CoRL 2023

199 papers

Simultaneous Learning of Contact and Continuous Dynamics

Bibit Bianchini, Mathew Halm, Michael Posa

Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation

Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, Katerina Fragkiadaki

Preference learning for guiding the tree search in continuous POMDPs

Jiyong Ahn, Sanghyeon Son, Dongryung Lee, Jisu Han, Dongwon Son

Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions

Yevgen Chebotar, Quan Vuong, Karol Hausman, Fei Xia, Yao Lu

Goal Representations for Instruction Following: A Semi-Supervised Language Interface to Control

Vivek Myers, Andre Wang He, Kuan Fang, Homer Rich Walke, Philippe Hansen-Estruch

$α$-MDF: An Attention-based Multimodal Differentiable Filter for Robot State Estimation

Xiao Liu, Yifan Zhou, Shuhei Ikemoto, Heni Ben Amor

Improving Behavioural Cloning with Positive Unlabeled Learning

Qiang Wang, Robert McCarthy, David Cordova Bulens, Kevin McGuinness, Noel E. O’Connor

Deception Game: Closing the Safety-Learning Loop in Interactive Robot Autonomy

Haimin Hu, Zixu Zhang, Kensuke Nakamura, Andrea Bajcsy, Jaime Fernández Fisac

Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation

Yuanpei Chen, Chen Wang, Li Fei-fei, Karen Liu

Policy Stitching: Learning Transferable Robot Policies

Pingcheng Jian, Easop Lee, Zachary Bell, Michael M. Zavlanos, Boyuan Chen

Marginalized Importance Sampling for Off-Environment Policy Evaluation

Pulkit Katdare, Nan Jiang, Katherine Rose Driggs-Campbell

Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition

Huy Ha, Pete Florence, Shuran Song

DORT: Modeling Dynamic Objects in Recurrent for Multi-Camera 3D Object Detection and Tracking

Qing LIAN, Tai WANG, Dahua Lin, Jiangmiao Pang

STOW: Discrete-Frame Segmentation and Tracking of Unseen Objects for Warehouse Picking Robots

Yi Li, Muru Zhang, Markus Grotz, Kaichun Mo, Dieter Fox

Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural Rendering

Yasasa Abeysirigoonawardena, Kevin Xie, Chuhan Chen, Salar Hosseini Khorasgani, Ruiting Chen

Online Model Adaptation with Feedforward Compensation

Abulikemu Abuduweili, Changliu Liu

Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference

Jana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans

MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot Learning

Rafael Rafailov, Kyle Beltran Hatch, Victor Kolev, John D. Martin, Mariano Phielipp

Learning to Drive Anywhere

Ruizhao Zhu, Peng Huang, Eshed Ohn-Bar, Venkatesh Saligrama

M2T2: Multi-Task Masked Transformer for Object-centric Pick and Place

Wentao Yuan, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox

Learning Human Contribution Preferences in Collaborative Human-Robot Tasks

Michelle D Zhao, Reid Simmons, Henny Admoni

SLAP: Spatial-Language Attention Policies

Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers

SayTap: Language to Quadrupedal Locomotion

Yujin Tang, Wenhao Yu, Jie Tan, Heiga Zen, Aleksandra Faust

XSkill: Cross Embodiment Skill Discovery

Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song

Push Past Green: Learning to Look Behind Plant Foliage by Moving It

Xiaoyu Zhang, Saurabh Gupta

Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies

Tianyu Li, Nadia Figueroa

REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction

Zeyi Liu, Arpit Bahety, Shuran Song

Dexterous Functional Grasping

Ananye Agarwal, Shagun Uppal, Kenneth Shaw, Deepak Pathak

AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer

Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar

Learning Generalizable Manipulation Policies with Object-Centric 3D Representations

Yifeng Zhu, Zhenyu Jiang, Peter Stone, Yuke Zhu

Open-World Object Manipulation using Pre-Trained Vision-Language Models

Austin Stone, Ted Xiao, Yao Lu, Keerthana Gopalakrishnan, Kuang-Huei Lee

Language-Conditioned Path Planning

Amber Xie, Youngwoon Lee, Pieter Abbeel, Stephen James

LabelFormer: Object Trajectory Refinement for Offboard Perception from LiDAR Point Clouds

Anqi Joyce Yang, Sergio Casas, Nikita Dvornik, Sean Segal, Yuwen Xiong

A Universal Semantic-Geometric Representation for Robotic Manipulation

Tong Zhang, Yingdong Hu, Hanchen Cui, Hang Zhao, Yang Gao

UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding

Han Xue, Yutong Li, Wenqiang Xu, Huanyu Li, Dongzhe Zheng

Equivariant Reinforcement Learning under Partial Observability

Hai Huu Nguyen, Andrea Baisero, David Klee, Dian Wang, Robert Platt

Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning

Archit Sharma, Ahmed M. Ahmed, Rehaan Ahmad, Chelsea Finn

Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States

Zidan Wang, Takeru Oba, Takuma Yoneda, Rui Shen, Matthew Walter

Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning

Zhenjun Yu, Wenqiang Xu, Siqiong Yao, Jieji Ren, Tutian Tang

Compositional Diffusion-Based Continuous Constraint Solvers

Zhutian Yang, Jiayuan Mao, Yilun Du, Jiajun Wu, Joshua B. Tenenbaum

Topology-Matching Normalizing Flows for Out-of-Distribution Detection in Robot Learning

Jianxiang Feng, Jongseok Lee, Simon Geisler, Stephan Günnemann, Rudolph Triebel

Few-Shot In-Context Imitation Learning via Implicit Graph Alignment

Vitalis Vosylius, Edward Johns

Structural Concept Learning via Graph Attention for Multi-Level Rearrangement Planning

Manav Kulshrestha, Ahmed H. Qureshi

ADU-Depth: Attention-based Distillation with Uncertainty Modeling for Depth Estimation

ZiZhang Wu, Zhuozheng Li, Zhi-Gang Fan, Yunzhe Wu, Xiaoquan Wang

Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play

Irmak Guzey, Ben Evans, Soumith Chintala, Lerrel Pinto

Energy-based Potential Games for Joint Motion Forecasting and Control

Christopher Diehl, Tobias Klosek, Martin Krueger, Nils Murzyn, Timo Osterburg

FastRLAP: A System for Learning High-Speed Driving via Deep RL and Autonomous Practicing

Kyle Stachowicz, Dhruv Shah, Arjun Bhorkar, Ilya Kostrikov, Sergey Levine

TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control

Miquel Oller, Dmitry Berenson, Nima Fazeli

Gesture-Informed Robot Assistance via Foundation Models

Li-Heng Lin, Yuchen Cui, Yilun Hao, Fei Xia, Dorsa Sadigh

Human-in-the-Loop Task and Motion Planning for Imitation Learning

Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu, Dieter Fox

Heteroscedastic Gaussian Processes and Random Features: Scalable Motion Primitives with Guarantees

Edoardo Caldarelli, Antoine Chatalic, Adrià Colomé, Lorenzo Rosasco, Carme Torras

Revisiting Depth-guided Methods for Monocular 3D Object Detection by Hierarchical Balanced Depth

Yi-Rong Chen, Ching-Yu Tseng, Yi-Syuan Liou, Tsung-Han Wu, Winston H. Hsu

RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning

Kevin Zakka, Philipp Wu, Laura Smith, Nimrod Gileadi, Taylor Howell

Polybot: Training One Policy Across Robots While Embracing Variability

Jonathan Heewon Yang, Dorsa Sadigh, Chelsea Finn

Online Learning for Obstacle Avoidance

David Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo

Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models

Utkarsh Aashu Mishra, Shangjie Xue, Yongxin Chen, Danfei Xu

Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching

H.J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta

PairwiseNet: Pairwise Collision Distance Learning for High-dof Robot Systems

Jihwan Kim, Frank C. Park

Affordance-Driven Next-Best-View Planning for Robotic Grasping

Xuechao Zhang, Dong Wang, Sun Han, Weichuang Li, Bin Zhao

AR2-D2: Training a Robot Without a Robot

Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna

Neural Field Dynamics Model for Granular Object Piles Manipulation

Shangjie Xue, Shuo Cheng, Pujith Kachana, Danfei Xu

Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors

Sushant Veer, Apoorva Sharma, Marco Pavone

CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller

Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang

Generalization of Heterogeneous Multi-Robot Policies via Awareness and Communication of Capabilities

Pierce Howell, Max Rudolph, Reza Joseph Torbati, Kevin Fu, Harish Ravichandar

CALAMARI: Contact-Aware and Language conditioned spatial Action MApping for contact-RIch manipulation

Youngsun Wi, Mark Van der Merwe, Pete Florence, Andy Zeng, Nima Fazeli

Language Conditioned Traffic Generation

Shuhan Tan, Boris Ivanovic, Xinshuo Weng, Marco Pavone, Philipp Kraehenbuehl

A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators

Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem

Navigation with Large Language Models: Semantic Guesswork as a Heuristic for Planning

Dhruv Shah, Michael Robert Equi, Błażej Osiński, Fei Xia, brian ichter

MUTEX: Learning Unified Policies from Multimodal Task Specifications

Rutav Shah, Roberto Martín-Martín, Yuke Zhu

Learning Lyapunov-Stable Polynomial Dynamical Systems Through Imitation

Amin Abyaneh, Hsiu-Chin Lin

PLEX: Making the Most of the Available Data for Robotic Manipulation Pretraining

Garrett Thomas, Ching-An Cheng, Ricky Loynd, Felipe Vieira Frujeri, Vibhav Vineet

Towards Scalable Coverage-Based Testing of Autonomous Vehicles

James Tu, Simon Suo, Chris Zhang, Kelvin Wong, Raquel Urtasun

Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks

Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter

Imitating Task and Motion Planning with Visuomotor Transformers

Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov

General In-hand Object Rotation with Vision and Touch

Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma

Learning to See Physical Properties with Active Sensing Motor Policies

Gabriel B. Margolis, Xiang Fu, Yandong Ji, Pulkit Agrawal

One-shot Imitation Learning via Interaction Warping

Ondrej Biza, Skye Thompson, Kishore Reddy Pagidi, Abhinav Kumar, Elise van der Pol

Large Language Models as General Pattern Machines

Suvir Mirchandani, Fei Xia, Pete Florence, brian ichter, Danny Driess

Enabling Efficient, Reliable Real-World Reinforcement Learning with Approximate Physics-Based Models

Tyler Westenbroek, Jacob Levy, David Fridovich-Keil

TraCo: Learning Virtual Traffic Coordinator for Cooperation with Multi-Agent Reinforcement Learning

Weiwei Liu, Wei Jing, lingping Gao, Ke Guo, Gang Xu

Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

Daniel Widmer, Dongho Kang, Bhavya Sukhija, Jonas Hübotter, Andreas Krause

ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map Construction

Jingyi Yu, Zizhao Zhang, Shengfu Xia, Jizhang Sang

Towards General Single-Utensil Food Acquisition with Human-Informed Actions

Ethan Kroll Gordon, Amal Nanavati, Ramya Challa, Bernie Hao Zhu, Taylor Annette Kessler Faulkner

STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot Experience

Haresh Karnan, Elvin Yang, Daniel Farkash, Garrett Warnell, Joydeep Biswas

Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control

Songyuan Zhang, Kunal Garg, Chuchu Fan

CAT: Closed-loop Adversarial Training for Safe End-to-End Driving

Linrui Zhang, Zhenghao Peng, Quanyi Li, Bolei Zhou

IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors

Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg

ChainedDiffuser: Unifying Trajectory Diffusion and Keypose Prediction for Robotic Manipulation

Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Tsung-Wei Ke, Katerina Fragkiadaki

A Bayesian Approach to Robust Inverse Reinforcement Learning

Ran Wei, Siliang Zeng, Chenliang Li, Alfredo Garcia, Anthony D McDonald

Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism

J. Taery Kim, Wenhao Yu, Yash Kothari, Bruce Walker, Jie Tan

Synthesizing Navigation Abstractions for Planning with Portable Manipulation Skills

Eric Rosen, Steven James, Sergio Orozco, Vedant Gupta, Max Merlin

Learning Robot Manipulation from Cross-Morphology Demonstration

Gautam Salhotra, I-Chun Arthur Liu, Gaurav S. Sukhatme

SCALE: Causal Learning and Discovery of Robot Manipulation Skills using Simulation

Tabitha Edith Lee, Shivam Vats, Siddharth Girdhar, Oliver Kroemer

Multi-Resolution Sensing for Real-Time Control with Vision-Language Models

Saumya Saxena, Mohit Sharma, Oliver Kroemer

Waypoint-Based Imitation Learning for Robotic Manipulation

Lucy Xiaoyang Shi, Archit Sharma, Tony Z. Zhao, Chelsea Finn

Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control

David DeFazio, Eisuke Hirota, Shiqi Zhang

RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao

4D-Former: Multimodal 4D Panoptic Segmentation

Ali Athar, Enxu Li, Sergio Casas, Raquel Urtasun

Embodied Lifelong Learning for Task and Motion Planning

Jorge Mendez-Mendez, Leslie Pack Kaelbling, Tomás Lozano-Pérez

HYDRA: Hybrid Robot Actions for Imitation Learning

Suneel Belkhale, Yuchen Cui, Dorsa Sadigh