CoRL 2024

264 papers

NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors

Shuo Cheng, Caelan Reed Garrett, Ajay Mandlekar, Danfei Xu

DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies

William Xie, Maria Valentini, Jensen Lavering, Nikolaus Correll

Non-rigid Relative Placement through 3D Dense Diffusion

Eric Cai, Octavian Donca, Ben Eisner, David Held

Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction

Jakob Thumm, Christopher Agia, Marco Pavone, Matthias Althoff

Generalizing End-To-End Autonomous Driving In Real-World Environments Using Zero-Shot LLMs

Zeyu Dong, Yimin Zhu, Yansong Li, Kevin Mahon, Yu Sun

Exploring Under Constraints with Model-Based Actor-Critic and Safety Filters

Ahmed Agha, Baris Kayalibay, Atanas Mirchev, Patrick van der Smagt, Justin Bayer

PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations

Cheng Qian, Julen Urain, Kevin Zakka, Jan Peters

View-Invariant Policy Learning via Zero-Shot Novel View Synthesis

Stephen Tian, Blake Wulfe, Kyle Sargent, Katherine Liu, Sergey Zakharov

EXTRACT: Efficient Policy Learning by Extracting Transferable Robot Skills from Offline Data

Jesse Zhang, Minho Heo, ZUXIN LIU, Erdem Biyik, Yao Liu

A Dual Approach to Imitation Learning from Observations with Offline Datasets

Harshit Sikchi, Caleb Chuck, Amy Zhang, Scott Niekum

Real-to-Sim Grasp: Rethinking the Gap between Simulation and Real World in Grasp Detection

Jia-Feng Cai, Zibo Chen, Xiao-ming Wu, Jian-Jian Jiang, Yi-Lin Wei

Learning H-Infinity Locomotion Control

Junfeng Long, Wenye Yu, Quanyi Li, Zirui Wang, Dahua Lin

Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks

Alex Quach, Makram Chahine, Alexander Amini, Ramin Hasani, Daniela Rus

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

Jingyun Yang, Ziang Cao, Congyue Deng, Rika Antonova, Shuran Song

Lifelong Autonomous Improvement of Navigation Foundation Models in the Wild

Kyle Stachowicz, Lydia Ignatova, Sergey Levine

Learning Decentralized Multi-Biped Control for Payload Transport

Bikram Pandit, Ashutosh Gupta, Mohitvishnu S. Gadde, Addison Johnson, Aayam Kumar Shrestha

Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation

Jan Bruedigam, Ali Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung

Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching

Eugenio Chisari, Nick Heppert, Max Argus, Tim Welschehold, Thomas Brox

Bi-Level Motion Imitation for Humanoid Robots

Wenshuai Zhao, Yi Zhao, Joni Pajarinen, Michael Muehlebach

ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data

Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel

HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers

Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu

RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, Stelian Coros

Sparsh: Self-supervised touch representations for vision-based tactile sensing

Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster

Adaptive Diffusion Terrain Generator for Autonomous Uneven Terrain Navigation

Youwei Yu, Junhong Xu, Lantao Liu

Discovering Robotic Interaction Modes with Discrete Representation Learning

Liquan Wang, Ankit Goyal, Haoping Xu, Animesh Garg

MILES: Making Imitation Learning Easy with Self-Supervision

Georgios Papagiannis, Edward Johns

Robust Manipulation Primitive Learning via Domain Contraction

Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon

Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion

Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner

Language-guided Manipulator Motion Planning with Bounded Task Space

Thies Oelerich, Christian Hartl-Nesic, Andreas Kugi

Theia: Distilling Diverse Vision Foundation Models for Robot Learning

Jinghuan Shang, Karl Schmeckpeper, Brandon B. May, Maria Vittoria Minniti, Tarik Kelestemur

Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress

Christopher Agia, Rohan Sinha, Jingyun Yang, Ziang Cao, Rika Antonova

LeLaN: Learning A Language-Conditioned Navigation Policy from In-the-Wild Video

Noriaki Hirose, Catherine Glossop, Ajay Sridhar, Oier Mees, Sergey Levine

Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning

Yixiao Wang, Yifei Zhang, Mingxiao Huo, Thomas Tian, Xiang Zhang

Gentle Manipulation of Tree Branches: A Contact-Aware Policy Learning Approach

Jay Jacob, Shizhe Cai, Paulo Vinicius Koerich Borges, Tirthankar Bandyopadhyay, Fabio Ramos

One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits

Franck Djeumou, Thomas Jonathan Lew, Nan Ding, Michael Thompson, Makoto Suminaka

Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction

Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang

FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality

Keyu Chen, Yuheng Lei, Hao Cheng, Haoran Wu, Wenchao Sun

RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation

Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng

Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation

Jean Pierre Sleiman, Mayank Mittal, Marco Hutter

Physically Embodied Gaussian Splatting: A Visually Learnt and Physically Grounded 3D Representation for Robotics

Jad Abou-Chakra, Krishan Rana, Feras Dayoub, Niko Suenderhauf

Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation

Ria Doshi, Homer Rich Walke, Oier Mees, Sudeep Dasari, Sergey Levine

Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective

Haoran He, Peilin Wu, Chenjia Bai, Hang Lai, Lingxiao Wang

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts

Chong Zhang, Wenli Xiao, Tairan He, Guanya Shi

Environment Curriculum Generation via Large Language Models

William Liang, Sam Wang, Hung-Ju Wang, Osbert Bastani, Dinesh Jayaraman

PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators

Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador

Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination

Duy Phuong Nguyen, Kai-Chieh Hsu, Wenhao Yu, Jie Tan, Jaime Fernández Fisac

Uncertainty-Aware Decision Transformer for Stochastic Driving Environments

Zenan Li, Fan Nie, Qiao Sun, Fang Da, Hang Zhao

Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation

Ruoxuan Feng, Di Hu, Wenke Ma, Xuelong Li

TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach

Weikun Peng, Jun Lv, Yuwei Zeng, Haonan Chen, Siheng Zhao

OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation

Jinhan Li, Yifeng Zhu, Yuqi Xie, Zhenyu Jiang, Mingyo Seo

D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement

Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Rose Driggs-Campbell

Learning Quadruped Locomotion Using Differentiable Simulation

Yunlong Song, Sang bae Kim, Davide Scaramuzza

Visual Whole-Body Control for Legged Loco-Manipulation

Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ri-Zhao Qiu

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning

Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer

Reinforcement Learning with Foundation Priors: Let Embodied Agent Efficiently Learn on Its Own

Weirui Ye, Yunsheng Zhang, Haoyang Weng, Xianfan Gu, Shengjie Wang

Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning

Dhruva Tirumala, Markus Wulfmeier, Ben Moran, Sandy Huang, Jan Humplik

ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning

Joey Hejna, Chethan Anand Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh

Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks

Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov

Differentiable Robot Rendering

Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick

SELFI: Autonomous Self-Improvement with RL for Vision-Based Navigation around People

Noriaki Hirose, Dhruv Shah, Kyle Stachowicz, Ajay Sridhar, Sergey Levine

RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches

Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao

Equivariant Diffusion Policy

Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang

OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models

Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor

Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration

Jennifer Grannen, Siddharth Karamcheti, Suvir Mirchandani, Percy Liang, Dorsa Sadigh