.
Published: (2023)

Geometric Impedance Control on SE(3) for Robotic Manipulators
by: Seo, Joohwan, et al.
Published: (2022)

Partially Equivariant Reinforcement Learning in Symmetry-Breaking Environments
by: Chang, Junwoo, et al.
Published: (2025)

A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control
by: Seo, Joohwan, et al.
Published: (2024)

Symmetry-Aware Steering of Equivariant Diffusion Policies: Benefits and Limits
by: Park, Minwoo, et al.
Published: (2025)

Group-Invariant Unsupervised Skill Discovery: Symmetry-aware Skill Representations for Generalizable Behavior
by: Chang, Junwoo, et al.
Published: (2026)

Multi-Robot Motion Planning from Vision and Language using Heat-Inspired Diffusion
by: Chae, Jebeom, et al.
Published: (2025)

Social Zone as a Barrier Function for Socially-Compliant Robot Navigation
by: Jang, Junwoo, et al.
Published: (2024)

Model Predictive Control via Probabilistic Inference: A Tutorial and Survey
by: Honda, Kohei
Published: (2025)

Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds
by: Ryu, Kanghyun, et al.
Published: (2024)

Equivariant Reinforcement Learning Frameworks for Quadrotor Low-Level Control
by: Yu, Beomyeol, et al.
Published: (2025)

On the Convergence of Density-Based Predictive Control for Multi-Agent Non-Uniform Area Coverage
by: Seo, Sungjun, et al.
Published: (2025)

Density-Driven Optimal Control for Non-Uniform Area Coverage in Decentralized Multi-Agent Systems Using Optimal Transport
by: Seo, Sungjun, et al.
Published: (2025)

When Robotics Meets Wireless Communications: An Introductory Tutorial
by: Licea, Daniel Bonilla, et al.
Published: (2022)

A Tutorial on Distributed Optimization for Cooperative Robotics: from Setups and Algorithms to Toolboxes and Research Directions
by: Testa, Andrea, et al.
Published: (2023)

Leveraging Equivariances and Symmetries in the Control Barrier Function Synthesis
by: Wiltz, Adrian, et al.
Published: (2025)

Advancing Multi-Robot Networks via MLLM-Driven Sensing, Communication, and Computation: A Comprehensive Survey
by: Yang, Hyun Jong, et al.
Published: (2026)

A Survey on Robotic Prosthetics: Neuroprosthetics, Soft Actuators, and Control Strategies
by: Jyothish, Kumar J., et al.
Published: (2024)

Distributed Resilience-Aware Control in Multi-Robot Networks
by: Lee, Haejoon, et al.
Published: (2025)

ReSeFlow: Rectifying SE(3)-Equivariant Policy Learning Flows
by: Wang, Zhitao, et al.
Published: (2025)

Decoupled Design of Time-Varying Control Barrier Functions via Equivariances
by: Wiltz, Adrian, et al.
Published: (2025)

Robotic Trail Maker Platform for Rehabilitation in Neurological Conditions: Clinical Use Cases
by: Annamraju, Srikar, et al.
Published: (2025)

Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview
by: Tsukamoto, Hiroyasu, et al.
Published: (2021)

A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
by: Chang, I-Chia, et al.
Published: (2026)

Collaborative Robot Arm Inserting Nasopharyngeal Swabs with Admittance Control
by: Lee, Peter Q., et al.
Published: (2024)

Density-Driven Multi-Agent Coordination for Efficient Farm Coverage and Management in Smart Agriculture
by: Seo, Sungjun, et al.
Published: (2025)

A Tutorial on Gaussian Process Learning-based Model Predictive Control
by: Wang, Jie, et al.
Published: (2024)

Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
by: Mangan, Aedan, et al.
Published: (2026)

Deep Equivariant Multi-Agent Control Barrier Functions
by: Bousias, Nikolaos, et al.
Published: (2025)

Maintaining Strong r-Robustness in Reconfigurable Multi-Robot Networks using Control Barrier Functions
by: Lee, Haejoon, et al.
Published: (2024)

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
by: Bouvier, Jean-Baptiste, et al.
Published: (2025)

Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning
by: Reiter, Rudolf, et al.
Published: (2024)

Enabling Safety for Aerial Robots: Planning and Control Architectures
by: Naveed, Kaleb Ben, et al.
Published: (2025)

Equivariant Symmetries for Inertial Navigation Systems
by: Fornasier, Alessandro, et al.
Published: (2023)

Equivariant Symmetries for Aided Inertial Navigation
by: Fornasier, Alessandro
Published: (2024)

A Dimension-Decomposed Learning Framework for Online Disturbance Identification in Quadrotor SE(3) Control
by: Gao, Tianhua
Published: (2025)

Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions
by: Notomista, Gennaro, et al.
Published: (2024)

Equivariant Filter Design for Range-only SLAM
by: Ge, Yixiao, et al.
Published: (2025)