Year: 2025
Type: preprint
Abstract: Sampling efficiency is critical for deploying visuomotor learning in real-world robotic manipulation. While task symmetry has emerged as a promising inductive bias to improve efficiency, most prior work is limited to isometric symmetries -- applying the same group transformation to all task objects across all timesteps. In this work, we explore non-isometric symmetries, applying multiple independent group transformations across spatial and temporal dimensions to relax these constraints. We introduce a novel formulation of the partially observable Markov decision process (POMDP) that incorporates the non-isometric symmetry structures, and propose a simple yet effective data augmentation method, Multi-Group Equivariance Augmentation (MEA). We integrate MEA with offline reinforcement learning to enhance sampling efficiency, and introduce a voxel-based visual representation that preserves translational equivariance. Extensive simulation and real-robot experiments across two manipulation domains demonstrate the effectiveness of our approach.
Source: arXiv (Cornell University)
Authors: Lin, Hongbin, Rojas, Juan, Au, Kwok Wai Samuel
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7075994067
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