EquivDP3: A SIM(3)-Invariant Point-Cloud Encoder for Data-Efficient Humanoid Loco-Manipulation

arXiv:2609.36575 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/stephane-caron/pink

Terminology

• Benchmark — 13× in this paper · explained in 2 episodes
• Distribution Shift — 8× in this paper · explained in 6 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• International Conference on Learning Representations — 4× in this paper
• Robustness — 4× in this paper · explained in 5 episodes
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Vector Neuron Network — 3× in this paper
• Conference on Robot Learning — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Sample Efficiency — 2× in this paper · explained in 4 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Regularization — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Two-Stage Architecture — 1× in this paper · explained in 2 episodes

Sources

• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
• Layer Normalization
• Diffusion Policy Policy Optimization
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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