@article{riemannnearrealtimese3equivariantrobot,
  title = {RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation},
  author = {Chongkai Gao and Zhengrong Xue and Shuying Deng and Tianhai Liang and Siqi Yang and Lin Shao and Huazhe Xu},
  year = {2024},
  eprint = {2403.19460},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.19460v2},
}