CoRL 2022

197 papers

Particle-Based Score Estimation for State Space Model Learning in Autonomous Driving

Angad Singh, Omar Makhlouf, Maximilian Igl, Joao Messias, Arnaud Doucet

Graph network simulators can learn discontinuous, rigid contact dynamics

Yulia Rubanova, Kim Stachenfeld, Peter Battaglia, Tobias Pfaff, Tatiana Lopez-Guevara

Reinforcement learning with Demonstrations from Mismatched Task under Sparse Reward

Yanjiang Guo, Jingyue Gao, Zheng Wu, Chengming Shi, Jianyu Chen

Towards Online 3D Bin Packing: Learning Synergies between Packing and Unpacking via DRL

Shuai Song, Shuo Yang, Ran Song, Shilei Chu, Yibin Li

Laplace Approximation Based Epistemic Uncertainty Estimation in 3D Object Detection

Peng Yun, Ming Liu

HUM3DIL: Semi-supervised Multi-modal 3D HumanPose Estimation for Autonomous Driving

Andrei Zanfir, Mihai Zanfir, Alex Gorban, Jingwei Ji, Yin Zhou

TrackletMapper: Ground Surface Segmentation and Mapping from Traffic Participant Trajectories

Jannik Zürn, Sebastian Weber, Wolfram Burgard

COACH: Cooperative Robot Teaching

Cunjun Yu, Yiqing Xu, Linfeng Li, David Hsu

Domain Adaptation and Generalization: A Low-Complexity Approach

Joshua Niemeijer, Jörg Peter Schäfer

Out-of-Dynamics Imitation Learning from Multimodal Demonstrations

Yiwen Qiu, Jialong Wu, ZHANGJIE CAO, Mingsheng Long

PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation

Thomas Georg Jantos, Mohamed Amin Hamdad, Wolfgang Granig, Stephan Weiss, Jan Steinbrener

Fusing Priori and Posteriori Metrics for Automatic Dataset Annotation of Planar Grasping

Hao Sha, Lai Qianen, Hongxiang Yu, Rong Xiong, Yue Wang

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds

Daniel Seita, Yufei Wang, Sarthak J Shetty, Edward Yao Li, Zackory Erickson

Transformers Are Adaptable Task Planners

Vidhi Jain, Yixin Lin, Eric Undersander, Yonatan Bisk, Akshara Rai

Selective Object Rearrangement in Clutter

Bingjie Tang, Gaurav S. Sukhatme

CoBEVT: Cooperative Bird’s Eye View Semantic Segmentation with Sparse Transformers

Runsheng Xu, Zhengzhong Tu, Hao Xiang, Wei Shao, Bolei Zhou

Decentralized Data Collection for Robotic Fleet Learning: A Game-Theoretic Approach

Oguzhan Akcin, Po-han Li, Shubhankar Agarwal, Sandeep P. Chinchali

Motion Policy Networks

Adam Fishman, Adithyavairavan Murali, Clemens Eppner, Bryan Peele, Byron Boots

Reciprocal MIND MELD: Improving Learning From Demonstration via Personalized, Reciprocal Teaching

Mariah L Schrum, Erin Hedlund-Botti, Matthew Gombolay

Socially-Attentive Policy Optimization in Multi-Agent Self-Driving System

Zipeng Dai, Tianze Zhou, Kun Shao, David Henry Mguni, Bin Wang

Learning Control Admissibility Models with Graph Neural Networks for Multi-Agent Navigation

Chenning Yu, Hongzhan Yu, Sicun Gao

Human-Robot Commensality: Bite Timing Prediction for Robot-Assisted Feeding in Groups

Jan Ondras, Abrar Anwar, Tong Wu, Fanjun Bu, Malte Jung

Towards Capturing the Temporal Dynamics for Trajectory Prediction: a Coarse-to-Fine Approach

Xiaosong Jia, Li Chen, Penghao Wu, Jia Zeng, Junchi Yan

R3M: A Universal Visual Representation for Robot Manipulation

Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, Abhinav Gupta

Proactive Robot Assistance via Spatio-Temporal Object Modeling

Maithili Patel, Sonia Chernova

Learning Dense Visual Descriptors using Image Augmentations for Robot Manipulation Tasks

Christian Graf, David B. Adrian, Joshua Weil, Miroslav Gabriel, Philipp Schillinger

Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation

Joanne Truong, Max Rudolph, Naoki Harrison Yokoyama, Sonia Chernova, Dhruv Batra

Learning Multi-Objective Curricula for Robotic Policy Learning

Jikun Kang, Miao Liu, Abhinav Gupta, Christopher Pal, Xue Liu

SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields

Anthony Simeonov, Yilun Du, Yen-Chen Lin, Alberto Rodriguez Garcia, Leslie Pack Kaelbling

Volumetric-based Contact Point Detection for 7-DoF Grasping

Junhao Cai, Jingcheng Su, Zida Zhou, Hui Cheng, Qifeng Chen

CausalAF: Causal Autoregressive Flow for Safety-Critical Driving Scenario Generation

Wenhao Ding, Haohong Lin, Bo Li, Ding Zhao

Synthesizing Adversarial Visual Scenarios for Model-Based Robotic Control

Shubhankar Agarwal, Sandeep P. Chinchali

Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox

Motion Style Transfer: Modular Low-Rank Adaptation for Deep Motion Forecasting

Parth Kothari, Danya Li, Yuejiang Liu, Alexandre Alahi

Transferring Hierarchical Structures with Dual Meta Imitation Learning

Chongkai Gao, Yizhou Jiang, Feng Chen

Proactive slip control by learned slip model and trajectory adaptation

Kiyanoush Nazari, Willow Mandil, Amir Masoud Ghalamzan Esfahani

A Dual Representation Framework for Robot Learning with Human Guidance

Ruohan Zhang, Dhruva Bansal, Yilun Hao, Ayano Hiranaka, Jialu Gao

Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer

Hao Shao, Letian Wang, Ruobing Chen, hongsheng Li, Yu Liu

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare

Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield

Learning Neuro-Symbolic Skills for Bilevel Planning

Tom Silver, Ashay Athalye, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling

Cross-Domain Transfer via Semantic Skill Imitation

Karl Pertsch, Ruta Desai, Vikash Kumar, Franziska Meier, Dhruv Batra

Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation

Jacky Liang, Xianyi Cheng, Oliver Kroemer

Last-Mile Embodied Visual Navigation

Justin Wasserman, Karmesh Yadav, Girish Chowdhary, Abhinav Gupta, Unnat Jain

VideoDex: Learning Dexterity from Internet Videos

Kenneth Shaw, Shikhar Bahl, Deepak Pathak

Semantic Abstraction: Open-World 3D Scene Understanding from 2D Vision-Language Models

Huy Ha, Shuran Song

CADSim: Robust and Scalable in-the-wild 3D Reconstruction for Controllable Sensor Simulation

Jingkang Wang, Sivabalan Manivasagam, Yun Chen, Ze Yang, Ioan Andrei Barsan

Learning Generalizable Dexterous Manipulation from Human Grasp Affordance

Yueh-Hua Wu, Jiashun Wang, Xiaolong Wang

Interpretable Self-Aware Neural Networks for Robust Trajectory Prediction

Masha Itkina, Mykel Kochenderfer

DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation

Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Hao Su, Xiaolong Wang

Tailoring Visual Object Representations to Human Requirements: A Case Study with a Recycling Robot

Debasmita Ghose, Michal Adam Lewkowicz, Kaleb Gezahegn, Julian Lee, Timothy Adamson

Iterative Interactive Modeling for Knotting Plastic Bags

Chongkai Gao, Zekun Li, Haichuan Gao, Feng Chen

Lidar Line Selection with Spatially-Aware Shapley Value for Cost-Efficient Depth Completion

Kamil Adamczewski, Christos Sakaridis, Vaishakh Patil, Luc Van Gool

One-Shot Transfer of Affordance Regions? AffCorrs!

Denis Hadjivelichkov, Sicelukwanda Zwane, Lourdes Agapito, Marc Peter Deisenroth, Dimitrios Kanoulas

SurroundDepth: Entangling Surrounding Views for Self-Supervised Multi-Camera Depth Estimation

Yi Wei, Linqing Zhao, Wenzhao Zheng, Zheng Zhu, Yongming Rao

Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds

Minghua Liu, Xuanlin Li, Zhan Ling, Yangyan Li, Hao Su

NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands

Ninad Khargonkar, Neil Song, Zesheng Xu, B Prabhakaran, Yu Xiang

BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment

Zeyi Liu, Zhenjia Xu, Shuran Song

LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action

Dhruv Shah, Błażej Osiński, brian ichter, Sergey Levine

Efficient and Stable Off-policy Training via Behavior-aware Evolutionary Learning

Maiyue Chen, Guangyi He

Where To Start? Transferring Simple Skills to Complex Environments

Vitalis Vosylius, Edward Johns

PlanT: Explainable Planning Transformers via Object-Level Representations

Katrin Renz, Kashyap Chitta, Otniel-Bogdan Mercea, A. Sophia Koepke, Zeynep Akata

HERD: Continuous Human-to-Robot Evolution for Learning from Human Demonstration

Xingyu Liu, Deepak Pathak, Kris M. Kitani

Vision-based Uneven BEV Representation Learning with Polar Rasterization and Surface Estimation

Zhi Liu, Shaoyu Chen, Xiaojie Guo, Xinggang Wang, Tianheng Cheng

SE(2)-Equivariant Pushing Dynamics Models for Tabletop Object Manipulations

Seungyeon Kim, Byeongdo Lim, Yonghyeon LEE, Frank C. Park

Real-World Robot Learning with Masked Visual Pre-training

Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik

Legged Locomotion in Challenging Terrains using Egocentric Vision

Ananye Agarwal, Ashish Kumar, Jitendra Malik, Deepak Pathak

Topological Semantic Graph Memory for Image-Goal Navigation

Nuri Kim, Obin Kwon, Hwiyeon Yoo, Yunho Choi, Jeongho Park

RAP: Risk-Aware Prediction for Robust Planning

Haruki Nishimura, Jean Mercat, Blake Wulfe, Rowan Thomas McAllister, Adrien Gaidon

Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision

Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan

Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects

Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik

Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Chenhao Li, Marin Vlastelica, Sebastian Blaes, Jonas Frey, Felix Grimminger

Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding

Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh

MidasTouch: Monte-Carlo inference over distributions across sliding touch

Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam

Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

brian ichter, Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman

Rethinking Optimization with Differentiable Simulation from a Global Perspective

Rika Antonova, Jingyun Yang, Krishna Murthy Jatavallabhula, Jeannette Bohg

Planning Paths through Occlusions in Urban Environments

Yutao Han, Youya Xia, Guo-Jun Qi, Mark Campbell

Meta-Learning Priors for Safe Bayesian Optimization

Jonas Rothfuss, Christopher Koenig, Alisa Rupenyan, Andreas Krause

Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning

Jan Achterhold, Markus Krimmel, Joerg Stueckler

i-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops

Saminda Wishwajith Abeyruwan, Laura Graesser, David B D’Ambrosio, Avi Singh, Anish Shankar

LEADER: Learning Attention over Driving Behaviors for Planning under Uncertainty

Mohamad Hosein Danesh, Panpan Cai, David Hsu

Embedding Synthetic Off-Policy Experience for Autonomous Driving via Zero-Shot Curricula

Eli Bronstein, Sirish Srinivasan, Supratik Paul, Aman Sinha, Matthew O’Kelly

Instruction-driven history-aware policies for robotic manipulations

Pierre-Louis Guhur, Shizhe Chen, Ricardo Garcia Pinel, Makarand Tapaswi, Ivan Laptev

PRISM: Probabilistic Real-Time Inference in Spatial World Models

Atanas Mirchev, Baris Kayalibay, Ahmed Agha, Patrick van der Smagt, Daniel Cremers

Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity

Wenxuan Zhou, David Held

Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

Zipeng Fu, Xuxin Cheng, Deepak Pathak

Robust Trajectory Prediction against Adversarial Attacks

Yulong Cao, Danfei Xu, Xinshuo Weng, Zhuoqing Mao, Anima Anandkumar

Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimenter

Iain Haughton, Edgar Sucar, Andre Mouton, Edward Johns, Andrew Davison

Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks

Kuan Fang, Patrick Yin, Ashvin Nair, Homer Rich Walke, Gengchen Yan

Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations

Yanwei Wang, Nadia Figueroa, Shen Li, Ankit Shah, Julie Shah

BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation

Chengshu Li, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava

Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes

Joe Watson, Jan Peters

Graph Inverse Reinforcement Learning from Diverse Videos

Sateesh Kumar, Jonathan Zamora, Nicklas Hansen, Rishabh Jangir, Xiaolong Wang

Offline Reinforcement Learning for Visual Navigation

Dhruv Shah, Arjun Bhorkar, Hrishit Leen, Ilya Kostrikov, Nicholas Rhinehart

Watch and Match: Supercharging Imitation with Regularized Optimal Transport

Siddhant Haldar, Vaibhav Mathur, Denis Yarats, Lerrel Pinto

Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior

Gabriel B. Margolis, Pulkit Agrawal

Training Robots to Evaluate Robots: Example-Based Interactive Reward Functions for Policy Learning

Kun Huang, Edward S. Hu, Dinesh Jayaraman

RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments

Haoyu Xiong, Haoyuan Fu, Jieyi Zhang, Chen Bao, Qiang Zhang