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CoRL 2024

264 papers

Provably Safe Online Multi-Agent Navigation in Unknown Environments

Zhan Gao, Guang Yang, Jasmine Bayrooti, Amanda Prorok

EscIRL: Evolving Self-Contrastive IRL for Trajectory Prediction in Autonomous Driving

Siyue Wang, Zhaorun Chen, Zhuokai Zhao, Chaoli Mao, Yiyang Zhou

Learning Robotic Locomotion Affordances and Photorealistic Simulators from Human-Captured Data

Alejandro Escontrela, Justin Kerr, Kyle Stachowicz, Pieter Abbeel

Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer

Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron Ames

Trajectory Improvement and Reward Learning from Comparative Language Feedback

Zhaojing Yang, Miru Jun, Jeremy Tien, Stuart Russell, Anca Dragan

Multi-agent Reinforcement Learning with Hybrid Action Space for Free Gait Motion Planning of Hexapod Robots

Huiqiao Fu, Kaiqiang Tang, Peng Li, Guizhou Deng, Chunlin Chen

Genetic Algorithm for Curriculum Design in Multi-Agent Reinforcement Learning

Yeeho Song, Jeff Schneider

Manipulate-Anything: Automating Real-World Robots using Vision-Language Models

Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani

Learning Transparent Reward Models via Unsupervised Feature Selection

Daulet Baimukashev, Gokhan Alcan, Kevin Sebastian Luck, Ville Kyrki

Accelerating Visual Sparse-Reward Learning with Latent Nearest-Demonstration-Guided Explorations

Ruihan Zhao, Ufuk Topcu, Sandeep P. Chinchali, Mariano Phielipp

FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation

Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held

UMI-on-Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, Shuran Song

PointPatchRL - Masked Reconstruction Improves Reinforcement Learning on Point Clouds

Balazs Gyenes, Nikolai Franke, Philipp Becker, Gerhard Neumann

Twisting Lids Off with Two Hands

Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, Jitendra Malik

Continuously Improving Mobile Manipulation with Autonomous Real-World RL

Russell Mendonca, Emmanuel Panov, Bernadette Bucher, Jiuguang Wang, Deepak Pathak

RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands

Yi Zhao, Le Chen, Jan Schneider, Quankai Gao, Juho Kannala

Bimanual Dexterity for Complex Tasks

Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu

IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies

Haojie Huang, Karl Schmeckpeper, Dian Wang, Ondrej Biza, Yaoyao Qian

Learning Differentiable Tensegrity Dynamics using Graph Neural Networks

Nelson Chen, Kun Wang, William R. Johson III, Rebecca Kramer-Bottiglio, Kostas Bekris

DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes

Jialiang Zhang, Haoran Liu, Danshi Li, XinQiang Yu, Haoran Geng

Promptable Closed-loop Traffic Simulation

Shuhan Tan, Boris Ivanovic, Yuxiao Chen, Boyi Li, Xinshuo Weng

EquiGraspFlow: SE(3)-Equivariant 6-DoF Grasp Pose Generative Flows

Byeongdo Lim, Jongmin Kim, Jihwan Kim, Yonghyeon LEE, Frank C. Park

GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs

Pu Hua, Minghuan Liu, Annabella Macaluso, Yunfeng Lin, Weinan Zhang

In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning

Tarek El-Agroudi, Finn Gross Maurer, Jørgen Anker Olsen, Kostas Alexis

Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance

Mitsuhiko Nakamoto, Oier Mees, Aviral Kumar, Sergey Levine

Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework

Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin

Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detection

Huang-Yu Chen, Jia-Fong Yeh, Jiawe Jiawei, Pin-Hsuan Peng, Winston H. Hsu

D$^3$RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Cui Wenbo

Automated Creation of Digital Cousins for Robust Policy Learning

Tianyuan DAI, Josiah Wong, Yunfan Jiang, Chen Wang, Cem Gokmen

ACE: A Cross-platform and visual-Exoskeletons System for Low-Cost Dexterous Teleoperation

Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li

UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments

Chunru Lin, Jugang Fan, Yian Wang, Zeyuan Yang, Zhehuan Chen

GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy

Yixuan Wang, Guang Yin, Binghao Huang, Tarik Kelestemur, Jiuguang Wang

MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation

Kelin Yu, Yunhai Han, Qixian Wang, Vaibhav Saxena, Danfei Xu

Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor

Anish Bhattacharya, Marco Cannici, Nishanth Rao, Yuezhan Tao, Vijay Kumar

Autonomous Improvement of Instruction Following Skills via Foundation Models

Zhiyuan Zhou, Pranav Atreya, Abraham Lee, Homer Rich Walke, Oier Mees

Learning Performance-oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation

Lakshmideepakreddy Manda, Shaoru Chen, Mahyar Fazlyab

Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems

Yunyue Wei, Zeji Yi, Hongda Li, Saraswati Soedarmadji, Yanan Sui

Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

Olaolu Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen

AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch

Max Yang, chenghua lu, Alex Church, Yijiong Lin, Christopher J. Ford

DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models

Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Yang Wang

Handling Long-Term Safety and Uncertainty in Safe Reinforcement Learning

Jonas Günster, Puze Liu, Jan Peters, Davide Tateo

Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation

Teli Ma, Jiaming Zhou, Zifan Wang, Ronghe Qiu, Junwei Liang

Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior

Ruihan Yang, Zhuoqun Chen, Jianhan Ma, Chongyi Zheng, Yiyu Chen

Fleet Supervisor Allocation: A Submodular Maximization Approach

Oguzhan Akcin, Ahmet Ege Tanriverdi, Kaan Kale, Sandeep P. Chinchali

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, Li Fei-fei

Leveraging Mutual Information for Asymmetric Learning under Partial Observability

Hai Huu Nguyen, Long Dinh Van The, Christopher Amato, Robert Platt

What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?

Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn

KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation

Hongyi Chen, Abulikemu Abuduweili, Aviral Agrawal, Yunhai Han, Harish Ravichandar

Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping

Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang

Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation

Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, David Fan, Wenshan Wang

Simple Masked Training Strategies Yield Control Policies That Are Robust to Sensor Failure

Skand Skand, Bikram Pandit, Chanho Kim, Li Fuxin, Stefan Lee

Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design

Xiaomeng Xu, Huy Ha, Shuran Song

Learning to Look: Seeking Information for Decision Making via Policy Factorization

Shivin Dass, Jiaheng Hu, Ben Abbatematteo, Peter Stone, Roberto Martín-Martín

ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning

Patrick Naughton, Jinda Cui, Karankumar Patel, Soshi Iba

DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning

Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg

Neural Inverse Source Problem

Youngsun Wi, Jayjun Lee, Miquel Oller, Nima Fazeli

VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation

I-Chun Arthur Liu, Sicheng He, Daniel Seita, Gaurav S. Sukhatme

SonicSense: Object Perception from In-Hand Acoustic Vibration

Jiaxun Liu, Boyuan Chen

Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation

Zheyu Zhuang, RUIYU WANG, Nils Ingelhag, Ville Kyrki, Danica Kragic

Multi-Task Interactive Robot Fleet Learning with Visual World Models

Huihan Liu, Yu Zhang, Vaarij Betala, Evan Zhang, James Liu

SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience

Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard

Context-Aware Replanning with Pre-Explored Semantic Map for Object Navigation

Po-Chen Ko, Hung-Ting Su, CY Chen, Jia-Fong Yeh, Min Sun

Learning Long-Horizon Action Dependencies in Sampling-Based Bilevel Planning

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

Visual Manipulation with Legs

Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held

BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark

Nikita Chernyadev, Nicholas Backshall, Xiao Ma, Yunfan Lu, Younggyo Seo

ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning

Yizhuo Wang, Yuhong Cao, Jimmy Chiun, Subhadeep Koley, Mandy Pham

Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models

Nils Blank, Moritz Reuss, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Wenzel

What Matters in Range View 3D Object Detection

Benjamin Wilson, Nicholas Autio Mitchell, Jhony Kaesemodel Pontes, James Hays

TaMMa: Target-driven Multi-subscene Mobile Manipulation

Jiawei Hou, Tianyu Wang, Tongying Pan, Shouyan Wang, Xiangyang Xue

Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion

Tianyi Xiong, Jiayi Wu, Botao He, Cornelia Fermuller, Yiannis Aloimonos

FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning

Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh

Mobile ALOHA: Learning Bimanual Mobile Manipulation using Low-Cost Whole-Body Teleoperation

Zipeng Fu, Tony Z. Zhao, Chelsea Finn

Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures

Kensuke Nakamura, Thomas Tian, Andrea Bajcsy

Teaching Robots with Show and Tell: Using Foundation Models to Synthesize Robot Policies from Language and Visual Demonstration

Michael Murray, Abhishek Gupta, Maya Cakmak

Action Space Design in Reinforcement Learning for Robot Motor Skills

Julian Eßer, Gabriel B. Margolis, Oliver Urbann, Sören Kerner, Pulkit Agrawal

RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics

Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna

Detect Everything with Few Examples

Xinyu Zhang, Yuhan Liu, Yuting Wang, Abdeslam Boularias

VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding

Runsen Xu, Zhiwei Huang, Tai WANG, Yilun Chen, Jiangmiao Pang

Dreamitate: Real-World Visuomotor Policy Learning via Video Generation

Junbang Liang, Ruoshi Liu, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave

ANAVI: Audio Noise Awareness using Visual of Indoor environments for NAVIgation

Vidhi Jain, Rishi Veerapaneni, Yonatan Bisk

Multi-Strategy Deployment-Time Learning and Adaptation for Navigation under Uncertainty

Abhishek Paudel, Xuesu Xiao, Gregory J. Stein

MaIL: Improving Imitation Learning with Selective State Space Models

Xiaogang Jia, Qian Wang, Atalay Donat, Bowen Xing, Ge Li

Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs

Zhuo Xu, Hao-Tien Lewis Chiang, Zipeng Fu, Mithun George Jacob, Tingnan Zhang

KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance

Jingxian Lu, Wenke Xia, Dong Wang, Zhigang Wang, Bin Zhao

Object-Centric Dexterous Manipulation from Human Motion Data

Yuanpei Chen, Chen Wang, Yaodong Yang, Karen Liu

Reasoning Grasping via Multimodal Large Language Model

Shiyu Jin, JINXUAN XU, Yutian Lei, Liangjun Zhang

CoViS-Net: A Cooperative Visual Spatial Foundation Model for Multi-Robot Applications

Jan Blumenkamp, Steven Morad, Jennifer Gielis, Amanda Prorok

Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks

Jialiang Zhao, Yuxiang Ma, Lirui Wang, Edward Adelson

Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving

Kairui Ding, Boyuan Chen, Yuchen Su, Huan-ang Gao, Bu Jin

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao

Evaluating Real-World Robot Manipulation Policies in Simulation

Xuanlin Li, Kyle Hsu, Jiayuan Gu, Oier Mees, Karl Pertsch

MBC: Multi-Brain Collaborative Control for Quadruped Robots

Hang Liu, Yi Cheng, Rankun Li, Xiaowen Hu, Linqi Ye

A Planar-Symmetric SO(3) Representation for Learning Grasp Detection

Tianyi Ko, Takuya Ikeda, Hiroya Sato, Koichi Nishiwaki

Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving

Thomas Tian, Boyi Li, Xinshuo Weng, Yuxiao Chen, Edward Schmerling

T$^2$SQNet: A Recognition Model for Manipulating Partially Observed Transparent Tableware Objects

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

CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning

Luke Rowe, Roger Girgis, Anthony Gosselin, Bruno Carrez, Florian Golemo

LiDARGrid: Self-supervised 3D Opacity Grid from LiDAR for Scene Forecasting

Chuanyu Pan, Aolin Xu

ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter

Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao

Modeling Drivers’ Situational Awareness from Eye Gaze for Driving Assistance

Abhijat Biswas, Pranay Gupta, Shreeya Khurana, David Held, Henny Admoni

SHADOW: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer

Marion Lepert, Ria Doshi, Jeannette Bohg