CoRL 2025

263 papers

CogniPlan: Uncertainty-Guided Path Planning with Conditional Generative Layout Prediction

Yizhuo Wang, Haodong He, Jingsong Liang, Yuhong Cao, Ritabrata Chakraborty

FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inference

Qian Feng, Jianxiang Feng, Zhaopeng Chen, Rudolph Triebel, Alois Knoll

SPIN: distilling Skill-RRT for long-horizon prehensile and non-prehensile manipulation

Haewon Jung, Donguk Lee, Haecheol Park, Kim Jun Hyeop, Beomjoon Kim

TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policies

Liquan Wang, Jiangjie Bian, Eric Heiden, Animesh Garg

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze

ActLoc: Learning to Localize on the Move via Active Viewpoint Selection

Jiajie Li, Boyang Sun, Luca Di Giammarino, Hermann Blum, Marc Pollefeys

KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection

Andrea Rosasco, Federico Ceola, Giulia Pasquale, Lorenzo Natale

Robot Operating Home Appliances by Reading User Manuals

Jian Zhang, Hanbo Zhang, Anxing Xiao, David Hsu

AT-Drone: Benchmarking Adaptive Teaming in Multi-Drone Pursuit

Yang Li, Junfan Chen, Feng Xue, Jiabin Qiu, Wenbin Li

SocialNav-SUB: Benchmarking VLMs for Scene Understanding in Social Robot Navigation

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

COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping

Jun Yamada, Alexander Luis Mitchell, Jack Collins, Ingmar Posner

Estimating Value of Assistance for Online POMDP Robotic Agents

Yuval Goshen, Sarah Keren

Learning Long-Horizon Robot Manipulation Skills via Privileged Action

Xiaofeng Mao, Yucheng XU, Zhaole Sun, Elle Miller, Daniel Layeghi

Ensuring Force Safety in Vision-Guided Robotic Manipulation via Implicit Tactile Calibration

Lai Wei, Jiahua Ma, Yibo Hu, Ruimao Zhang

Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion

Shunpeng Yang, Zhen Fu, Zhefeng Cao, Guo Junde, Patrick Wensing

GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data

Shengliang Deng, Mi Yan, Songlin Wei, Haixin Ma, Yuxin Yang

Merging and Disentangling Views in Visual Reinforcement Learning for Robotic Manipulation

Abdulaziz Almuzairee, Rohan Prashant Patil, Dwait Bhatt, Henrik I Christensen

DEQ-MPC : Deep Equilibrium Model Predictive Control

Swaminathan Gurumurthy, Khai Nguyen, Arun L Bishop, Zachary Manchester, J. Zico Kolter

CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception

Pranav N. Thakkar, Shubhangi Sinha, Karan Baijal, Yuhan (Anjelica) Bian, Leah Lackey

FlashBack: Consistency Model-Accelerated Shared Autonomy

Luzhe Sun, Jingtian Ji, Xiangshan Tan, Matthew Walter

Wheeled Lab: Modern Sim2Real for Low-cost, Open-source Wheeled Robotics

Tyler Han, Preet Shah, Sidharth Rajagopal, Yanda Bao, Sanghun Jung

ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes

Zeyuan Chen, Qiyang Yan, Yuanpei Chen, Tianhao Wu, Jiyao Zhang

FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real

Weiheng Liu, Yuxuan Wan, Jilong Wang, Yuxuan Kuang, Xuesong Shi

ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation

Yangcen Liu, Woo Chul Shin, Yunhai Han, Zhenyang Chen, Harish Ravichandar

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real

Prithwish Dan, Kushal Kedia, Angela Chao, Edward Duan, Maximus Adrian Pace

Visual Imitation Enables Contextual Humanoid Control

Arthur Allshire, Hongsuk Choi, Junyi Zhang, David McAllister, Anthony Zhang

DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation

Suzannah Wistreich, Baiyu Shi, Stephen Tian, Samuel Clarke, Michael Nath

Divide, Discover, Deploy: Factorized Skill Learning with Symmetry and Style Priors

Rafael Cathomen, Mayank Mittal, Marin Vlastelica, Marco Hutter

SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies

Nadun Ranawaka Arachchige, Zhenyang Chen, Wonsuhk Jung, Woo Chul Shin, Rohan Bansal

FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots

Botian Xu, Haoyang Weng, Qingzhou Lu, Yang Gao, Huazhe Xu

HuB: Learning Extreme Humanoid Balance

Tong Zhang, Boyuan Zheng, Ruiqian Nai, Yingdong Hu, Yen-Jen Wang

Omni-Perception: Omnidirectional Collision Avoidance of Legged Robots in Dynamic Environments

Zifan Wang, Teli Ma, Yufei Jia, Xun Yang, Jiaming Zhou

Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation

Peiyuan Zhi, Peiyang Li, Jianqin Yin, Baoxiong Jia, Siyuan Huang

KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands

Uksang Yoo, Jonathan Francis, Jean Oh, Jeffrey Ichnowski

Versatile Loco-Manipulation through Flexible Interlimb Coordination

Xinghao Zhu, Yuxin Chen, Lingfeng Sun, Farzad Niroui, Simon Le Cleac’h

DemoSpeedup: Accelerating Visuomotor Policies via Entropy-Guided Demonstration Acceleration

Lingxiao Guo, Zhengrong Xue, Zijing Xu, Huazhe Xu

Sampling-based System Identification with Active Exploration for Legged Sim2Real Learning

Nikhil Sobanbabu, Guanqi He, Tairan He, Yuxiang Yang, Guanya Shi

Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware

Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Andrei Ambrus

LocoFormer: Generalist Locomotion via Long-context Adaptation

Min Liu, Deepak Pathak, Ananye Agarwal

SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition

Zhanxin Wu, Bo Ai, Tom Silver, Tapomayukh Bhattacharjee

Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement

Kallol Saha, Amber Li, Angela Rodriguez-Izquierdo, Lifan Yu, Ben Eisner

ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations

Jiahui Zhang, Yusen Luo, Abrar Anwar, Sumedh Anand Sontakke, Jesse Thomason

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation

Mengda Xu, Han Zhang, Yifan Hou, Zhenjia Xu, Linxi Fan

The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio

Renhao Wang, Haoran Geng, Tingle Li, Philipp Wu, Feishi Wang

Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning

Yunsheng Tian, Joshua Jacob, Yijiang Huang, Jialiang Zhao, Edward Li Gu

Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation

Chengyang He, Gadiel Mark Sznaier Camps, Xu Liu, Mac Schwager, Guillaume Adrien Sartoretti

Training Strategies for Efficient Embodied Reasoning

William Chen, Suneel Belkhale, Suvir Mirchandani, Karl Pertsch, Danny Driess

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies

Pranav Atreya, Karl Pertsch, Tony Lee, Moo Jin Kim, Arhan Jain

ScrewSplat: An End-to-End Method for Articulated Object Recognition

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

Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning

Milan Ganai, Rohan Sinha, Christopher Agia, Daniel Morton, Luigi Di Lillo

Steering Your Diffusion Policy with Latent Space Reinforcement Learning

Andrew Wagenmaker, Yunchu Zhang, Mitsuhiko Nakamoto, Seohong Park, Waleed Yagoub

Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories

Sunshine Jiang, Xiaolin Fang, Nicholas Roy, Tomás Lozano-Pérez, Leslie Pack Kaelbling

Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control

Skand Peri, Akhil Perincherry, Bikram Pandit, Stefan Lee

AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons

Hongjie Fang, Chenxi Wang, Yiming Wang, Jingjing Chen, Shangning Xia

One View, Many Worlds: Single-Image to 3D object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation

Zheng Geng, Nan Wang, Shaocong Xu, Chongjie Ye, Bohan Li

Cross-Sensor Touch Generation

Samanta Rodriguez, Yiming Dou, Miquel Oller, Andrew Owens, Nima Fazeli

“Stack It Up!”: 3D Stable Structure Generation from 2D Hand-drawn Sketch

Yiqing Xu, Linfeng Li, Cunjun Yu, David Hsu

Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation

Carolina Higuera, Akash Sharma, Taosha Fan, Chaithanya Krishna Bodduluri, Byron Boots

Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance

Neha Sunil, Megha Tippur, Arnau Saumell Portillo, Alberto Rodriguez Garcia, Edward H. Adelson

Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing

Gokul Puthumanaillam, Aditya Penumarti, Manav Vora, Paulo Padrao, Jose Fuentes

Geometric Red-Teaming for Robotic Manipulation

Divyam Goel, Yufei Wang, Tiancheng Wu, Guixiu Qiao, Pavel Piliptchak

π_0.5: a Vision-Language-Action Model with Open-World Generalization

Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess

Data Retrieval with Importance Weights for Few-Shot Imitation Learning

Amber Xie, Rahul Chand, Dorsa Sadigh, Joey Hejna