CoRL 2023

199 papers

DYNAMO-GRASP: DYNAMics-aware Optimization for GRASP Point Detection in Suction Grippers

Boling Yang, Soofiyan Atar, Markus Grotz, Byron Boots, Joshua Smith

Learning Efficient Abstract Planning Models that Choose What to Predict

Nishanth Kumar, Willie McClinton, Rohan Chitnis, Tom Silver, Tomás Lozano-Pérez

Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement

Anthony Simeonov, Ankit Goyal, Lucas Manuelli, Yen-Chen Lin, Alina Sarmiento

PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play

Lili Chen, Shikhar Bahl, Deepak Pathak

HomeRobot: Open-Vocabulary Mobile Manipulation

Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin S. Wang, Mukul Khanna

Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs

Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu, Siwei Cai, Eric Pu Jing

REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation

Zheyuan Hu, Aaron Rovinsky, Jianlan Luo, Vikash Kumar, Abhishek Gupta

Cross-Dataset Sensor Alignment: Making Visual 3D Object Detector Generalizable

Liangtao Zheng, Yicheng Liu, Yue Wang, Hang Zhao

Dynamic Handover: Throw and Catch with Bimanual Hands

Binghao Huang, Yuanpei Chen, Tianyu Wang, Yuzhe Qin, Yaodong Yang

Quantifying Assistive Robustness Via the Natural-Adversarial Frontier

Jerry Zhi-Yang He, Daniel S. Brown, Zackory Erickson, Anca Dragan

MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations

Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang

A Data-Efficient Visual-Audio Representation with Intuitive Fine-tuning for Voice-Controlled Robots

Peixin Chang, Shuijing Liu, Tianchen Ji, Neeloy Chakraborty, Kaiwen Hong

Stealthy Terrain-Aware Multi-Agent Active Search

Nikhil Angad Bakshi, Jeff Schneider

PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation

Shizhe Chen, Ricardo Garcia Pinel, Cordelia Schmid, Ivan Laptev

NOIR: Neural Signal Operated Intelligent Robots for Everyday Activities

Ruohan Zhang, Sharon Lee, Minjune Hwang, Ayano Hiranaka, Chen Wang

BridgeData V2: A Dataset for Robot Learning at Scale

Homer Rich Walke, Kevin Black, Tony Z. Zhao, Quan Vuong, Chongyi Zheng

A Bayesian approach to breaking things: efficiently predicting and repairing failure modes via sampling

Charles Dawson, Chuchu Fan

Stochastic Occupancy Grid Map Prediction in Dynamic Scenes

Zhanteng Xie, Philip Dames

Dynamic Multi-Team Racing: Competitive Driving on 1/10-th Scale Vehicles via Learning in Simulation

Peter Werner, Tim Seyde, Paul Drews, Thomas Matrai Balch, Igor Gilitschenski

Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation

Harel Biggie, Ajay Narasimha Mopidevi, Dusty Woods, Chris Heckman

Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning

Xiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu

OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data

Shiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias, Kostas Bekris

Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model

Matan Sudry, Tom Jurgenson, Aviv Tamar, Erez Karpas

SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objects

Ning Gao, Vien Anh Ngo, Hanna Ziesche, Gerhard Neumann

DROID: Learning from Offline Heterogeneous Demonstrations via Reward-Policy Distillation

Sravan Jayanthi, Letian Chen, Nadya Balabanska, Van Duong, Erik Scarlatescu

Im2Contact: Vision-Based Contact Localization Without Touch or Force Sensing

Leon Kim, Yunshuang Li, Michael Posa, Dinesh Jayaraman

Sample-Efficient Preference-based Reinforcement Learning with Dynamics Aware Rewards

Katherine Metcalf, Miguel Sarabia, Natalie Mackraz, Barry-John Theobald

Learning Reusable Manipulation Strategies

Jiayuan Mao, Tomás Lozano-Pérez, Joshua B. Tenenbaum, Leslie Pack Kaelbling

Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Clutter

Georgios Tziafas, Yucheng XU, Arushi Goel, Mohammadreza Kasaei, Zhibin Li

Learning to Discern: Imitating Heterogeneous Human Demonstrations with Preference and Representation Learning

Sachit Kuhar, Shuo Cheng, Shivang Chopra, Matthew Bronars, Danfei Xu

Context-Aware Deep Reinforcement Learning for Autonomous Robotic Navigation in Unknown Area

Jingsong Liang, Zhichen Wang, Yuhong Cao, Jimmy Chiun, Mengqi Zhang

Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set Regularization

yuan zhang, Jianhong Wang, Joschka Boedecker

Fleet Active Learning: A Submodular Maximization Approach

Oguzhan Akcin, Orhan Unuvar, Onat Ure, Sandeep P. Chinchali

Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration

Lanke Frank Tarimo Fu, Maurice Fallon

Action-Quantized Offline Reinforcement Learning for Robotic Skill Learning

Jianlan Luo, Perry Dong, Jeffrey Wu, Aviral Kumar, XINYANG GENG

FindThis: Language-Driven Object Disambiguation in Indoor Environments

Arjun Majumdar, Fei Xia, brian ichter, Dhruv Batra, Leonidas Guibas

Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulation

Jay Sarva, Jingkang Wang, James Tu, Yuwen Xiong, Sivabalan Manivasagam

Composable Part-Based Manipulation

Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg

Learning Sequential Acquisition Policies for Robot-Assisted Feeding

Priya Sundaresan, Jiajun Wu, Dorsa Sadigh

Parting with Misconceptions about Learning-based Vehicle Motion Planning

Daniel Dauner, Marcel Hallgarten, Andreas Geiger, Kashyap Chitta

Contrastive Value Learning: Implicit Models for Simple Offline RL

Bogdan Mazoure, Benjamin Eysenbach, Ofir Nachum, Jonathan Tompson

Geometry Matching for Multi-Embodiment Grasping

Maria Attarian, Muhammad Adil Asif, Jingzhou Liu, Ruthrash Hari, Animesh Garg

FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection

Harry Zhang, Ben Eisner, David Held

Equivariant Motion Manifold Primitives

Byeongho Lee, Yonghyeon LEE, Seungyeon Kim, MinJun Son, Frank C. Park

An Unbiased Look at Datasets for Visuo-Motor Pre-Training

Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, Abhinav Gupta

A Policy Optimization Method Towards Optimal-time Stability

Shengjie Wang, Lan Fengb, Xiang Zheng, Yuxue Cao, Oluwatosin OluwaPelumi Oseni

Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot Arms

Rianna Jitosho, Tyler Ga Wei Lum, Allison Okamura, Karen Liu

HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Collaborative roBOTs

Esteve Valls Mascaro, Daniel Sliwowski, Dongheui Lee

Grounding Complex Natural Language Commands for Temporal Tasks in Unseen Environments

Jason Xinyu Liu, Ziyi Yang, Ifrah Idrees, Sam Liang, Benjamin Schornstein

Predicting Routine Object Usage for Proactive Robot Assistance

Maithili Patel, Aswin Gururaj Prakash, Sonia Chernova

ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting

Kushal Kedia, Prithwish Dan, Atiksh Bhardwaj, Sanjiban Choudhury

That Sounds Right: Auditory Self-Supervision for Dynamic Robot Manipulation

Abitha Thankaraj, Lerrel Pinto

BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities

Binyu Zhao, Wei Zhang, Zhaonian Zou

KITE: Keypoint-Conditioned Policies for Semantic Manipulation

Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg

Semantic Mechanical Search with Large Vision and Language Models

Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque

One-Shot Imitation Learning: A Pose Estimation Perspective

Pietro Vitiello, Kamil Dreczkowski, Edward Johns

DEFT: Dexterous Fine-Tuning for Hand Policies

Aditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam, Deepak Pathak

CLUE: Calibrated Latent Guidance for Offline Reinforcement Learning

Jinxin Liu, Lipeng Zu, LI He, Donglin Wang

Learning to Design and Use Tools for Robotic Manipulation

Ziang Liu, Stephen Tian, Michelle Guo, Karen Liu, Jiajun Wu

Fine-Tuning Generative Models as an Inference Method for Robotic Tasks

Orr Krupnik, Elisei Shafer, Tom Jurgenson, Aviv Tamar

SCONE: A Food Scooping Robot Learning Framework with Active Perception

Yen-Ling Tai, Yu Chien Chiu, Yu-Wei Chao, Yiting Chen, Yi-Ting Chen

Leveraging 3D Reconstruction for Mechanical Search on Cluttered Shelves

Seungyeon Kim, Young Hun Kim, Yonghyeon LEE, Frank C. Park

Learning Realistic Traffic Agents in Closed-loop

Chris Zhang, James Tu, Lunjun Zhang, Kelvin Wong, Simon Suo

Autonomous Robotic Reinforcement Learning with Asynchronous Human Feedback

Max Balsells, Marcel Torne Villasevil, Zihan Wang, Samedh Desai, Pulkit Agrawal

Scalable Deep Kernel Gaussian Process for Vehicle Dynamics in Autonomous Racing

Jingyun Ning, Madhur Behl

What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery

Peide Huang, Xilun Zhang, Ziang Cao, Shiqi Liu, Mengdi Xu

ViNT: A Foundation Model for Visual Navigation

Dhruv Shah, Ajay Sridhar, Nitish Dashora, Kyle Stachowicz, Kevin Black

RVT: Robotic View Transformer for 3D Object Manipulation

Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao

Robot Learning with Sensorimotor Pre-training

Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell

Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners

Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu

RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools

Haochen Shi, Huazhe Xu, Samuel Clarke, Yunzhu Li, Jiajun Wu

Measuring Interpretability of Neural Policies of Robots with Disentangled Representation

Tsun-Hsuan Wang, Wei Xiao, Tim Seyde, Ramin Hasani, Daniela Rus

How to Learn and Generalize From Three Minutes of Data: Physics-Constrained and Uncertainty-Aware Neural Stochastic Differential Equations

Franck Djeumou, Cyrus Neary, Ufuk Topcu

Stabilize to Act: Learning to Coordinate for Bimanual Manipulation

Jennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu

Surrogate Assisted Generation of Human-Robot Interaction Scenarios

Varun Bhatt, Heramb Nemlekar, Matthew Christopher Fontaine, Bryon Tjanaka, Hejia Zhang

Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering

Xinghao Zhu, Jinghan Ke, Zhixuan Xu, Zhixin Sun, Bizhe Bai

PreCo: Enhancing Generalization in Co-Design of Modular Soft Robots via Brain-Body Pre-Training

Yuxing Wang, Shuang Wu, Tiantian Zhang, Yongzhe Chang, Haobo Fu

Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning

Xiyang Wu, Rohan Chandra, Tianrui Guan, Amrit Bedi, Dinesh Manocha

Finetuning Offline World Models in the Real World

Yunhai Feng, Nicklas Hansen, Ziyan Xiong, Chandramouli Rajagopalan, Xiaolong Wang

Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation

William Shen, Ge Yang, Alan Yu, Jansen Wong, Leslie Pack Kaelbling

Language to Rewards for Robotic Skill Synthesis

Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee

Predicting Object Interactions with Behavior Primitives: An Application in Stowing Tasks

Haonan Chen, Yilong Niu, Kaiwen Hong, Shuijing Liu, Yixuan Wang

HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation

Vainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr

DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control

Kevin Huang, Rwik Rana, Alexander Spitzer, Guanya Shi, Byron Boots

Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidance

Jesse Zhang, Jiahui Zhang, Karl Pertsch, Ziyi Liu, Xiang Ren

GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields

Yanjie Ze, Ge Yan, Yueh-Hua Wu, Annabella Macaluso, Yuying Ge

Hijacking Robot Teams Through Adversarial Communication

Zixuan Wu, Sean Charles Ye, Byeolyi Han, Matthew Gombolay

HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation

Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held

Continual Vision-based Reinforcement Learning with Group Symmetries

Shiqi Liu, Mengdi Xu, Peide Huang, Xilun Zhang, Yongkang Liu

MimicPlay: Long-Horizon Imitation Learning by Watching Human Play

Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-fei

Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping

Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen

Language-Guided Traffic Simulation via Scene-Level Diffusion

Ziyuan Zhong, Davis Rempe, Yuxiao Chen, Boris Ivanovic, Yulong Cao

Rearrangement Planning for General Part Assembly

Yulong Li, Andy Zeng, Shuran Song

On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills

Yunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar

Task-Oriented Koopman-Based Control with Contrastive Encoder

Xubo Lyu, Hanyang Hu, Seth Siriya, Ye Pu, Mo Chen

Robot Parkour Learning

Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher G. Atkeson, Sören Schwertfeger

SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Krishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian Reid

Expansive Latent Planning for Sparse Reward Offline Reinforcement Learning

Robert Gieselmann, Florian T. Pokorny