RSS 2024

134 papers

Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control

Miquel Oller, Dmitry Berenson, Nima Fazeli

One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation

Xinyu Zhang, Abdeslam Boularias

THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation

Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason

Towards Tight Convex Relaxations for Contact-Rich Manipulation

Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci, Savva Morozov, Alexandre Amice

Configuration Space Distance Fields for Manipulation Planning

Yiming Li, Xuemin Chi, Amirreza Razmjoo, Sylvain Calinon

RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing

Bo Ai, Stephen Tian, Haochen Shi, Yixuan Wang, Cheston Tan

HACMan++: Spatially-Grounded Motion Primitives for Manipulation

Bowen Jiang, Yilin Wu, Wenxuan Zhou, Chris Paxton, David Held

Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand

Zilin Si, Kevin Lee Zhang, Zeynep Temel, Oliver Kroemer

PoCo: Policy Composition from and for Heterogeneous Robot Learning

Lirui Wang, Jialiang Zhao, Yilun Du, Edward Adelson, Russ Tedrake

Natural Language Can Help Bridge the Sim2Real Gap

Albert Yu, Adeline Foote, Ray Mooney, Roberto Martín-Martín

Learning to Learn Faster from Human Feedback with Language Model Predictive Control

Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, Maria Attarian

URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images

Qiuyu Chen, Aaron Walsman, Marius Memmel, Kaichun Mo, Alex Fang

Learning Manipulation by Predicting Interaction

Jia Zeng, Qingwen Bu, Bangjun Wang, Wenke Xia, Li Chen

Don't Start From Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion

Kaiqi Chen, Eugene Lim, Lin Kelvin, Yiyang Chen, Harold Soh

Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals

Moritz Reuss, Ömer Erdinç Yağmurlu, Fabian Wenzel, Rudolf Lioutikov

DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari

Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning

Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon

Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness

Aidan Curtis, George Matheos, Nishad Gothoskar, Vikash Mansinghka, Joshua B. Tenenbaum

Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation

Long Kiu Chung, Wonsuhk Jung, Chuizheng Kong, Shreyas Kousik

Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots

Haimin Hu, Gabriele Dragotto, Zixu Zhang, Kaiqu Liang, Bartolomeo Stellato

iHERO: Interactive Human-oriented Exploration and Supervision Under Scarce Communication

Zhuoli Tian, Yuyang Zhang, Jinsheng Wei, Meng Guo

Real-Time Anomaly Detection and Reactive Planning with Large Language Models

Rohan Sinha, Amine Elhafsi, Christopher Agia, Matt Foutter, Edward Schmerling

Implicit Graph Search for Planning on Graphs of Convex Sets

Ramkumar Natarajan, Chaoqi Liu, Howie Choset, Maxim Likhachev

AutoGPT+P: Affordance-based Task Planning using Large Language Models

Timo Birr, Christoph Pohl, Abdelrahman Younes, Tamim Asfour

A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Cranes

Javier Puig-Navarro, Dominic R Bisio, John E Pye, Yotam Granov, Joshua N Moser

Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective

Bruce Wingo, Ajay Suresha Sathya, Stéphane Caron, Seth Hutchinson, Justin Carpentier

MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron

From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach

Justin Carpentier, Quentin Le Lidec, Louis Montaut

Expressive Whole-Body Control for Humanoid Robots

Xuxin Cheng, Yandong Ji, Junming Chen, Ruihan Yang, Ge Yang

VLMPC: Vision-Language Model Predictive Control for Robotic Manipulation

Wentao Zhao, Jiaming Chen, Ziyu Meng, DonghuiMao, Ran Song

Demonstrating Language-Grounded Motion Controller

Ravi Tejwani, Chengyuan Ma, Paco Gomez-Paz, Paolo Bonato, Haruhiko Asada

POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints

Jean-Baptiste Bouvier, Kartik Nagpal, Negar Mehr

Design and Control of a Bipedal Robotic Character

Ruben Grandia, Espen Knoop, Michael A. Hopkins, Georg Wiedebach, Jared Bishop

A Single Motor Nano Aerial Vehicle with Novel Peer-to-Peer Communication and Sensing Mechanism

Jingxian Wang, Andrew G. Curtis, Mark Yim, Michael Rubenstein

Construction of a Multiple-DOF Underactuated Gripper with Force-Sensing via Deep Learning

Jihao Li, Keqi Zhu, Guodong Lu, I-Ming Chen, HUIXU DONG

Evolution and learning in differentiable robots

Luke Strgar, David Matthews, Tyler Hummer, Sam Kriegman

Safe & Accurate at Speed with Tendons: A Robot Arm for Exploring Dynamic Motion

Simon Guist, Jan Schneider, Hao Ma, Le Chen, Vincent Berenz

Function Based Sim-to-Real Learning for Shape Control of Deformable Free-form Surfaces

Yingjun Tian, Guoxin Fang, Renbo Su, Weiming Wang, Simeon Gill

ConTac: Continuum-Emulated Soft Skinned Arm with Vision-based Shape Sensing and Contact-aware Manipulation

Tuan Tai Nguyen, Quan Khanh Luu, Dinh Quang Nguyen, Van Ho

Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics

Norman Di Palo, Edward Johns

Set It Up!: Functional Object Arrangement with Compositional Generative Models

Yiqing Xu, Jiayuan Mao, Yilun Du, Tomás Lozano-Pérez, Leslie Pack Kaelbling

DrEureka: Language Model Guided Sim-To-Real Transfer

Yecheng Jason Ma, William Liang, Hung-Ju Wang, Yuke Zhu, Linxi Fan

Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation

Jonathan Heewon Yang, Catherine Glossop, Arjun Bhorkar, Dhruv Shah, Quan Vuong

Any-point Trajectory Modeling for Policy Learning

Chuan Wen, Xingyu Lin, John Ian Reyes So, Kai Chen, Qi Dou

Demonstrating OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics

Peiqi Liu, Yaswanth Orru, Jay Vakil, Chris Paxton, Nur Muhammad Mahi Shafiullah

Octo: An Open-Source Generalist Robot Policy

Dibya Ghosh, Homer Rich Walke, Karl Pertsch, Kevin Black, Oier Mees

Explore until Confident: Efficient Exploration for Embodied Question Answering

Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar

Event-based Visual Inertial Velometer

Xiuyuan Lu, Yi Zhou, Junkai Niu, Sheng Zhong, Shaojie Shen

Experience-based multi-agent path finding with narrow corridors

Rachel A Moan, Courtney McBeth, Marco Morales, Nancy Amato, Kris Hauser

Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization

Tianyue Wu, Fei Gao

iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping

Daniel McGann, Michael Kaess

AnyFeature-VSLAM: Automating the Usage of Any Feature into Visual SLAM

Alejandro Fontan, Javier Civera, Michael Milford

You’ve Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property Prediction

Parker Ewen, Hao Chen, Yuzhen Chen, Anran Li, Anup Bagali

Demonstrating Agile Flight from Pixels without State Estimation

Ismail Geles, Leonard Bauersfeld, Angel Romero, Jiaxu Xing, Davide Scaramuzza

Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments

Lukas Schmid, Marcus Abate, Yun Chang, Luca Carlone

RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashes

Kyle Stachowicz, Sergey Levine

NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation

Jiazhao Zhang, Kunyu Wang, Rongtao Xu, Gengze Zhou, Yicong Hong

ScrewMimic: Bimanual Imitation from Human Videos with Screw Space Projection

Arpit Bahety, Priyanka Mandikal, Ben Abbatematteo, Roberto Martín-Martín

Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation

Abdelrhman Werby, Chenguang Huang, Martin Büchner, Abhinav Valada, Wolfram Burgard

Dynamic Adversarial Attacks on Autonomous Driving Systems

Amirhosein Chahe, Chenan Wang, Abhishek Jeyapratap, Kaidi Xu, Lifeng Zhou

RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Multi-Modal Large Language Model Learning

Jianhao Yuan, Shuyang Sun, Daniel Omeiza, Bo Zhao, Paul Newman

Demonstrating Arena 3.0: Advancing Social Navigation in Collaborative and Highly Dynamic Environments

Linh Kästner, Volodymyir Shcherbyna, Huajian Zeng, Tuan Anh Le, Maximilian Ho-Kyung Schreff

GOAT: GO to Any Thing

Matthew Chang, Theophile Gervet, Mukul Khanna, Sriram Yenamandra, Dhruv Shah

CLOSURE: Fast Quantification of Pose Uncertainty Sets

Yihuai Gao, Yukai Tang, Han Qi, Heng Yang

Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation

Aaditya Prasad, Kevin Lin, Jimmy Wu, Linqi Zhou, Jeannette Bohg

Broadcasting Support Relations Recursively from Local Dynamics for Object Retrieval in Clutters

Yitong Li, Ruihai Wu, Haoran Lu, Chuanruo Ning, Yan Shen

MIRAGE: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting

Lawrence Yunliang Chen, Karthik Dharmarajan, Kush Hari, Chenfeng Xu, Quan Vuong

HRP: Human affordances for Robotic Pre-training

Mohan Kumar Srirama, Sudeep Dasari, Shikhar Bahl, Abhinav Gupta

3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations

Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang

Octopi: Object Property Reasoning with Large Tactile-Language Models

Samson Yu, Lin Kelvin, Anxing Xiao, Jiafei Duan, Harold Soh

An abstract theory of sensor eventification

Yulin Zhang, Dylan Shell

AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries

Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa

Collaborative Planar Pushing of Polytopic Objects with Multiple Robots in Complex Scenes

Zili Tang, Yuming Feng, Meng Guo

MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Kuan Fang, Fangchen Liu, Pieter Abbeel, Sergey Levine

HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, Pieter Abbeel

RL2AC: Reinforcement Learning-based Rapid Online Adaptive Control for Legged Robot Robust Locomotion

Shangke Lyu, Xin Lang, Han Zhao, Hongyin Zhang, Pengxiang Ding

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

Tairan He, Chong Zhang, Wenli Xiao, Guanqi He, Changliu Liu

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning

Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers

Fan Shi, Chong Zhang, Takahiro Miki, JoonHo Lee, Marco Hutter

Imitation Bootstrapped Reinforcement Learning

Hengyuan Hu, Suvir Mirchandani, Dorsa Sadigh

RVT-2: Learning Precise Manipulation from Few Demonstrations

Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao

Offline Imitation Learning Through Graph Search and Retrieval

Zhao-Heng Yin, Pieter Abbeel

Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers

Vidhi Jain, Maria Attarian, Nikhil J Joshi, Ayzaan Wahid, Danny Driess

Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour Cloning

Vitalis Vosylius, Younggyo Seo, Jafar Uruç, Stephen James

RoboCasa: Large-Scale Simulation of Household Tasks for Generalist Robots

Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo

RT-H: Action Hierarchies using Language

Suneel Belkhale, Tianli Ding, Ted Xiao, Pierre Sermanet, Quan Vuong

Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning

Xiaoyu Zhang, Matthew Chang, Pranav Kumar, Saurabh Gupta

Demonstrating Adaptive Mobile Manipulation in Retail Environments

Max Spahn, Corrado Pezzato, Chadi Salmi, Rick Dekker, Cong Wang

Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering

Snehal Jauhri, Ishikaa Lunawat, Georgia Chalvatzaki

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel

GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps

Tasbolat Taunyazov, Kelvin Lin, Harold Soh

DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation

Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-fei

SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty

Sirui Chen, Jeannette Bohg, Karen Liu

World Models for General Surgical Grasping

Hongbin Lin

Practice Makes Perfect: Planning to Learning Skill Parameter Policies

Nishanth Kumar, Tom Silver, Willie McClinton, Linfeng Zhao, Stephen Proulx

Homotopic Path Set Planning for Robot Manipulation and Navigation

Jing Huang

Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Motion Planning with Pointclouds

Clayton Ramsey, Zachary Kingston, Wil Thomason, Lydia E Kavraki

Language-Augmented Symbolic Planner for Open-World Task Planning

Guanqi Chen, Lei Yang, Ruixing Jia, Zhe Hu, Yizhou Chen

Motion Planning in Foliated Manifolds using Repetition Roadmap

Jiaming Hu, Shrutheesh Raman Iyer, Jiawei Wang, Henrik I Christensen

Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres

Jonathan Michaux, Adam Li, Qingyi Chen, Che Chen, Ram Vasudevan