Uploaded December 2021 | Updated September 2026, 1 week ago
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In this video I cover the "Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation" paper where the authors devised a novel representation that made the robotic manipulation much more robust and capable of generalizing to novel shape instantiations and arbitrary unseen poses.
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β Paper: arxiv.org/abs/2112.05124
β Website: yilundu.github.io/ndf
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βοΈ Timetable:
00:00 Intro
02:00 Neural Point Descriptor Field
12:30 Introducing SE(3) equivariance
22:35 Inducing energy landscape and optimization
25:10 Generalizing the neural descriptors to a pose
28:00 Visualizations, Results and Ablation
29:55 Outro
β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬
π° BECOME A PATREON OF THE AI EPIPHANY β€οΈ
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Huge thank you to these AI Epiphany patreons:
Eli Mahler
Kulsoom Abdullah
Petar VeliΔkoviΔ
BartΕomiej Danek
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β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬
#robots #equivariance #neuralrepresentations
β€οΈ Become The AI Epiphany Patreon β€οΈ
patreon.com/theaiepiphany
π¨βπ©βπ§βπ¦ Join our Discord community π¨βπ©βπ§βπ¦
discord.gg/peBrCpheKE
In this video I cover the "Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation" paper where the authors devised a novel representation that made the robotic manipulation much more robust and capable of generalizing to novel shape instantiations and arbitrary unseen poses.
β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬
β Paper: arxiv.org/abs/2112.05124
β Website: yilundu.github.io/ndf
β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬
βοΈ Timetable:
00:00 Intro
02:00 Neural Point Descriptor Field
12:30 Introducing SE(3) equivariance
22:35 Inducing energy landscape and optimization
25:10 Generalizing the neural descriptors to a pose
28:00 Visualizations, Results and Ablation
29:55 Outro
β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬
π° BECOME A PATREON OF THE AI EPIPHANY β€οΈ
If these videos, GitHub projects, and blogs help you,
consider helping me out by supporting me on Patreon!
The AI Epiphany - patreon.com/theaiepiphany
One-time donation - paypal.com/paypalme/theaiepiphany
Huge thank you to these AI Epiphany patreons:
Eli Mahler
Kulsoom Abdullah
Petar VeliΔkoviΔ
BartΕomiej Danek
β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬
πΌ LinkedIn - linkedin.com/in/aleksagordic
π¦ Twitter - twitter.com/gordic_aleksa
π¨βπ©βπ§βπ¦ Discord - discord.gg/peBrCpheKE
πΊ YouTube - youtube.com/c/TheAIEpiphany
π Medium - gordicaleksa.medium.com
π» GitHub - github.com/gordicaleksa
π’ AI Newsletter - aiepiphany.substack.com
β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬β¬
#robots #equivariance #neuralrepresentations
