CoRL 2025

263 papers

Distributed Upload and Active Labeling for Resource-Constrained Fleet Learning

Oguzhan Akcin, Harsh Goel, Ruihan Zhao, Sandeep P. Chinchali

ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation

Enyu Zhao, Vedant Raval, Hejia Zhang, Jiageng Mao, Zeyu Shangguan

SimShear: Sim-to-Real Shear-based Tactile Servoing

Kipp Freud, Yijiong Lin, Nathan F. Lepora

DiWA: Diffusion Policy Adaptation with World Models

Akshay L Chandra, Iman Nematollahi, Chenguang Huang, Tim Welschehold, Wolfram Burgard

Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings

Andreas Sochopoulos, Nikolay Malkin, Nikolaos Tsagkas, João Moura, Michael Gienger

$Door(s)$: Junction State Estimation for Efficient Exploration in Reinforcement Learning

Benjamin Fele, Jan Babic

ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models

Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon, Ayoung Kim

Self-supervised Learning Of Visual Pose Estimation Without Pose Labels By Classifying LED States

Nicholas Carlotti, Mirko Nava, Alessandro Giusti

Contrastive Forward Prediction Reinforcement Learning for Adaptive Fault-Tolerant Legged Robots

Yangqing Fu, Yang Zhang, Qiyue Yang, Liyun Yan, Zhanxiang Cao

HALO : Human Preference Aligned Offline Reward Learning for Robot Navigation

Gershom Seneviratne, Sahire Ellahy, Kasun Weerakoon, Mohamed Bashir Elnoor, Jonathan Deepak Kannan

Shortcut Learning in Generalist Robot Policies: The Role of Dataset Diversity and Fragmentation

Youguang Xing, Xu Luo, Junlin Xie, Lianli Gao, Jingkuan Song

SafeBimanual: Diffusion-based trajectory optimization for safe bimanual manipulation

Haoyuan Deng, Wenkai Guo, Qianzhun Wang, Zhenyu Wu, Ziwei Wang

RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models

Jacky Kwok, Christopher Agia, Rohan Sinha, Matt Foutter, Shulu Li

Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps

Matt Schmittle, Rohan Baijal, Nathan Hatch, Rosario Scalise, Mateo Guaman Castro

LLM-Guided Probabilistic Program Induction for POMDP Model Estimation

Aidan Curtis, Hao Tang, Thiago Veloso, Kevin Ellis, Joshua B. Tenenbaum

ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning

Rahel Rickenbach, Alan Lahoud, Erik Schaffernicht, Melanie Zeilinger, Johannes A. Stork

DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control

Junjie Wen, Yichen Zhu, Jinming Li, Zhibin Tang, Chaomin Shen

FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset

Zhaxizhuom Zhaxizhuoma, Kehui Liu, Chuyue Guan, Zhongjie Jia, Ziniu Wu

ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving

Xueyi Liu, Zuodong Zhong, Qichao Zhang, Yuxin Guo, Yupeng Zheng

Robust Dexterous Grasping of General Objects

Hui Zhang, Zijian Wu, Linyi Huang, Sammy Christen, Jie Song

Poke and Strike: Learning Task-Informed Exploration Policies

Marina Y. Aoyama, João Moura, Juan Del Aguila Ferrandis, Sethu Vijayakumar

GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation

Abhay Deshpande, Yuquan Deng, Jordi Salvador, Arijit Ray, Winson Han

SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World RL

Jiaheng Hu, Peter Stone, Roberto Martín-Martín

Constrained Style Learning from Imperfect Demonstrations under Task Optimality

Kehan Wen, Chenhao Li, Junzhe He, Marco Hutter

MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation

Zhenyu Wu, Angyuan Ma, Xiuwei Xu, Hang Yin, Yinan Liang

CUPID: Curating Data your Robot Loves with Influence Functions

Christopher Agia, Rohan Sinha, Jingyun Yang, Rika Antonova, Marco Pavone

Humanoid Policy Human Policy

Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng, Chaitanya Chawla, Jialong Li

Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions

Harrison Field, Max Yang, Yijiong Lin, Efi Psomopoulou, David A.W. Barton

Generative Visual Foresight Meets Task-Agnostic Pose Estimation in Robotic Table-top Manipulation

Chuye Zhang, Xiaoxiong Zhang, Linfang Zheng, Wei Pan, Wei Zhang

Uncertainty-aware Accurate Elevation Modeling for Off-road Navigation via Neural Processes

Sanghun Jung, DAEHOON GWAK, Byron Boots, James Hays

LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing

Changyi Lin, Yuxin Ray Song, Boda Huo, Mingyang Yu, Yikai Wang

AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation

Yizheng Zhang, Zhenjun Yu, JiaXin Lai, Cewu Lu, Lei Han

Mechanistic Interpretability for Steering Vision-Language-Action Models

Bear Häon, Kaylene Caswell Stocking, Ian Chuang, Claire Tomlin

GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering

Saumya Saxena, Blake Buchanan, Chris Paxton, Peiqi Liu, Bingqing Chen

Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use

Haonan Chen, Cheng Zhu, Shuijing Liu, Yunzhu Li, Katherine Rose Driggs-Campbell

Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion

Seungeun Rho, Kartik Garg, Morgan Byrd, Sehoon Ha

Subteaming and Adaptive Formation Control for Coordinated Multi-Robot Navigation

Zihao Deng, peng gao, Williard Joshua Jose, Maggie Wigness, John G. Rogers III

Generalist Robot Manipulation beyond Action Labeled Data

Alexander Spiridonov, Jan-Nico Zaech, Nikolay Nikolov, Luc Van Gool, Danda Pani Paudel

ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly

Jiankai Sun, Aidan Curtis, Yang You, Yan Xu, Michael Koehle

ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning

Yunchu Zhang, Shubham Mittal, Zhengyu Zhang, Liyiming Ke, Siddhartha Srinivasa

GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping

René Zurbrügg, Andrei Cramariuc, Marco Hutter

IRIS: An Immersive Robot Interaction System

Xinkai Jiang, Qihao Yuan, Enes Ulas Dincer, Hongyi Zhou, Ge Li

exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation

Yue Xu, Litao Wei, Pengyu An, Qingyu Zhang, Yong-Lu Li

From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity

Luca Grillotti, Lisa Coiffard, Oscar Pang, Maxence Faldor, Antoine Cully

Few-Shot Neuro-Symbolic Imitation Learning for Long-Horizon Planning and Acting

Pierrick Lorang, Hong Lu, Johannes Huemer, Patrik Zips, Matthias Scheutz

VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning

Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam

CASPER: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models

Huihan Liu, Rutav Shah, Shuijing Liu, Jack Pittenger, Mingyo Seo

Improving Efficiency of Sampling-based Motion Planning via Message-Passing Monte Carlo

Makram Chahine, T. Konstantin Rusch, Zach J Patterson, Daniela Rus

Latent Adaptive Planner for Dynamic Manipulation

Donghun Noh, Deqian Kong, Minglu Zhao, Andrew Lizarraga, Jianwen Xie

AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies

Yinpei Dai, Jayjun Lee, Yichi Zhang, Ziqiao Ma, Jianing Yang

MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs

Zheyu Zhuang, RUIYU WANG, Giovanni Luca Marchetti, Florian T. Pokorny, Danica Kragic

CoRI: Communication of Robot Intent for Physical Human-Robot Interaction

Junxiang Wang, Emek Barış Küçüktabak, Rana Soltani Zarrin, Zackory Erickson

3DS-VLA: A 3D Spatial-Aware Vision Language Action Model for Robust Multi-Task Manipulation

Xiaoqi Li, Liang Heng, Jiaming Liu, Yan Shen, Chenyang Gu

Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study

Dongyun Kang, Gijeong Kim, JongHun Choe, Hajun Kim, Hae Won Park

Self-supervised perception for tactile skin covered dexterous hands

Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri, Zixi Liu, Taosha Fan

Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation

Rachel Luo, Heng Yang, Michael Watson, Apoorva Sharma, Sushant Veer

ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training

Ge Yan, Jiyue Zhu, Yuquan Deng, Shiqi Yang, Ri-Zhao Qiu

Cost-aware Discovery of Contextual Failures using Bayesian Active Learning

Anjali Parashar, Joseph Zhang, Yingke Li, Chuchu Fan

Enabling Long(er) Horizon Imitation for Manipulation Tasks by Modeling Subgoal Transitions

Shivam Jain, Sachit Sachdeva, Rohan Paul

Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference Scoped Exploration

Sirui Xu, Yu-Wei Chao, Liuyu Bian, Arsalan Mousavian, Yu-Xiong Wang

Pointing3D: A Benchmark for 3D Object Referral via Pointing Gestures

Mert Arslanoglu, Kadir Yilmaz, Cemhan Kaan Özaltan, Timm Linder, Bastian Leibe

KoopMotion: Learning Almost Divergence Free Koopman Flow Fields for Motion Planning

Alice Kate Li, Thales C. Silva, Victoria Edwards, Vijay Kumar, M. Ani Hsieh

TWIST: Teleoperated Whole-Body Imitation System

Yanjie Ze, Zixuan Chen, Joao Pedro Araujo, Xue Bin Peng, Jiajun Wu

MEReQ: Max-Ent Residual-Q Inverse RL for Sample-Efficient Alignment from Intervention

Yuxin Chen, Chen Tang, Jianglan Wei, Chenran Li, Thomas Tian

Search-TTA: A Multi-Modal Test-Time Adaptation Framework for Visual Search in the Wild

Derek Ming Siang Tan, Shailes Shailesh, Boyang Liu, Alok Raj, Qi Xuan Ang

Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online

Yishu Li, Xinyi Mao, Ying Yuan, Kyutae Sim, Ben Eisner

Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation

Yunhai Feng, Jiaming Han, Zhuoran Yang, Xiangyu Yue, Sergey Levine

Long-VLA: Unleashing Long-Horizon Capability of Vision Language Action Model for Robot Manipulation

Yiguo Fan, Shuanghao Bai, Xinyang Tong, Pengxiang Ding, Yuyang Zhu

AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World

Zhiyuan Zhou, Pranav Atreya, You Liang Tan, Karl Pertsch, Sergey Levine

JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes

Shalin Jain, Jiazhen Liu, Siva Kailas, Harish Ravichandar

Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation

Zechu Li, Yufeng Jin, Daniel Ordonez-Apraez, Claudio Semini, Puze Liu

BranchOut: Capturing Realistic Multimodality in Autonomous Driving Decisions

Hee Jae Kim, Zekai Yin, Lei Lai, Jason Lee, Eshed Ohn-Bar

Sample-Efficient Online Control Policy Learning with Real-Time Recursive Model Updates

Zixin Zhang, James Avtges, Todd Murphey

ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models

Puhao Li, Yingying Wu, Ziheng Xi, Wanlin Li, Yuzhe Huang

SDS – See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration

Maria Stamatopoulou, Jeffrey Li, Dimitrios Kanoulas

Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees

Yaniv Hassidof, Tom Jurgenson, Kiril Solovey

Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation

Siddhant Haldar, Lerrel Pinto

GC-VLN: Instruction as Graph Constraints for Training-free Vision-and-Language Navigation

Hang Yin, Haoyu Wei, Xiuwei Xu, Wenxuan Guo, Jie Zhou

Human-like Navigation in a World Built for Humans

Bhargav Chandaka, Gloria Xinyue Wang, Haozhe Chen, Henry Che, Albert J. Zhai

QuaDreamer: Controllable Panoramic Video Generation for Quadruped Robots

Sheng Wu, Fei Teng, Hao Shi, Qi Jiang, Kai Luo

Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing

Hao Ma, Sabrina Bodmer, Andrea Carron, Melanie Zeilinger, Michael Muehlebach

Learning Long-Context Diffusion Policies via Past-Token Prediction

Marcel Torne Villasevil, Andy Tang, Yuejiang Liu, Chelsea Finn

LaDi-WM: A Latent Diffusion-Based World Model for Predictive Manipulation

Yuhang Huang, Jiazhao Zhang, Shilong Zou, Xinwang Liu, Ruizhen Hu

Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation

Tongxuan Tian, Haoyang Li, Bo Ai, Xiaodi Yuan, Zhiao Huang

Steerable Scene Generation with Post Training and Inference-Time Search

Nicholas Ezra Pfaff, Hongkai Dai, Sergey Zakharov, Shun Iwase, Russ Tedrake

Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids

Kaizhe Hu, Haochen Shi, Yao He, Weizhuo Wang, Karen Liu

Learning Smooth State-Dependent Traversability from Dense Point Clouds

Zihao Dong, Alan Papalia, Leonard Jung, Alenna Spiro, Philip R Osteen

Efficient Evaluation of Multi-Task Robot Policies With Active Experiment Selection

Abrar Anwar, Rohan Gupta, Zain Merchant, Sayan Ghosh, Willie Neiswanger

Predictive Red Teaming: Breaking Policies Without Breaking Robots

Anirudha Majumdar, Mohit Sharma, Dmitry Kalashnikov, Sumeet Singh, Pierre Sermanet

ReCoDe: Reinforcement Learning-based Dynamic Constraint Design for Multi-Agent Coordination

Michael Amir, Guang Yang, Zhan Gao, Keisuke Okumura, Heedo Woo

Capability-Aware Shared Hypernetworks for Flexible Heterogeneous Multi-Robot Coordination

Kevin Fu, Shalin Jain, Pierce Howell, Harish Ravichandar

Multimodal Fused Learning for Solving the Generalized Traveling Salesman Problem in Robotic Task Planning

Jiaqi Cheng, Mingfeng Fan, Xuefeng Zhang, Jingsong Liang, Yuhong Cao

O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation

Tongxuan Tian, Xuhui Kang, Yen-Ling Kuo

Sequence Modeling for Time-Optimal Quadrotor Trajectory Optimization with Sampling-based Robustness Analysis

Katherine Mao, Hongzhan Yu, Ruipeng Zhang, Igor Spasojevic, Sicun Gao

PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction

Rishabh Madan, Jiawei Lin, Mahika Goel, Amber Li, Angchen Xie

Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning

Albert Wilcox, Mohamed Ghanem, Masoud Moghani, Pierre Barroso, Benjamin Joffe

Multi-critic Learning for Whole-body End-effector Twist Tracking

Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione, Christian Gehring, Marco Hutter

Residual Neural Terminal Constraint for MPC-based Collision Avoidance in Dynamic Environments

Bojan Derajic, Mohamed-Khalil Bouzidi, Sebastian Bernhard, Wolfgang Hönig

CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks

Ce Hao, Anxing Xiao, Zhiwei Xue, Harold Soh

ObjectReact: Learning Object-Relative Control for Visual Navigation

Sourav Garg, Dustin Craggs, Vineeth Bhat, Lachlan Mares, Stefan Podgorski