CoRL 2021

166 papers

Dual-Arm Adversarial Robot Learning

Elie Aljalbout

Toward robots that learn to summarize their actions in natural language: a set of tasks

Chad DeChant, Daniel Bauer

Auditing Robot Learning for Safety and Compliance during Deployment

Homanga Bharadhwaj

Decentralized Sharing and Valuation of Fleet Robotic Data

Yuchong Geng, Dongyue Zhang, Po-han Li, Oguzhan Akcin, Ao Tang

RoboFlow: a Data-centric Workflow Management System for Developing AI-enhanced Robots

Qinjie Lin, Guo Ye, Jiayi Wang, Han Liu

Learning to be Multimodal : Co-evolving Sensory Modalities and Sensor Properties

Rika Antonova, Jeannette Bohg

From Robot Learning To Robot Understanding: Leveraging Causal Graphical Models For Robotics

Kaylene Caswell Stocking, Alison Gopnik, Claire Tomlin

Robots on Demand: A Democratized Robotics Research Cloud

Victoria Dean, Yonadav G Shavit, Abhinav Gupta

Back to Reality for Imitation Learning

Edward Johns

Continuous then discrete: A recommendation for building robotic brains

Chris Eliasmith, P. Michael Furlong

Understanding the World Through Action

Sergey Levine

The Task Specification Problem

Pulkit Agrawal

Collect & Infer - a fresh look at data-efficient Reinforcement Learning

Martin Riedmiller, Jost Tobias Springenberg, Roland Hafner, Nicolas Heess

Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions

Charles Dawson, Zengyi Qin, Sicun Gao, Chuchu Fan

Equivariant Q Learning in Spatial Action Spaces

Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt

Offline-to-Online Reinforcement Learning via Balanced Replay and Pessimistic Q-Ensemble

Seunghyun Lee, Younggyo Seo, Kimin Lee, Pieter Abbeel, Jinwoo Shin

Language Grounding with 3D Objects

Jesse Thomason, Mohit Shridhar, Yonatan Bisk, Chris Paxton, Luke Zettlemoyer

What Matters in Learning from Offline Human Demonstrations for Robot Manipulation

Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang

O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning

Kaichun Mo, Yuzhe Qin, Fanbo Xiang, Hao Su, Leonidas Guibas

RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks

Chris Xie, Arsalan Mousavian, Yu Xiang, Dieter Fox

Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation

Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora

Smooth Exploration for Robotic Reinforcement Learning

Antonin Raffin, Jens Kober, Freek Stulp

Learning Off-Policy with Online Planning

Harshit Sikchi, Wenxuan Zhou, David Held

Distributional Depth-Based Estimation of Object Articulation Models

Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov, Scott Niekum

Generalised Task Planning with First-Order Function Approximation

Jun Hao Alvin Ng, Ronald P.A. Petrick

Embodied Semantic Scene Graph Generation

Xinghang Li, Di Guo, Huaping Liu, Fuchun Sun

Learning Inertial Odometry for Dynamic Legged Robot State Estimation

Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice Fallon

"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer

Andrew Hundt, Aditya Murali, Priyanka Hubli, Ran Liu, Nakul Gopalan

Safe Driving via Expert Guided Policy Optimization

Zhenghao Peng, Quanyi Li, Chunxiao Liu, Bolei Zhou

You Only Evaluate Once: a Simple Baseline Algorithm for Offline RL

Wonjoon Goo, Scott Niekum

Neural Posterior Domain Randomization

Fabio Muratore, Theo Gruner, Florian Wiese, Boris Belousov, Michael Gienger

Fully Self-Supervised Class Awareness in Dense Object Descriptors

Denis Hadjivelichkov, Dimitrios Kanoulas

SCAPE: Learning Stiffness Control from Augmented Position Control Experiences

Mincheol Kim, Scott Niekum, Ashish D. Deshpande

Towards Real Robot Learning in the Wild: A Case Study in Bipedal Locomotion

Michael Bloesch, Jan Humplik, Viorica Patraucean, Roland Hafner, Tuomas Haarnoja

Guiding Multi-Step Rearrangement Tasks with Natural Language Instructions

Elias Stengel-Eskin, Andrew Hundt, Zhuohong He, Aditya Murali, Nakul Gopalan

Probabilistic and Geometric Depth: Detecting Objects in Perspective

Tai WANG, Xinge ZHU, Jiangmiao Pang, Dahua Lin

Stochastic Policy Optimization with Heuristic Information for Robot Learning

Seonghyun Kim, Ingook Jang, Samyeul Noh, Hyunseok Kim

Dealing with the Unknown: Pessimistic Offline Reinforcement Learning

Jinning Li, Chen Tang, Masayoshi Tomizuka, Wei Zhan

Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks

Benedikt Mersch, Xieyuanli Chen, Jens Behley, Cyrill Stachniss

Multi-Agent Trajectory Prediction by Combining Egocentric and Allocentric Views

Xiaosong Jia, Liting Sun, Hang Zhao, Masayoshi Tomizuka, Wei Zhan

Specializing Versatile Skill Libraries using Local Mixture of Experts

Onur Celik, Dongzhuoran Zhou, Ge Li, Philipp Becker, Gerhard Neumann

Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations

Minghan Zhu, Maani Ghaffari, Huei Peng

Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction

Niklas Funk, Georgia Chalvatzaki, Boris Belousov, Jan Peters

CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact

Brad Saund, Dmitry Berenson

LILA: Language-Informed Latent Actions

Siddharth Karamcheti, Megha Srivastava, Percy Liang, Dorsa Sadigh

Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation

Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-fei

Robot Reinforcement Learning on the Constraint Manifold

Puze Liu, Davide Tateo, Haitham Bou Ammar, Jan Peters

LENS: Localization enhanced by NeRF synthesis

Arthur Moreau, Nathan Piasco, Dzmitry Tsishkou, Bogdan Stanciulescu, Arnaud de La Fortelle

Learning Eye-in-Hand Camera Calibration from a Single Image

Eugene Valassakis, Kamil Dreczkowski, Edward Johns

Learning A Risk-Aware Trajectory Planner From Demonstrations Using Logic Monitor

Xiao Li, Jonathan DeCastro, Sertac Karaman, Daniela Rus, Cristian-Ioan Vasile

Hierarchically Integrated Models: Learning to Navigate from Heterogeneous Robots

Katie Kang, Gregory Kahn, Sergey Levine

Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation

Suraj Nair, Eric Mitchell, Kevin Chen, brian ichter, Silvio Savarese

Visual-Locomotion: Learning to Walk on Complex Terrains with Vision

Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu

Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration

Chen Wang, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-fei, Karen Liu

Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness

Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian

Skill Preferences: Learning to Extract and Execute Robotic Skills from Human Feedback

Xiaofei Wang, Kimin Lee, Kourosh Hakhamaneshi, Pieter Abbeel, Michael Laskin

Generating Scenarios with Diverse Pedestrian Behaviors for Autonomous Vehicle Testing

Maria Priisalu, Aleksis Pirinen, Ciprian Paduraru, Cristian Sminchisescu

Assisted Robust Reward Design

Jerry Zhi-Yang He, Anca D. Dragan

Anomaly Detection in Multi-Agent Trajectories for Automated Driving

Julian Wiederer, Arij Bouazizi, Marco Troina, Ulrich Kressel, Vasileios Belagiannis

Self-Improving Semantic Perception for Indoor Localisation

Hermann Blum, Francesco Milano, René Zurbrügg, Roland Siegwart, Cesar Cadena

Enhancing Consistent Ground Maneuverability by Robot Adaptation to Complex Off-Road Terrains

Sriram Siva, Maggie Wigness, John Rogers, Hao Zhang

Learning Behaviors through Physics-driven Latent Imagination

Antoine Richard, Stéphanie Aravecchia, Matthieu Geist, Cédric Pradalier

Learning Multi-Stage Tasks with One Demonstration via Self-Replay

Norman Di Palo, Edward Johns

Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes

Jongseok Lee, Jianxiang Feng, Matthias Humt, Marcus Gerhard Müller, Rudolph Triebel

Learning to Plan Optimistically: Uncertainty-Guided Deep Exploration via Latent Model Ensembles

Tim Seyde, Wilko Schwarting, Sertac Karaman, Daniela Rus

Strength Through Diversity: Robust Behavior Learning via Mixture Policies

Tim Seyde, Wilko Schwarting, Igor Gilitschenski, Markus Wulfmeier, Daniela Rus

Influencing Towards Stable Multi-Agent Interactions

Woodrow Zhouyuan Wang, Andy Shih, Annie Xie, Dorsa Sadigh

Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes

Alex X. Lee, Coline Manon Devin, Yuxiang Zhou, Thomas Lampe, Konstantinos Bousmalis

AW-Opt: Learning Robotic Skills with Imitation andReinforcement at Scale

Yao Lu, Karol Hausman, Yevgen Chebotar, Mengyuan Yan, Eric Jang

The Boombox: Visual Reconstruction from Acoustic Vibrations

Boyuan Chen, Mia Chiquier, Hod Lipson, Carl Vondrick

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari

LanguageRefer: Spatial-Language Model for 3D Visual Grounding

Junha Roh, Karthik Desingh, Ali Farhadi, Dieter Fox

Learning to Predict Vehicle Trajectories with Model-based Planning

Haoran Song, Di Luan, Wenchao Ding, Michael Y Wang, Qifeng Chen

Learning to Jump from Pixels

Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sang bae Kim

Exploring Adversarial Robustness of Multi-sensor Perception Systems in Self Driving

James Tu, Huichen Li, Xinchen Yan, Mengye Ren, Yun Chen

Motion Forecasting with Unlikelihood Training in Continuous Space

Deyao Zhu, Mohamed Zahran, Li Erran Li, Mohamed Elhoseiny

BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning

Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert

Redundancy Resolution as Action Bias in Policy Search for Robotic Manipulation

Firas Al-Hafez, Jochen J. Steil

Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning

Alec Farid, Sushant Veer, Anirudha Majumdar

LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks

Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Ken Goldberg, Joseph E Gonzalez

Social Interactions as Recursive MDPs

Ravi Tejwani, Yen-Ling Kuo, Tianmin Shu, Boris Katz, Andrei Barbu

SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo

Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland

Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots

Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak

Aligning an optical interferometer with beam divergence control and continuous action space

Stepan Makarenko, Dmitry Igorevich Sorokin, Alexander Ulanov, Alexander Lvovsky

S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning in Robotics

Samarth Sinha, Ajay Mandlekar, Animesh Garg

CLIPort: What and Where Pathways for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox

A Constrained Multi-Objective Reinforcement Learning Framework

Sandy Huang, Abbas Abdolmaleki, Giulia Vezzani, Philemon Brakel, Michael Neunert

Group-based Motion Prediction for Navigation in Crowded Environments

Allan Wang, Christoforos Mavrogiannis, Aaron Steinfeld

IMU-Assisted Learning of Single-View Rolling Shutter Correction

Jiawei Mo, Md Jahidul Islam, Junaed Sattar

RoCUS: Robot Controller Understanding via Sampling

Yilun Zhou, Serena Booth, Nadia Figueroa, Julie Shah

Motivating Physical Activity via Competitive Human-Robot Interaction

Boling Yang, Golnaz Habibi, Patrick Lancaster, Byron Boots, Joshua Smith

Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects

Haoping Xu, Yi Ru Wang, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti

Just Label What You Need: Fine-Grained Active Selection for P&P through Partially Labeled Scenes

Sean Segal, Nishanth Kumar, Sergio Casas, Wenyuan Zeng, Mengye Ren

Predicting Stable Configurations for Semantic Placement of Novel Objects

Chris Paxton, Chris Xie, Tucker Hermans, Dieter Fox

Geometry-aware Bayesian Optimization in Robotics using Riemannian Matérn Kernels

Noémie Jaquier, Viacheslav Borovitskiy, Andrei Smolensky, Alexander Terenin, Tamim Asfour

Model-free Safe Control for Zero-Violation Reinforcement Learning

Weiye Zhao, Tairan He, Changliu Liu

Fast and Efficient Locomotion via Learned Gait Transitions

Yuxiang Yang, Tingnan Zhang, Erwin Coumans, Jie Tan, Byron Boots

Structure from Silence: Learning Scene Structure from Ambient Sound

Ziyang Chen, Xixi Hu, Andrew Owens

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation

Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox

My House, My Rules: Learning Tidying Preferences with Graph Neural Networks

Ivan Kapelyukh, Edward Johns