@article{equiformnoiserobustse3equivariantpolicyl,
  title = {EquiForm: Noise-Robust SE(3)-Equivariant Policy Learning from 3D Point Clouds},
  author = {Zhiyuan Zhang and Yu She},
  year = {2026},
  eprint = {2601.17486},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.17486},
}