CoRL 2024

264 papers

Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications

Joe Eappen, Zikang Xiong, Dipam Patel, Aniket Bera, Suresh Jagannathan

Learning a Distributed Hierarchical Locomotion Controller for Embodied Cooperation

Chuye Hong, Kangyao Huang, Huaping Liu

RoboKoop: Efficient Control Conditioned Representations from Visual Input in Robotics using Koopman Operator

Hemant Kumawat, Biswadeep Chakraborty, Saibal Mukhopadhyay

TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation

Junli Ren, Yingru Dai, Junfeng Long, Guijin Wang, Yi-kai Liu

Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training

Wenhao Cui, Shengtao Li, Huaxing Huang, Bangyu Qin, Tianchu Zhang

Adaptive Language-Guided Abstraction from Contrastive Explanations

Andi Peng, Belinda Z. Li, Ilia Sucholutsky, Nishanth Kumar, Julie Shah

Body Transformer: Leveraging Robot Embodiment for Policy Learning

Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel

JointMotion: Joint Self-Supervision for Joint Motion Prediction

Royden Wagner, Omer Sahin Tas, Marvin Klemp, Carlos Fernandez

ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real

Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu

One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion

Nico Bohlinger, Grzegorz Czechmanowski, Maciej Piotr Krupka, Piotr Kicki, Krzysztof Walas

LLARVA: Vision-Action Instruction Tuning Enhances Robot Learning

Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai

Towards Open-World Grasping with Large Vision-Language Models

Georgios Tziafas, Hamidreza Kasaei

Progressive Multi-Modal Fusion for Robust 3D Object Detection

Rohit Mohan, Daniele Cattaneo, Florian Drews, Abhinav Valada

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation

Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao

Task Success Prediction for Open-Vocabulary Manipulation Based on Multi-Level Aligned Representations

Miyu Goko, Motonari Kambara, Daichi Saito, Seitaro Otsuki, Komei Sugiura

Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope

Haodi Hu, Feifei Qian, Daniel Seita

SLR: Learning Quadruped Locomotion without Privileged Information

Shiyi Chen, Zeyu Wan, Shiyang Yan, Chun Zhang, Weiyi Zhang

DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics

Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire

Robotic Control via Embodied Chain-of-Thought Reasoning

Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn

Autonomous Interactive Correction MLLM for Robust Robotic Manipulation

Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu

Lessons from Learning to Spin “Pens”

Jun Wang, Ying Yuan, Haichuan Che, Haozhi Qi, Yi Ma

JA-TN: Pick-and-Place Towel Shaping from Crumpled States based on TransporterNet with Joint-Probability Action Inference

Halid Abdulrahim Kadi, Kasim Terzić

An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild

Erik Bauer, Marc Blöchlinger, Pascal Strauch, Arman Raayatsanati, Cavelti Curdin

Structured Bayesian Meta-Learning for Data-Efficient Visual-Tactile Model Estimation

Shaoxiong Yao, Yifan Zhu, Kris Hauser

FetchBench: A Simulation Benchmark for Robot Fetching

Beining Han, Meenal Parakh, Derek Geng, Jack A Defay, Gan Luyang

RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg

Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions

Zhenyu Jiang, Yuqi Xie, Jinhan Li, Ye Yuan, Yifeng Zhu

Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects

Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen

Sim-to-Real Transfer via 3D Feature Fields for Vision-and-Language Navigation

Zihan Wang, Xiangyang Li, Jiahao Yang, Yeqi Liu, Shuqiang Jiang

DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands

Fengbo Lan, Shengjie Wang, Yunzhe Zhang, Haotian Xu, Oluwatosin OluwaPelumi Oseni

Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping

Pinhao Song, Pengteng Li, Renaud Detry

Legolas: Deep Leg-Inertial Odometry

Justin Wasserman, Ananye Agarwal, Rishabh Jangir, Girish Chowdhary, Deepak Pathak

Learning to Open and Traverse Doors with a Legged Manipulator

Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter

Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction

Yili Liu, Linzhan Mou, Xuan Yu, Chenrui Han, Sitong Mao

Continuous Control with Coarse-to-fine Reinforcement Learning

Younggyo Seo, Jafar Uruç, Stephen James

Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision

Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, Jens Lundell, Jeffrey Ichnowski

HumanPlus: Humanoid Shadowing and Imitation from Humans

Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn

Multi-Transmotion: Pre-trained Model for Human Motion Prediction

Yang Gao, Po-Chien Luan, Alexandre Alahi

So You Think You Can Scale Up Autonomous Robot Data Collection?

Suvir Mirchandani, Suneel Belkhale, Joey Hejna, Evelyn Choi, Md Sazzad Islam

SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment

Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox

Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, Xiaolong Wang

Scaling Manipulation Learning with Visual Kinematic Chain Prediction

Xinyu Zhang, Yuhan Liu, Haonan Chang, Abdeslam Boularias

OpenVLA: An Open-Source Vision-Language-Action Model

Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna

Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning

Piotr Kicki, Davide Tateo, Puze Liu, Jonas Günster, Jan Peters

Conformal Prediction for Semantically-Aware Autonomous Perception in Urban Environments

Achref Doula, Tobias Güdelhöfer, Max Mühlhäuser, Alejandro Sanchez Guinea

Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racing

Jonathan DeCastro, Andrew Silva, Deepak Gopinath, Emily Sumner, Thomas Matrai Balch

Rate-Informed Discovery via Bayesian Adaptive Multifidelity Sampling

Aman Sinha, Payam Nikdel, Supratik Paul, Shimon Whiteson

3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing

Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, Yunzhu Li

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza

Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception

Anushri Dixit, Zhiting Mei, Meghan Booker, Mariko Storey-Matsutani, Allen Z. Ren

Learning Visual Parkour from Generated Images

Alan Yu, Ge Yang, Ran Choi, Yajvan Ravan, John Leonard

Flow as the Cross-domain Manipulation Interface

Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein

OrbitGrasp: SE(3)-Equivariant Grasp Learning

Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang

Generative Image as Action Models

Mohit Shridhar, Yat Long Lo, Stephen James

Pre-emptive Action Revision by Environmental Feedback for Embodied Instruction Following Agents

Jinyeon Kim, Cheolhong Min, Byeonghwi Kim, Jonghyun Choi

OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar

SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation

Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, Ajay Mandlekar

Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills

Tianhao Wei, Liqian Ma, Rui Chen, Weiye Zhao, Changliu Liu

MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking

Huaxiaoyue Wang, Kushal Kedia, Juntao Ren, Rahma Abdullah, Atiksh Bhardwaj

Contrast Sets for Evaluating Language-Guided Robot Policies

Abrar Anwar, Rohan Gupta, Jesse Thomason

TLDR: Unsupervised Goal-Conditioned RL via Temporal Distance-Aware Representations

Junik Bae, Kwanyoung Park, Youngwoon Lee

RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation

Chongkai Gao, Zhengrong Xue, Shuying Deng, Tianhai Liang, Siqi Yang

Solving Offline Reinforcement Learning with Decision Tree Regression

Prajwal Koirala, Cody Fleming

Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models

Mike Zhang, Kaixian Qu, Vaishakh Patil, Cesar Cadena, Marco Hutter

Large Scale Mapping of Indoor Magnetic Field by Local and Sparse Gaussian Processes

Iad ABDUL-RAOUF, Vincent Gay-Bellile, Cyril JOLY, Steve Bourgeois, Alexis Paljic

Shelf-Supervised Cross-Modal Pre-Training for 3D Object Detection

Mehar Khurana, Neehar Peri, James Hays, Deva Ramanan

Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models

Jacob Levy, Tyler Westenbroek, David Fridovich-Keil

InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment

Yuxing Long, Wenzhe Cai, Hongcheng Wang, Guanqi Zhan, Hao Dong

VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning

Lei Huang, Weijia Cai, Zihan Zhu, Chen Feng, Helge Rhodin

Learning Compositional Behaviors from Demonstration and Language

Weiyu Liu, Neil Nie, Ruohan Zhang, Jiayuan Mao, Jiajun Wu

Humanoid Parkour Learning

Ziwen Zhuang, Shenzhe Yao, Hang Zhao

3D Diffuser Actor: Policy Diffusion with 3D Scene Representations

Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki

Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning

Adam Fishman, Aaron Walsman, Mohak Bhardwaj, Wentao Yuan, Balakumar Sundaralingam

ALOHA Unleashed: A Simple Recipe for Robot Dexterity

Tony Z. Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour

Task-Oriented Hierarchical Object Decomposition for Visuomotor Control

Jianing Qian, Yunshuang Li, Bernadette Bucher, Dinesh Jayaraman

I Can Tell What I am Doing: Toward Real-World Natural Language Grounding of Robot Experiences

Zihan Wang, Brian Liang, Varad Dhat, Zander Brumbaugh, Nick Walker

Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling

Mingtong Zhang, Kaifeng Zhang, Yunzhu Li

Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping

Siang Chen, Pengwei Xie, Wei Tang, Dingchang Hu, Yixiang Dai

Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning

Zhecheng Yuan, Tianming Wei, Shuiqi Cheng, Gu Zhang, Yuanpei Chen

Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation

Hanjiang Hu, Yujie Yang, Tianhao Wei, Changliu Liu

ClutterGen: A Cluttered Scene Generator for Robot Learning

Yinsen Jia, Boyuan Chen

Q-SLAM: Quadric Representations for Monocular SLAM

Chensheng Peng, Chenfeng Xu, Yue Wang, Mingyu Ding, Heng Yang

Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance

RenMing Huang, Shaochong Liu, Yunqiang Pei, Peng Wang, Guoqing Wang

InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation

Andrew Choong-Won Lee, Ian Chuang, Ling-Yuan Chen, Iman Soltani

TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction

Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, Li Fei-fei

A3VLM: Actionable Articulation-Aware Vision Language Model

Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong

HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation

Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli

APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs

Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega, Xiangwan Sun, Neha Sunkara

DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets

Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng

General Flow as Foundation Affordance for Scalable Robot Learning

Chengbo Yuan, Chuan Wen, Tong Zhang, Yang Gao

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang

Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions

Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar

SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning

Mohammadreza Kasaei, Hamidreza Kasaei, Mohsen Khadem

Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph

Utkarsh Aashu Mishra, Yongxin Chen, Danfei Xu

GraspSplats: Efficient Manipulation with 3D Feature Splatting

Mazeyu Ji, Ri-Zhao Qiu, Xueyan Zou, Xiaolong Wang

Modeling the Real World with High-Density Visual Particle Dynamics

Jake Varley, Deepali Jain, Krzysztof Marcin Choromanski, Sumeet Singh, Vikas Sindhwani

Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation

Vivek Myers, Chunyuan Zheng, Oier Mees, Kuan Fang, Sergey Levine

Control with Patterns: A D-learning Method

Quan Quan, Kai-Yuan Cai, Chenyu Wang

Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction

Aidan Curtis, Nishanth Kumar, Jing Cao, Tomás Lozano-Pérez, Leslie Pack Kaelbling

Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors

Ziwei Liao, Binbin Xu, Steven L. Waslander