Humans perceive and interact with the world with the awareness of equivariance, facilitating
us in manipulating different objects in diverse poses. For robotic manipulation, such …

Interacting with real-world cluttered scenes poses several challenges to robotic agents that
need to understand complex spatial dependencies among the observed objects to …

Robot task planning is an important problem for autonomous robots in long-horizon
challenging tasks. As large pre-trained models have demonstrated superior planning ability …