EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Framework for Spatially Generalizable Contact-rich Tasks

arXiv:2507.10961 · cs.RO · Submitted 2025-07-15 · Read on arXiv

cs.RO

Submitted: 2025-07-15

Updated: 2026-10-30

Terminology

• Generalization — 2× in this paper · explained in 14 episodes
• Equivariance — 1× in this paper · explained in 3 episodes
• Planner — 1× in this paper · explained in 3 episodes

Related papers

• VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon
• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model
• Feedback World Model Enables Precise Guidance of Diffusion Policy
• Scene Graph-Driven Haptic Feedback for Safety Enhancement in Robotic Ophthalmic Surgery via Physically Simulated iOCT
• ASPIRE: Agentic /Skills Discovery for Robotics