CoRL 2020

165 papers

Deep Phase Correlation for End-to-End Heterogeneous Sensor Measurements Matching

Zexi Chen, Xuecheng Xu, Yue Wang, Rong Xiong

Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control

Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

Robust Policies via Mid-Level Visual Representations: An Experimental Study in Manipulation and Navigation

Bryan Chen, Alexander Sax, Francis Lewis, Iro Armeni, Silvio Savarese

Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience

Robert Lee, Daniel Ward, Vibhavari Dasagi, Akansel Cosgun, Juxi Leitner

Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation

Florian Voigt, Lars Johannsmeier, Sami Haddadin

Learning Equality Constraints for Motion Planning on Manifolds

Giovanni Sutanto, Isabel Rayas Fernández, Peter Englert, Ragesh Kumar Ramachandran, Gaurav Sukhatme

ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations

Samuel Pfrommer, Mathew Halm, Michael Posa

Learning Predictive Models for Ergonomic Control of Prosthetic Devices

GEOFFEY CLARK, Joseph Campbell, Heni Ben Amor

Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach

Kartik Paigwar, Lokesh Krishna, sashank tirumala, naman khetan, aditya varma

MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control

Boris Ivanovic, Amine Elhafsi, Guy Rosman, Adrien Gaidon, Marco Pavone

Learning from Demonstrations using Signal Temporal Logic

Aniruddh Puranic, Jyotirmoy Deshmukh, Stefanos Nikolaidis

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Dieter Fox, Siddhartha Srinivasa

Harnessing Distribution Ratio Estimators for Learning Agents with Quality and Diversity

Tanmay Gangwani, Jian Peng, Yuan Zhou

Attentional Separation-and-Aggregation Network for Self-supervised Depth-Pose Learning in Dynamic Scenes

Feng Gao, Jincheng Yu, Hao Shen, Yu Wang, Huazhong Yang

Differentiable Logic Layer for Rule Guided Trajectory Prediction

Xiao Li, Guy Rosman, Igor Gilitschenski, Jonathan DeCastro, Cristian-Ioan Vasile

Chaining Behaviors from Data with Model-Free Reinforcement Learning

Avi Singh, Albert Yu, Jonathan Yang, Jesse Zhang, Aviral Kumar

S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Clouds

Ran Cheng, Christopher Agia, Yuan Ren, Xinhai Li, Liu Bingbing

Explicitly Encouraging Low Fractional Dimensional Trajectories Via Reinforcement Learning

Sean Gillen, Katie Byl

Never Stop Learning: The Effectiveness of Fine-Tuning in Robotic Reinforcement Learning

Ryan Julian, Benjamin Swanson, Gaurav Sukhatme, Sergey Levine, Chelsea Finn

Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning

Son Nguyen, Ozgur Oguz, Valentin Hartmann, Marc Toussaint

Self-Supervised 3D Keypoint Learning for Ego-Motion Estimation

Jiexiong Tang, Rares Ambrus, Vitor Guizilini, Sudeep Pillai, Hanme Kim

Transformers for One-Shot Visual Imitation

Sudeep Dasari, Abhinav Gupta

Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling

Thomas Lew, Marco Pavone

Learning Vision-based Reactive Policies for Obstacle Avoidance

Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin

Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion

Boshen Niu, Chenxi Wang, Changliu Liu

Deep Reinforcement Learning with Population-Coded Spiking Neural Network for Continuous Control

Guangzhi Tang, Neelesh Kumar, Raymond Yoo, Konstantinos Michmizos

DeepMPCVS: Deep Model Predictive Control for Visual Servoing

Pushkal Katara, Harish YVS, Harit Pandya, Abhinav Gupta, AadilMehdi Sanchawala

Visual Imitation Made Easy

Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel

Hierarchical Robot Navigation in Novel Environments using Rough 2-D Maps

Chengguang Xu, Christopher Amato, Lawson Wong

Reactive motion planning with probabilisticsafety guarantees

Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron Ames, Richard Murray

Deep Reactive Planning in Dynamic Environments

Kei Ota, Devesh Jha, Tadashi Onishi, Asako Kanezaki, Yusuke Yoshiyasu

Model-Based Inverse Reinforcement Learning from Visual Demonstrations

Neha Das, Sarah Bechtle, Todor Davchev, Dinesh Jayaraman, Akshara Rai

BayesRace: Learning to race autonomously using prior experience

Achin Jain, Matthew O’Kelly, Pratik Chaudhari, Manfred Morari

Unsupervised Monocular Depth Learning in Dynamic Scenes

Hanhan Li, Ariel Gordon, Hang Zhao, Vincent Casser, Anelia Angelova

ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharing

Mete Akbulut, Erhan Oztop, Muhammet Yunus Seker, Hh X, Ahmet Tekden

Learning to Improve Multi-Robot Hallway Navigation

Jin Soo Park, Brian Tsang, Harel Yedidsion, Garrett Warnell, Daehyun Kyoung

TriFinger: An Open-Source Robot for Learning Dexterity

Manuel Wuthrich, Felix Widmaier, Felix Grimminger, Shruti Joshi, Vaibhav Agrawal

Deep Latent Competition: Learning to Race Using Visual Control Policies in Latent Space

Wilko Schwarting, Tim Seyde, Igor Gilitschenski, Lucas Liebenwein, Ryan Sander

Few-shot Object Grounding and Mapping for Natural Language Robot Instruction Following

Valts Blukis, Ross Knepper, Yoav Artzi

Multiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems

Sushmita Bhattacharya, Siva Kailas, Sahil Badyal, Stephanie Gil, Dimitri Bertsekas

Diverse Plausible Shape Completions from Ambiguous Depth Images

Bradley Saund, Dmitry Berenson

Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs

Marcus Pereira, Ziyi Wang, Ioannis Exarchos, Evangelos Theodorou

Soft Multicopter Control Using Neural Dynamics Identification

Yitong Deng, Yaorui Zhang, Xingzhe He, Shuqi Yang, Yunjin Tong

TartanVO: A Generalizable Learning-based VO

Wenshan Wang, Yaoyu Hu, Sebastian Scherer

MultiPoint: Cross-spectral registration of thermal and optical aerial imagery

Florian Achermann, Andrey Kolobov, Debadeepta Dey, Timo Hinzmann, Jen Jen Chung

Unsupervised Metric Relocalization Using Transform Consistency Loss

Mike Kasper, Fernando Nobre, Christoffer Heckman, Nima Keivan

PLAS: Latent Action Space for Offline Reinforcement Learning

Wenxuan Zhou, Sujay Bajracharya, David Held

Learning a natural-language to LTL executable semantic parser for grounded robotics

Christopher Wang, Candace Ross, Yen-Ling Kuo, Boris Katz, Andrei Barbu

Fast robust peg-in-hole insertion with continuous visual servoing

Rasmus Haugaard, Jeppe Langaa, Christoffer Sloth, Anders Buch

Learning Object-conditioned Exploration using Distributed Soft Actor Critic

Ayzaan Wahid, Austin Stone, Kevin Chen, brian ichter, Alexander Toshev

3D-OES: Viewpoint-Invariant Object-Factorized Environment Simulators

Hsiao-Yu Tung, Zhou Xian, Mihir Prabhudesai, Shamit Lal, Katerina Fragkiadaki

Time-Bounded Mission Planning in Time-Varying Domains with Semi-MDPs and Gaussian Processes

Paul Duckworth, Bruno Lacerda, Nick Hawes

Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability

Hai Nguyen, Brett Daley, Xinchao Song, Christopher Amato, Robert Platt

Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations

Glen Chou, Dmitry Berenson, Necmiye Ozay

Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter

Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, Juan Nieto

A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects

Anthony Simeonov, Yilun Du, Beomjoon Kim, Francois Hogan, Joshua Tenenbaum

Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations

Kevin Chen, Nithin Shrivatsav Srikanth, David Kent, Harish Ravichandar, Sonia Chernova

DIRL: Domain-Invariant Representation Learning for Sim-to-Real Transfer

Ajay Tanwani

Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping

Adithyavairavan Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta

Learning Certified Control Using Contraction Metric

Dawei Sun, Susmit Jha, Chuchu Fan

Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles

David Surovik, Oliwier Melon, Mathieu Geisert, Maurice Fallon, Ioannis Havoutis

Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity

William Agnew, Christopher Xie, Aaron Walsman, Octavian Murad, Yubo Wang

Policy learning in SE(3) action spaces

Dian Wang, Colin Kohler, Robert Platt

Robot Action Selection Learning via Layered Dimension Informed Program Synthesis

Jarrett Holtz, Arjun Guha, Joydeep Biswas

Generative adversarial training of product of policies for robust and adaptive movement primitives

Emmanuel Pignat, Hakan Girgin, Sylvain Calinon

Multi-Modal Anomaly Detection for Unstructured and Uncertain Environments

Tianchen Ji, Sri Theja Vuppala, Girish Chowdhary, Katherine Driggs-Campbell

Generalization Guarantees for Imitation Learning

Allen Ren, Sushant Veer, Anirudha Majumdar

Learning rich touch representations through cross-modal self-supervision

Martina Zambelli, Yusuf Aytar, Francesco Visin, Yuxiang Zhou, Raia Hadsell

The Emergence of Adversarial Communication in Multi-Agent Reinforcement Learning

Jan Blumenkamp, Amanda Prorok

The RobotSlang Benchmark: Dialog-guided Robot Localization and Navigation

Shurjo Banerjee, Jesse Thomason, Jason Corso

Map-Adaptive Goal-Based Trajectory Prediction

Lingyao Zhang, Po-Hsun Su, Jerrick Hoang, Galen Clark Haynes, Micol Marchetti-Bowick

Learning Hybrid Control Barrier Functions from Data

Lars Lindemann, Haimin Hu, Alexander Robey, Hanwen Zhang, Dimos Dimarogonas

Learning Stability Certificates from Data

Nicholas Boffi, Stephen Tu, Nikolai Matni, Jean-Jacques Slotine, Vikas Sindhwani

A User’s Guide to Calibrating Robotic Simulators

Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos

Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning

Le Chen, Yunke Ao, Florian Tschopp, Andrei Cramariuc, Michel Breyer

Learning Interactively to Resolve Ambiguity in Reference Frame Selection

Giovanni Franzese, Carlos Celemin, Jens Kober

Stein Variational Model Predictive Control

Alexander Lambert, Fabio Ramos, Byron Boots, Dieter Fox, Adam Fishman

Learning from Suboptimal Demonstration via Self-Supervised Reward Regression

Letian Chen, Rohan Paleja, Matthew Gombolay

MELD: Meta-Reinforcement Learning from Images via Latent State Models

Zihao Zhao, Anusha Nagabandi, Kate Rakelly, Chelsea Finn, Sergey Levine

Self-Supervised Object-in-Gripper Segmentation from Robotic Motions

Wout Boerdijk, Martin Sundermeyer, Maximilian Durner, Rudolph Triebel

EXI-Net: EXplicitly/Implicitly Conditioned Network for Multiple Environment Sim-to-Real Transfer

Takayuki Murooka, Masashi Hamaya, Felix von Drigalski, Kazutoshi Tanaka, Yoshihisa Ijiri

Visual Localization and Mapping with Hybrid SFA

Muhammad Haris, Mathias Franzius, Ute Bauer-Wersing, Sai Krishna Kaushik Karanam

Learning to Communicate and Correct Pose Errors

Nicholas Vadivelu, Mengye Ren, James Tu, Jingkang Wang, Raquel Urtasun

Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps

Jialiang Zhao, Daniel Troniak, Oliver Kroemer

StrObe: Streaming Object Detection from LiDAR Packets

Davi Frossard, Shun Da Suo, Sergio Casas, James Tu, Raquel Urtasun

Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning

Tianjian Chen, Zhanpeng He, Matei Ciocarlie

Flightmare: A Flexible Quadrotor Simulator

Yunlong Song, Selim Naji, Elia Kaufmann, Antonio Loquercio, Davide Scaramuzza

Incremental learning of EMG-based control commands using Gaussian Processes

Felix Schiel, Annette Hagengruber, Jörn Vogel, Rudolph Triebel

Generation of Realistic Images for Learning in Simulation using FeatureGAN

Nicolas Cruz, Javier Ruiz-del-Solar

Learning to Walk in the Real World with Minimal Human Effort

Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, Jie Tan

IV-SLAM: Introspective Vision for Simultaneous Localization and Mapping

Sadegh Rabiee, Joydeep Biswas

Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion

Roland Hafner, Tim Hertweck, Philipp Kloeppner, Michael Bloesch, Michael Neunert

Sim2Real Transfer for Deep Reinforcement Learning with Stochastic State Transition Delays

Sandeep Singh Sandha, Luis Garcia, Bharathan Balaji, Fatima Anwar, Mani Srivastava

Sample-efficient Cross-Entropy Method for Real-time Planning

Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, Joerg Stueckler

ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning

Yufei Wang, Narasimhan Gautham, Xingyu Lin, Brian Okorn, David Held

Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering

Maria Bauza Villalonga, Alberto Rodriguez, Bryan Lim, Eric Valls, Theo Sechopoulos

Probably Approximately Correct Vision-Based Planning using Motion Primitives

Sushant Veer, Anirudha Majumdar

Asynchronous Deep Model Reference Adaptive Control

Girish Joshi, Jasvir Virdi, Girish Chowdhary

Universal Embeddings for Spatio-Temporal Tagging of Self-Driving Logs

Sean Segal, Eric Kee, Wenjie Luo, Abbas Sadat, Ersin Yumer

Contrastive Variational Reinforcement Learning for Complex Observations

Xiao Ma, SIWEI CHEN, David Hsu, Wee Sun Lee