{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/on-robot-grasp-learning-using-equivariant","title":"On Robot Grasp Learning Using Equivariant Models","arxiv_id":"2306.06489","date":"2023-06-10","proceeding":null,"authors":["Xupeng Zhu","Dian Wang","Guanang Su","Ondrej Biza","Robin Walters","Robert Platt"],"abstract":"Real-world grasp detection is challenging due to the stochasticity in grasp dynamics and the noise in hardware. Ideally, the system would adapt to the real world by training directly on physical systems. However, this is generally difficult due to the large amount of training data required by most grasp learning models. In this paper, we note that the planar grasp function is $\\SE(2)$-equivariant and demonstrate that this structure can be used to constrain the neural network used during learning. This creates an inductive bias that can significantly improve the sample efficiency of grasp learning and enable end-to-end training from scratch on a physical robot with as few as $600$ grasp attempts. We call this method Symmetric Grasp learning (SymGrasp) and show that it can learn to grasp ``from scratch'' in less that 1.5 hours of physical robot time.","url_abs":"https://arxiv.org/abs/2306.06489v1","url_pdf":"https://arxiv.org/pdf/2306.06489v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"on-robot-grasp-learning-using-equivariant","repo_url":"https://github.com/zxp-s-works/se2-equivariant-grasp-learning","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"inductive-bias","task_name":"Inductive Bias"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2306.06489","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2306.06489"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/zxp-s-works/se2-equivariant-grasp-learning","reach":null}],"summary":{"ran_honours":1},"by_repo_kind":{},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":1,"samples":[{"code_sha256_prefix":"c2d55584759ca004","entry":"getCurrentObs","repo":null,"repo_kind":null,"path":null,"file_url":null,"link_basis":"identical_code_first_harvested_elsewhere","language":"python","status":"ran_honours","verification_level":1,"contract_check":"HONOURS","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":null,"inline_ok":false,"mcp_get_code":{"code_sha256":"c2d55584759ca004"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}