Phase-Conditioned Affordance Fields for SE(3)-Equivariant Visuomotor Policies
SE(3)-equivariance provides a useful geometric inductive bias for visuomotor policies, encoding that actions covary with rigid transformations of the observation. However, existing SE(3)-equivariant visuomotor policies build this bias on a global equivariance assumption that treats the entire observation as governed by a single rigid transformation, which breaks down in real-world manipulation tasks where the task-relevant region changes across different objects. We address this by learning a phase-conditioned affordance field (PAF) over the observed point cloud, a per-point score that the SE(3)-equivariant policy uses in two complementary ways. Its score-weighted centroid serves as a lea...
| Authors | Xinzhe Chen, Liqi Huang, Sihua Ren et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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