EDGI: Equivariant Diffusion for Planning with Embodied Agents Supplementary Material Anonymous Author(s) Affiliation Address email A Architecture details

We illustrate the architecture in Figure 1 in the main paper. We use a kernel size of 5. This is essentially an equivariant version of LayerNorm. In the geometric layers, the input state is split into scalar and vector components. The vector components are linearly transformed to reduce the number of channels to 16.