CoRL 2025

263 papers

Fail2Progress: Learning from Real-World Robot Failures with Stein Variational Inference

Yixuan Huang, Novella Alvina, Mohanraj Devendran Shanthi, Tucker Hermans

Disentangled Multi-Context Meta-Learning: Unlocking Robust and Generalized Task Learning

Seonsoo Kim, Jun-Gill Kang, Taehong Kim, Seongil Hong

FOMO-3D: Using Vision Foundation Models for Long-Tailed 3D Object Detection

Anqi Joyce Yang, James Tu, Nikita Dvornik, Enxu Li, Raquel Urtasun

LaVA-Man: Learning Visual Action Representations for Robot Manipulation

Chaoran Zhu, Hengyi Wang, Yik Lung Pang, Changjae Oh

Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions

Alexis Yihong Hao, Yufei Wang, Navin Sriram Ravie, Bharath Hegde, David Held

Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames

Krishan Rana, Jad Abou-Chakra, Sourav Garg, Robert Lee, Ian Reid

Vision in Action: Learning Active Perception from Human Demonstrations

Haoyu Xiong, Xiaomeng Xu, Jimmy Wu, Yifan Hou, Jeannette Bohg

Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence

Pranay Gupta, Henny Admoni, Andrea Bajcsy

From Real World to Logic and Back: Learning Generalizable Relational Concepts For Long Horizon Robot Planning

Naman Shah, Jayesh Nagpal, Siddharth Srivastava

Meta-Optimization and Program Search using Language Models for Task and Motion Planning

Denis Shcherba, Eckart Cobo-Briesewitz, Cornelius V. Braun, Marc Toussaint

CaRL: Learning Scalable Planning Policies with Simple Rewards

Bernhard Jaeger, Daniel Dauner, Jens Beißwenger, Simon Gerstenecker, Kashyap Chitta

Mastering Multi-Drone Volleyball through Hierarchical Co-Self-Play Reinforcement Learning

Ruize Zhang, Sirui Xiang, Zelai Xu, Feng Gao, Shilong Ji

Rapid Mismatch Estimation via Neural Network Informed Variational Inference

Mateusz Jaszczuk, Nadia Figueroa

First Order Model-Based RL through Decoupled Backpropagation

Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane, Nicolas Mansard, Ludovic Righetti

NeuralSVCD for Efficient Swept Volume Collision Detection

Hojin Jung, Dongwon Son, Beomjoon Kim

GENNAV: Polygon Mask Generation for Generalized Referring Navigable Regions

Kei Katsumata, Yui Iioka, Naoki Hosomi, Teruhisa Misu, Kentaro Yamada

DreamGen: Unlocking Generalization in Robot Learning through Video World Models

Joel Jang, Seonghyeon Ye, Zongyu Lin, Jiannan Xiang, Johan Bjorck

Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation

Yajvan Ravan, Adam Rashid, Alan Yu, Kai McClennen, Gio Huh

TReF-6: Inferring Task-Relevant Frames from a Single Demonstration for One-Shot Skill Generalization

Yuxuan Ding, Shuangge Wang, Tesca Fitzgerald

Motion Blender Gaussian Splatting for Dynamic Reconstruction

Xinyu Zhang, Haonan Chang, Yuhan Liu, Abdeslam Boularias

Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering

Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng, Andrzej Marek Reinke, Bandi Jai Krishna

Deep Reactive Policy: Learning Reactive Manipulator Motion Planning for Dynamic Environments

Jiahui Yang, Jason Jingzhou Liu, Yulong Li, Youssef Khaky, Kenneth Shaw

D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation

Jun Yamada, Shaohong Zhong, Jack Collins, Ingmar Posner

RICL: Adding In-Context Adaptability to Pre-Trained Vision-Language-Action Models

Kaustubh Sridhar, Souradeep Dutta, Dinesh Jayaraman, Insup Lee

LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations

Weikang Wan, Jiawei Fu, Xiaodi Yuan, Yifeng Zhu, Hao Su

TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types

Yuhao Lin, Yi-Lin Wei, Haoran Liao, Mu Lin, Chengyi Xing

EndoVLA: Dual-Phase Vision-Language-Action for Precise Autonomous Tracking in Endoscopy

NG CHI KIT, Long Bai, Guankun Wang, Yupeng Wang, Huxin Gao

ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation

Suning Huang, Qianzhong Chen, Xiaohan Zhang, Jiankai Sun, Mac Schwager

Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids

Toru Lin, Kartik Sachdev, Linxi Fan, Jitendra Malik, Yuke Zhu

Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation

Anuj Pasricha, Joewie J. Koh, Jay Vakil, Alessandro Roncone

Beyond Constant Parameters: Hyper Prediction Models and HyperMPC

Jan Węgrzynowski, Piotr Kicki, Grzegorz Czechmanowski, Maciej Piotr Krupka, Krzysztof Walas

Distilling On-device Language Models for Robot Planning with Minimal Human Intervention

Zachary Ravichandran, Ignacio Hounie, Fernando Cladera, Alejandro Ribeiro, George J. Pappas

Imagine, Verify, Execute: Memory-guided Agentic Exploration with Vision-Language Models

Seungjae Lee, Daniel Ekpo, Haowen Liu, Furong Huang, Abhinav Shrivastava

BEVCalib: LiDAR-Camera Calibration via Geometry-Guided Bird’s-Eye View Representation

Weiduo Yuan, Jerry Li, Justin Yue, Divyank Shah, Konstantinos Karydis

Generating Robot Constitutions & Benchmarks for Semantic Safety

Pierre Sermanet, Anirudha Majumdar, Alex Irpan, Dmitry Kalashnikov, Vikas Sindhwani

CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation

Sung-Wook Lee, Xuhui Kang, Brandon Y. Yang, Yen-Ling Kuo

Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams

Zhi Su, Yuman Gao, Emily Lukas, Yunfei Li, Jiaze Cai

Pseudo-Simulation for Autonomous Driving

Wei Cao, Marcel Hallgarten, Tianyu Li, Daniel Dauner, Xunjiang Gu

See, Point, Fly: A Learning-Free VLM Framework for Universal Unmanned Aerial Navigation

Chih Yao Hu, Yang-Sen Lin, Yuna Lee, Chih-Hai Su, Jie-Ying Lee

Diffusion-Guided Multi-Arm Motion Planning

Viraj Parimi, Brian C. Williams

Do LLM Modules Generalize? A Study on Motion Generation for Autonomous Driving

Mingyi Wang, Jingke Wang, Tengju Ye, Kaicheng Yu

Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations

Chengtian Ma, Yunyue Wei, Chenhui Zuo, Chen Zhang, Yanan Sui

Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristics

Ryoga Oishi, Sho Sakaino, Toshiaki Tsuji

COLLAGE: Adaptive Fusion-based Retrieval for Augmented Policy Learning

Sateesh Kumar, Shivin Dass, Georgios Pavlakos, Roberto Martín-Martín

Articulate AnyMesh: Open-vocabulary 3D Articulated Objects Modeling

Xiaowen Qiu, Jincheng Yang, Yian Wang, Zhehuan Chen, Yufei Wang

Granular loco-manipulation: Repositioning rocks through strategic sand avalanche

Haodi Hu, Yue Wu, Daniel Seita, Feifei Qian

Phantom: Training Robots Without Robots Using Only Human Videos

Marion Lepert, Jiaying Fang, Jeannette Bohg

HyperTASR: Hypernetwork-Driven Task-Aware Scene Representations for Robust Manipulation

Li Sun, Jiefeng Wu, Feng Chen, Ruizhe Liu, Yanchao Yang

Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control

Yitang Li, Yuanhang Zhang, Wenli Xiao, Chaoyi Pan, Haoyang Weng

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks

Yixuan Li, Yutang Lin, Jieming Cui, Tengyu Liu, Wei Liang

MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence

Chao Tang, Anxing Xiao, Yuhong Deng, Tianrun Hu, Wenlong Dong

Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures

Junwon Seo, Kensuke Nakamura, Andrea Bajcsy

Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration

Tyler Ga Wei Lum, Olivia Y. Lee, Karen Liu, Jeannette Bohg

Uncertainty-Aware Scene Understanding via Efficient Sampling-Free Confidence Estimation

Hanieh Shojaei Miandashti, Qianqian Zou, Claus Brenner

OPAL: Visibility-aware LiDAR-to-OpenStreetMap Place Recognition via Adaptive Radial Fusion

Shuhao Kang, Youqi Liao, Yan Xia, Olaf Wysocki, Boris Jutzi

UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation

Mingdong Wu, Long Yang, Jin Liu, Weiyao Huang, Lehong Wu

Action-Free Reasoning for Policy Generalization

Jaden Clark, Suvir Mirchandani, Dorsa Sadigh, Suneel Belkhale

Joint Model-based Model-free Diffusion for Planning with Constraints

Wonsuhk Jung, Utkarsh Aashu Mishra, Nadun Ranawaka Arachchige, Yongxin Chen, Danfei Xu

Co-Design of Soft Gripper with Neural Physics

Sha Yi, Xueqian Bai, Adabhav Singh, Jianglong Ye, Michael T. Tolley

PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimation

Lihua Liu, Jiehong Lin, ZhenXin Liu, Kui Jia

UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations

Hanjung Kim, Jaehyun Kang, Hyolim Kang, Meedeum Cho, Seon Joo Kim

ComposableNav: Instruction-Following Navigation in Dynamic Environments via Composable Diffusion

Zichao Hu, Chen Tang, Michael Joseph Munje, Yifeng Zhu, Alex Liu

Robot Learning from Any Images

Siheng Zhao, Jiageng Mao, Wei Chow, Zeyu Shangguan, Tianheng Shi

Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling

Jianpeng Yao, Xiaopan Zhang, Yu Xia, Zejin Wang, Amit Roy-Chowdhury

CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion

Jiahua Ma, Yiran Qin, Yixiong Li, Xuanqi Liao, Yulan Guo

ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation

Haochen Shi, Weizhuo Wang, Shuran Song, Karen Liu

TrackVLA: Embodied Visual Tracking in the Wild

Shaoan Wang, Jiazhao Zhang, Minghan Li, Jiahang Liu, Anqi Li

KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation

Di Zhang, Chengbo Yuan, Chuan Wen, Hai Zhang, Junqiao Zhao

From Space to Time: Enabling Adaptive Safety with Learned Value Functions via Disturbance Recasting

Sander Tonkens, Nikhil Uday Shinde, Azra Begzadić, Michael C. Yip, Jorge Cortes

Off Policy Lyapunov Stability in Reinforcement Learning

Sarvan Gill, Daniela Constantinescu

RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning

Liam Boyle, Nicolas Baumann, Paviththiren Sivasothilingam, Michele Magno, Luca Benini

Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching

Sirui Chen, Yufei Ye, Pei Xu, Jennifer Lew, Karen Liu

AnyPlace: Learning Generalizable Object Placement for Robot Manipulation

Yuchi Zhao, Miroslav Bogdanovic, Chengyuan Luo, Steven Tohme, Kourosh Darvish

Elucidating the Design Space of Torque-aware Vision-Language-Action Models

Zongzheng Zhang, Haobo Xu, Zhuo Yang, Chenghao Yue, Zehao Lin

Extracting Visual Plans from Unlabeled Videos via Symbolic Guidance

Wenyan Yang, Ahmet Tikna, Yi Zhao, Yuying Zhang, Luigi Palopoli

GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulation

Teli Ma, Jia Zheng, Zifan Wang, Ziyao Gao, Jiaming Zhou

FLARE: Robot Learning with Implicit World Modeling

Ruijie Zheng, Jing Wang, Scott Reed, Johan Bjorck, Yu Fang

Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation

Homanga Bharadhwaj, Debidatta Dwibedi, Abhinav Gupta, Shubham Tulsiani, Carl Doersch

Neural Robot Dynamics

Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin

One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies

Chuer Pan, Litian Liang, Dominik Bauer, Eric Cousineau, Benjamin Burchfiel

In-Context Iterative Policy Improvement for Dynamic Manipulation

Mark Van der Merwe, Devesh K. Jha

Focusing on What Matters: Object-Agent-centric Tokenization for Vision Language Action models

Rokas Bendikas, Daniel Dijkman, Markus Peschl, Sanjay Haresh, Pietro Mazzaglia

Decentralized Aerial Manipulation of a Cable-Suspended Load Using Multi-Agent Reinforcement Learning

Jack Zeng, Andreu Matoses Gimenez, Eugene Vinitsky, Javier Alonso-Mora, Sihao Sun

Articulated Object Estimation in the Wild

Abdelrhman Werby, Martin Büchner, Adrian Röfer, Chenguang Huang, Wolfram Burgard

SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps

Olao Shorinwa, Jiankai Sun, Mac Schwager, Anirudha Majumdar

VLM-AD: End-to-End Autonomous Driving through Vision-Language Model Supervision

Yi Xu, Yuxin Hu, Zaiwei Zhang, Gregory P. Meyer, Siva Karthik Mustikovela

Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility

Zewei Zhang, Chenhao Li, Takahiro Miki, Marco Hutter

FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Flow Models

Moritz Reuss, Hongyi Zhou, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Otto

Embrace Contacts: humanoid shadowing with full body ground contacts

Ziwen Zhuang, Hang Zhao

CARE: Enhancing Safety of Visual Navigation through Collision Avoidance via Repulsive Estimation

Joonkyung Kim, Joonyeol Sim, Woojun Kim, Katia P. Sycara, Changjoo Nam

Agreement Volatility: A Second-Order Metric for Uncertainty Quantification in Surgical Robot Learning

Jordan Thompson, Britton Jordan, Daniel S. Brown, Alan Kuntz

Learning Deployable Locomotion Control via Differentiable Simulation

Clemens Schwarke, Victor Klemm, Joshua Bagajo, Jean Pierre Sleiman, Ignat Georgiev

Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop

Justin Kerr, Kush Hari, Ethan Weber, Chung Min Kim, Brent Yi

Constraint-Preserving Data Generation for One-Shot Visuomotor Policy Generalization

Kevin Lin, Varun Ragunath, Andrew McAlinden, Aaditya Prasad, Jimmy Wu

WoMAP: World Models For Embodied Open-Vocabulary Object Localization

Tenny Yin, Zhiting Mei, Tao Sun, Ola Sho, Anirudha Majumdar

UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimation

Zhaodong Jiang, Ashish Sinha, Tongtong Cao, Yuan Ren, Bingbing Liu

D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation

I-Chun Arthur Liu, Jason Chen, Gaurav S. Sukhatme, Daniel Seita

RoboChemist: Long-Horizon and Safety-Compliant Robotic Chemical Experimentation

Zongzheng Zhang, Chenghao Yue, Haobo Xu, Minwen Liao, Xianglin Qi

Mobi-π: Mobilizing Your Robot Learning Policy

Jingyun Yang, Isabella Huang, Brandon Vu, Max Bajracharya, Rika Antonova

Towards Embodiment Scaling Laws in Robot Locomotion

Bo Ai, Liu Dai, Nico Bohlinger, Dichen Li, Tongzhou Mu