CoRL 2021

166 papers

Demonstration-Guided Reinforcement Learning with Learned Skills

Karl Pertsch, Youngwoon Lee, Yue Wu, Joseph J. Lim, Joseph J Lim

Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradients

Oliver Scheel, Luca Bergamini, Maciej Wolczyk, Błażej Osiński, Peter Ondruska

A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution

Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, Yoav Artzi

Visually-Grounded Library of Behaviors for Manipulating Diverse Objects across Diverse Configurations and Views

Jingyun Yang, Hsiao-Yu Tung, Yunchu Zhang, Gaurav Pathak, Ashwini Pokle

Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR

Ziyue Feng, Longlong Jing, Peng Yin, YingLi Tian, Bing Li

Rapid Exploration for Open-World Navigation with Latent Goal Models

Dhruv Shah, Benjamin Eysenbach, Nicholas Rhinehart, Sergey Levine

DiffImpact: Differentiable Rendering and Identification of Impact Sounds

Samuel Clarke, Negin Heravi, Mark Rau, Ruohan Gao, Jiajun Wu

DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video

Priyanka Mandikal, Kristen Grauman

Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation

I-Chun Arthur Liu, Shagun Uppal, Gaurav S. Sukhatme, Peter Englert, Youngwoon Lee

Guided Imitation of Task and Motion Planning

Michael James McDonald, Dylan Hadfield-Menell

Semantic Terrain Classification for Off-Road Autonomous Driving

Amirreza Shaban, Xiangyun Meng, JoonHo Lee, Byron Boots, Dieter Fox

Anytime Depth Estimation with Limited Sensing and Computation Capabilities on Mobile Devices

Yuedong Yang, Zihui Xue, Radu Marculescu

ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning

Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown

ReSkin: versatile, replaceable, lasting tactile skins

Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, Abhinav Gupta

Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning

Sumeet Batra, Zhehui Huang, Aleksei Petrenko, Tushar Kumar, Artem Molchanov

Scaling Up Multi-Task Robotic Reinforcement Learning

Dmitry Kalashnikov, Jake Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski

Evaluations of the Gap between Supervised and Reinforcement Lifelong Learning on Robotic Manipulation Tasks

Fan Yang, Chao Yang, Huaping Liu, Fuchun Sun

XIRL: Cross-embodiment Inverse Reinforcement Learning

Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg

Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects

Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg

Learning Backchanneling Behaviors for a Social Robot via Data Augmentation from Human-Human Conversations

Michael Murray, Nick Walker, Amal Nanavati, Patricia Alves-Oliveira, Nikita Filippov

Single-Shot Scene Reconstruction

Sergey Zakharov, Rares Andrei Ambrus, Vitor Campagnolo Guizilini, Dennis Park, Wadim Kehl

Learning Model Preconditions for Planning with Multiple Models

Alex Licari LaGrassa, Oliver Kroemer

BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments

Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia

ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations

Ruohan Gao, Yen-Yu Chang, Shivani Mall, Li Fei-fei, Jiajun Wu

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava

Risk-Averse Zero-Order Trajectory Optimization

Marin Vlastelica, Sebastian Blaes, Cristina Pinneri, Georg Martius

SeqMatchNet: Contrastive Learning with Sequence Matching for Place Recognition & Relocalization

Sourav Garg, Madhu Vankadari, Michael Milford

A Workflow for Offline Model-Free Robotic Reinforcement Learning

Aviral Kumar, Anikait Singh, Stephen Tian, Chelsea Finn, Sergey Levine

Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization

Youngwoon Lee, Anima Anandkumar, Yuke Zhu, Joseph J. Lim, Joseph J Lim

Haptics-based Curiosity for Sparse-reward Tasks

Sai Rajeswar, Cyril Ibrahim, Nitin Surya, Florian Golemo, David Vázquez

Self-supervised Reinforcement Learning with Independently Controllable Subgoals

Andrii Zadaianchuk, Georg Martius, Fanny Yang

Orientation Probabilistic Movement Primitives on Riemannian Manifolds

Leonel Rozo, Vedant Dave

Learning Feasibility to Imitate Demonstrators with Different Dynamics

ZHANGJIE CAO, Yilun Hao, Mengxi Li, Dorsa Sadigh

Learning Reward Functions from Scale Feedback

Nils Wilde, Erdem Biyik, Dorsa Sadigh, Stephen L. Smith

Learning Multimodal Rewards from Rankings

Vivek Myers, Erdem Biyik, Nima Anari, Dorsa Sadigh

Look Before You Leap: Safe Model-Based Reinforcement Learning with Human Intervention

Yunkun Xu, Zhenyu Liu, Guifang Duan, Jiangcheng Zhu, Xiaolong Bai

Adversarially Robust Imitation Learning

Jianren Wang, Ziwen Zhuang, Yuyang Wang, Hang Zhao

Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation

Charles Sun, Jȩdrzej Orbik, Coline Manon Devin, Brian H. Yang, Abhishek Gupta

A System for General In-Hand Object Re-Orientation

Tao Chen, Jie Xu, Pulkit Agrawal

V-MAO: Generative Modeling for Multi-Arm Manipulation of Articulated Objects

Xingyu Liu, Kris M. Kitani

Learning to Regrasp by Learning to Place

Shuo Cheng, Kaichun Mo, Lin Shao

GRAC: Self-Guided and Self-Regularized Actor-Critic

Lin Shao, Yifan You, Mengyuan Yan, Shenli Yuan, Qingyun Sun

Learning Visible Connectivity Dynamics for Cloth Smoothing

Xingyu Lin, Yufei Wang, Zixuan Huang, David Held

Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning

Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake

LEO: Learning Energy-based Models in Factor Graph Optimization

Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess

Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning

Sean J Wang, Samuel Triest, Wenshan Wang, Sebastian Scherer, Aaron Johnson

Structured deep generative models for sampling on constraint manifolds in sequential manipulation

Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Marc Toussaint

Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals

Nachiket Deo, Eric Wolff, Oscar Beijbom

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy

Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held

DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries

Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao

Influencing Behavioral Attributions to Robot Motion During Task Execution

Nick Walker, Christoforos Mavrogiannis, Siddhartha Srinivasa, Maya Cakmak

Implicit Behavioral Cloning

Pete Florence, Corey Lynch, Andy Zeng, Oscar A Ramirez, Ayzaan Wahid

SORNet: Spatial Object-Centric Representations for Sequential Manipulation

Wentao Yuan, Chris Paxton, Karthik Desingh, Dieter Fox

A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation

Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

Learning Density Distribution of Reachable States for Autonomous Systems

Yue Meng, Dawei Sun, Zeng Qiu, Md Tawhid Bin Waez, Chuchu Fan

3D Neural Scene Representations for Visuomotor Control

Yunzhu Li, Shuang Li, Vincent Sitzmann, Pulkit Agrawal, Antonio Torralba

Using Physics Knowledge for Learning Rigid-body Forward Dynamics with Gaussian Process Force Priors

Lucas Rath, Andreas René Geist, Sebastian Trimpe

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter

Parallelised Diffeomorphic Sampling-based Motion Planning

Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox

Broadly-Exploring, Local-Policy Trees for Long-Horizon Task Planning

brian ichter, Pierre Sermanet, Corey Lynch

Taskography: Evaluating robot task planning over large 3D scene graphs

Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet

TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo

Lukas Koestler, Nan Yang, Niclas Zeller, Daniel Cremers

FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding

Huy Ha, Shuran Song

Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear

Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora

Example-Driven Model-Based Reinforcement Learning for Solving Long-Horizon Visuomotor Tasks

Bohan Wu, Suraj Nair, Li Fei-fei, Chelsea Finn