# EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Framework for Spatially Generalizable Contact-Rich Tasks

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/o3oa8xnazmnj1rrh4jqllzmbg
- Original: https://arxiv.org/abs/2507.10961

## Summary

EquiContact proposes a hierarchical framework consisting of a high-level vision planner, Diff-EDF, and a low-level compliant visuomotor policy, G-CompACT, for learning contact-rich manipulation policies that generalize across task configuration spaces.