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SizheWei committed Dec 4, 2024
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<meta charset="utf-8">
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<meta name="description" content="We present a morphological-symmetry-equivariant heterogeneous graph neural network, namely MS-HGNN, for robotic dynamics learning, that integrates robotic kinematic structures and morphological symmetries into a single graph network.">
<meta property="og:title" content="Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning"/>
<meta property="og:description" content="We present a morphological-symmetry-equivariant heterogeneous graph neural network, namely MS-HGNN, for robotic dynamics learning, that integrates robotic kinematic structures and morphological symmetries into a single graph network."/>
<meta property="og:url" content="https://lunarlab-gatech.github.io/MorphSym-HGNN"/>

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<meta name="twitter:card" content="A morphological-symmetry-equivariant heterogeneous graph neural network for robotic dynamics learning">
<meta name="twitter:title" content="MS-HGNN: Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network">
<meta name="twitter:description" content="We present MS-HGNN that integrates robotic kinematic structures and morphological symmetries into a single graph network for robotic dynamics learning.">

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<meta name="keywords" content="robotics, deep learning, structured deep learning, contact perception, morphology, graph neural network, legged robots, quadrupeds, robot perception, perception, heterogeneous graph neural network">
<meta name="keywords" content="morphological symmetry, geometric deep learning, graph neural network, robotic dynamics learning, quadruped robots, robotics, deep learning, structured deep learning, heterogeneous graph neural network, morphological symmetry equivariant, LunarLab, Georgia Tech, Caltech">
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<title>MS-HGNN: </title>
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<title>MS-HGNN: Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning</title>
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<div class="container is-max-desktop">
<div class="columns is-centered">
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<h1 class="title is-1 publication-title">Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning</h1>
<div class="is-size-5 publication-authors">
<h1 class="title is-1 publication-title" style="font-weight: 700; margin-bottom: 1.5rem; color: #363636;">
Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning
</h1>

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class="external-link button is-normal is-rounded is-dark">
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<span>Paper</span>
</a>
</span>

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<span>Code</span>
<div class="author-row" style="display: flex; flex-wrap: wrap; justify-content: center; gap: 0.5rem;">
<span class="author-block">
<a href="https://sites.google.com/view/fengze-xie/home" target="_blank" style="color: #2962ff; text-decoration: none; transition: color 0.2s;">Fengze Xie</a><sup>*1</sup>,
</span>
<span class="author-block">
<a href="https://sizhewei.github.io/" target="_blank" style="color: #2962ff; text-decoration: none; transition: color 0.2s;">Sizhe Wei</a><sup>*2</sup>,
</span>
<span class="author-block">
<a href="https://kingjamessong.github.io/" target="_blank" style="color: #2962ff; text-decoration: none; transition: color 0.2s;">Yue Song</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="http://www.yisongyue.com/" target="_blank" style="color: #2962ff; text-decoration: none; transition: color 0.2s;">Yisong Yue</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://ganlumomo.github.io/" target="_blank" style="color: #2962ff; text-decoration: none; transition: color 0.2s;">Lu Gan</a><sup>2</sup>
</span>
</div>
</div>

<div class="is-size-5 publication-authors" style="color: #666;">
<div class="institution-row" style="display: flex; justify-content: center; gap: 2rem; margin-bottom: 0.5rem;">
<span class="author-block"><sup>1</sup>California Institute of Technology</span>
<span class="author-block"><sup>2</sup>Georgia Institute of Technology</span>
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<div class="equal-contribution" style="font-style: italic; color: #888; margin-top: 0.5rem;">
<small><sup>*</sup>Indicates Equal Contribution</small>
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<div class="column has-text-centered">
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<a href="https://arxiv.org/pdf/2412.01297" target="_blank"
class="external-link button is-normal is-rounded is-dark">
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<i class="fas fa-file-pdf"></i>
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<span>Paper</span>
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</span>

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<a href="https://github.com/lunarlab-gatech/MorphSym-HGNN" target="_blank"
class="external-link button is-normal is-rounded is-dark">
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<span>Code</span>
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<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>Coming Soon.</code></pre>
<pre><code>@misc{xie2024morphologicalsymmetryequivariantheterogeneousgraphneural,
title={Morphological-Symmetry-Equivariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning},
author={Fengze Xie and Sizhe Wei and Yue Song and Yisong Yue and Lu Gan},
year={2024},
eprint={2412.01297},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2412.01297},
}</code></pre>
</div>
</section>
<!--End BibTex citation -->
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