CoRL 2021

166 papers

"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer Andrew Hundt, Aditya Murali, Priyanka Hubli, Ran Liu, Nakul Gopalan, Matthew Gombolay, Gregory D. Hager

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3D Neural Scene Representations for Visuomotor Control Yunzhu Li, Shuang Li, Vincent Sitzmann, Pulkit Agrawal, Antonio Torralba

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A Constrained Multi-Objective Reinforcement Learning Framework Sandy Huang, Abbas Abdolmaleki, Giulia Vezzani, Philemon Brakel, Daniel J. Mankowitz, Michael Neunert, Steven Bohez, Yuval Tassa, Nicolas Heess, Martin Riedmiller, Raia Hadsell

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A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

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A Persistent Spatial Semantic Representation for High-Level Natural Language Instruction Execution Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, Yoav Artzi

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A System for General In-Hand Object Re-Orientation Tao Chen, Jie Xu, Pulkit Agrawal

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A Workflow for Offline Model-Free Robotic Reinforcement Learning Aviral Kumar, Anikait Singh, Stephen Tian, Chelsea Finn, Sergey Levine

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Advancing Self-Supervised Monocular Depth Learning with Sparse LiDAR Ziyue Feng, Longlong Jing, Peng Yin, Yingli Tian, Bing Li

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Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization Youngwoon Lee, Joseph J Lim, Anima Anandkumar, Yuke Zhu

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Adversarially Robust Imitation Learning Jianren Wang, Ziwen Zhuang, Yuyang Wang, Hang Zhao

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Aligning an Optical Interferometer with Beam Divergence Control and Continuous Action Space Stepan Makarenko, Dmitry Igorevich Sorokin, Alexander Ulanov, Alexander Lvovsky

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Anomaly Detection in Multi-Agent Trajectories for Automated Driving Julian Wiederer, Arij Bouazizi, Marco Troina, Ulrich Kressel, Vasileios Belagiannis

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Anytime Depth Estimation with Limited Sensing and Computation Capabilities on Mobile Devices Yuedong Yang, Zihui Xue, Radu Marculescu

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Assisted Robust Reward Design Jerry Zhi-Yang He, Anca D. Dragan

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Auditing Robot Learning for Safety and Compliance During Deployment Homanga Bharadhwaj

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AW-Opt: Learning Robotic Skills with Imitation andReinforcement at Scale Yao Lu, Karol Hausman, Yevgen Chebotar, Mengyuan Yan, Eric Jang, Alexander Herzog, Ted Xiao, Alex Irpan, Mohi Khansari, Dmitry Kalashnikov, Sergey Levine

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Back to Reality for Imitation Learning Edward Johns

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BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, Chelsea Finn

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BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia, Kent Elliott Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, Li Fei-Fei

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Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes Alex X. Lee, Coline Manon Devin, Yuxiang Zhou, Thomas Lampe, Konstantinos Bousmalis, Jost Tobias Springenberg, Arunkumar Byravan, Abbas Abdolmaleki, Nimrod Gileadi, David Khosid, Claudio Fantacci, Jose Enrique Chen, Akhil Raju, Rae Jeong, Michael Neunert, Antoine Laurens, Stefano Saliceti, Federico Casarini, Martin Riedmiller, Raia Hadsell, Francesco Nori

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Broadly-Exploring, Local-Policy Trees for Long-Horizon Task Planning Brian Ichter, Pierre Sermanet, Corey Lynch

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CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact Brad Saund, Dmitry Berenson

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CLIPort: What and Where Pathways for Robotic Manipulation Mohit Shridhar, Lucas Manuelli, Dieter Fox

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Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration Chen Wang, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-Fei, Karen Liu, Silvio Savarese

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Collect & Infer - A Fresh Look at Data-Efficient Reinforcement Learning Martin Riedmiller, Jost Tobias Springenberg, Roland Hafner, Nicolas Heess

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Continuous Then Discrete: A Recommendation for Building Robotic Brains Chris Eliasmith, P. Michael Furlong

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Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations Minghan Zhu, Maani Ghaffari, Huei Peng

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Dealing with the Unknown: Pessimistic Offline Reinforcement Learning Jinning Li, Chen Tang, Masayoshi Tomizuka, Wei Zhan

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Decentralized Control of Quadrotor Swarms with End-to-End Deep Reinforcement Learning Sumeet Batra, Zhehui Huang, Aleksei Petrenko, Tushar Kumar, Artem Molchanov, Gaurav S. Sukhatme

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Decentralized Sharing and Valuation of Fleet Robotic Data Yuchong Geng, Dongyue Zhang, Po-han Li, Oguzhan Akcin, Ao Tang, Sandeep P. Chinchali

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Demonstration-Guided Reinforcement Learning with Learned Skills Karl Pertsch, Youngwoon Lee, Yue Wu, Joseph J Lim

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DETR3D: 3D Object Detection from Multi-View Images via 3D-to-2D Queries Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, Justin Solomon

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Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg

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DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video Priyanka Mandikal, Kristen Grauman

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DiffImpact: Differentiable Rendering and Identification of Impact Sounds Samuel Clarke, Negin Heravi, Mark Rau, Ruohan Gao, Jiajun Wu, Doug James, Jeannette Bohg

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Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation I-Chun Arthur Liu, Shagun Uppal, Gaurav S. Sukhatme, Joseph J Lim, Peter Englert, Youngwoon Lee

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Distributional Depth-Based Estimation of Object Articulation Models Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov, Scott Niekum

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Dual-Arm Adversarial Robot Learning Elie Aljalbout

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Embodied Semantic Scene Graph Generation Xinghang Li, Di Guo, Huaping Liu, Fuchun Sun

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Enhancing Consistent Ground Maneuverability by Robot Adaptation to Complex Off-Road Terrains Sriram Siva, Maggie Wigness, John Rogers, Hao Zhang

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Equivariant $q$ Learning in Spatial Action Spaces Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt

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Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Roberto Martín-Martín

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Evaluations of the Gap Between Supervised and Reinforcement Lifelong Learning on Robotic Manipulation Tasks Fan Yang, Chao Yang, Huaping Liu, Fuchun Sun

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Example-Driven Model-Based Reinforcement Learning for Solving Long-Horizon Visuomotor Tasks Bohan Wu, Suraj Nair, Li Fei-Fei, Chelsea Finn

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Exploring Adversarial Robustness of Multi-Sensor Perception Systems in Self Driving James Tu, Huichen Li, Xinchen Yan, Mengye Ren, Yun Chen, Ming Liang, Eilyan Bitar, Ersin Yumer, Raquel Urtasun

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FabricFlowNet: Bimanual Cloth Manipulation with a Flow-Based Policy Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held

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Fast and Efficient Locomotion via Learned Gait Transitions Yuxiang Yang, Tingnan Zhang, Erwin Coumans, Jie Tan, Byron Boots

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FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding Huy Ha, Shuran Song

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From Robot Learning to Robot Understanding: Leveraging Causal Graphical Models for Robotics Kaylene Caswell Stocking, Alison Gopnik, Claire Tomlin

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Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation Charles Sun, Jȩdrzej Orbik, Coline Manon Devin, Brian H. Yang, Abhishek Gupta, Glen Berseth, Sergey Levine

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Fully Self-Supervised Class Awareness in Dense Object Descriptors Denis Hadjivelichkov, Dimitrios Kanoulas

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Generalised Task Planning with First-Order Function Approximation Jun Hao Alvin Ng, Ronald P.A. Petrick

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Generating Scenarios with Diverse Pedestrian Behaviors for Autonomous Vehicle Testing Maria Priisalu, Aleksis Pirinen, Ciprian Paduraru, Cristian Sminchisescu

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Geometry-Aware Bayesian Optimization in Robotics Using Riemannian Matérn Kernels Noémie Jaquier, Viacheslav Borovitskiy, Andrei Smolensky, Alexander Terenin, Tamim Asfour, Leonel Rozo

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Goal-Auxiliary Actor-Critic for 6d Robotic Grasping with Point Clouds Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox

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GRAC: Self-Guided and Self-Regularized Actor-Critic Lin Shao, Yifan You, Mengyuan Yan, Shenli Yuan, Qingyun Sun, Jeannette Bohg

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Group-Based Motion Prediction for Navigation in Crowded Environments Allan Wang, Christoforos Mavrogiannis, Aaron Steinfeld

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Guided Imitation of Task and Motion Planning Michael James McDonald, Dylan Hadfield-Menell

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Guiding Multi-Step Rearrangement Tasks with Natural Language Instructions Elias Stengel-Eskin, Andrew Hundt, Zhuohong He, Aditya Murali, Nakul Gopalan, Matthew Gombolay, Gregory Hager

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Haptics-Based Curiosity for Sparse-Reward Tasks Sai Rajeswar, Cyril Ibrahim, Nitin Surya, Florian Golemo, David Vazquez, Aaron Courville, Pedro O. Pinheiro

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Hierarchically Integrated Models: Learning to Navigate from Heterogeneous Robots Katie Kang, Gregory Kahn, Sergey Levine

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iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Elliott Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese

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Implicit Behavioral Cloning Pete Florence, Corey Lynch, Andy Zeng, Oscar A Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson

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IMU-Assisted Learning of Single-View Rolling Shutter Correction Jiawei Mo, Md Jahidul Islam, Junaed Sattar

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Influencing Behavioral Attributions to Robot Motion During Task Execution Nick Walker, Christoforos Mavrogiannis, Siddhartha Srinivasa, Maya Cakmak

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Influencing Towards Stable Multi-Agent Interactions Woodrow Zhouyuan Wang, Andy Shih, Annie Xie, Dorsa Sadigh

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Just Label What You Need: Fine-Grained Active Selection for P&P Through Partially Labeled Scenes Sean Segal, Nishanth Kumar, Sergio Casas, Wenyuan Zeng, Mengye Ren, Jingkang Wang, Raquel Urtasun

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Language Grounding with 3D Objects Jesse Thomason, Mohit Shridhar, Yonatan Bisk, Chris Paxton, Luke Zettlemoyer

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LanguageRefer: Spatial-Language Model for 3D Visual Grounding Junha Roh, Karthik Desingh, Ali Farhadi, Dieter Fox

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Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction Niklas Funk, Georgia Chalvatzaki, Boris Belousov, Jan Peters

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Learning a Risk-Aware Trajectory Planner from Demonstrations Using Logic Monitor Xiao Li, Jonathan DeCastro, Cristian Ioan Vasile, Sertac Karaman, Daniela Rus

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Learning Backchanneling Behaviors for a Social Robot via Data Augmentation from Human-Human Conversations Michael Murray, Nick Walker, Amal Nanavati, Patricia Alves-Oliveira, Nikita Filippov, Allison Sauppe, Bilge Mutlu, Maya Cakmak

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Learning Behaviors Through Physics-Driven Latent Imagination Antoine Richard, Stéphanie Aravecchia, Matthieu Geist, Cédric Pradalier

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Learning Density Distribution of Reachable States for Autonomous Systems Yue Meng, Dawei Sun, Zeng Qiu, Md Tawhid Bin Waez, Chuchu Fan

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Learning Eye-in-Hand Camera Calibration from a Single Image Eugene Valassakis, Kamil Dreczkowski, Edward Johns

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Learning Feasibility to Imitate Demonstrators with Different Dynamics Zhangjie Cao, Yilun Hao, Mengxi Li, Dorsa Sadigh

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Learning Inertial Odometry for Dynamic Legged Robot State Estimation Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice Fallon

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Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation Suraj Nair, Eric Mitchell, Kevin Chen, Brian Ichter, Silvio Savarese, Chelsea Finn

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Learning Model Preconditions for Planning with Multiple Models Alex Licari LaGrassa, Oliver Kroemer

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Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake

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Learning Multi-Stage Tasks with One Demonstration via Self-Replay Norman Di Palo, Edward Johns

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Learning Multimodal Rewards from Rankings Vivek Myers, Erdem Biyik, Nima Anari, Dorsa Sadigh

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Learning Off-Policy with Online Planning Harshit Sikchi, Wenxuan Zhou, David Held

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Learning Reward Functions from Scale Feedback Nils Wilde, Erdem Biyik, Dorsa Sadigh, Stephen L. Smith

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Learning to Be Multimodal : Co-Evolving Sensory Modalities and Sensor Properties Rika Antonova, Jeannette Bohg

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Learning to Jump from Pixels Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sang bae Kim, Pulkit Agrawal

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Learning to Plan Optimistically: Uncertainty-Guided Deep Exploration via Latent Model Ensembles Tim Seyde, Wilko Schwarting, Sertac Karaman, Daniela Rus

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Learning to Predict Vehicle Trajectories with Model-Based Planning Haoran Song, Di Luan, Wenchao Ding, Michael Y Wang, Qifeng Chen

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Learning to Regrasp by Learning to Place Shuo Cheng, Kaichun Mo, Lin Shao

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Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter

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Learning Visible Connectivity Dynamics for Cloth Smoothing Xingyu Lin, Yufei Wang, Zixuan Huang, David Held

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Legged Robot State Estimation Using Invariant Kalman Filtering and Learned Contact Events Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari

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LENS: Localization Enhanced by NeRF Synthesis Arthur Moreau, Nathan Piasco, Dzmitry Tsishkou, Bogdan Stanciulescu, Arnaud de La Fortelle

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LEO: Learning Energy-Based Models in Factor Graph Optimization Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess

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LILA: Language-Informed Latent Actions Siddharth Karamcheti, Megha Srivastava, Percy Liang, Dorsa Sadigh

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Look Before You Leap: Safe Model-Based Reinforcement Learning with Human Intervention Yunkun Xu, Zhenyu Liu, Guifang Duan, Jiangcheng Zhu, Xiaolong Bai, Jianrong Tan

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LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg

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Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak

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Model-Free Safe Control for Zero-Violation Reinforcement Learning Weiye Zhao, Tairan He, Changliu Liu

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Motion Forecasting with Unlikelihood Training in Continuous Space Deyao Zhu, Mohamed Zahran, Li Erran Li, Mohamed Elhoseiny

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Motivating Physical Activity via Competitive Human-Robot Interaction Boling Yang, Golnaz Habibi, Patrick Lancaster, Byron Boots, Joshua Smith

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Multi-Agent Trajectory Prediction by Combining Egocentric and Allocentric Views Xiaosong Jia, Liting Sun, Hang Zhao, Masayoshi Tomizuka, Wei Zhan

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Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals Nachiket Deo, Eric Wolff, Oscar Beijbom

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My House, My Rules: Learning Tidying Preferences with Graph Neural Networks Ivan Kapelyukh, Edward Johns

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Neural Posterior Domain Randomization Fabio Muratore, Theo Gruner, Florian Wiese, Boris Belousov, Michael Gienger, Jan Peters

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O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning Kaichun Mo, Yuzhe Qin, Fanbo Xiang, Hao Su, Leonidas Guibas

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ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations Ruohan Gao, Yen-Yu Chang, Shivani Mall, Li Fei-Fei, Jiajun Wu

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Offline-to-Online Reinforcement Learning via Balanced Replay and Pessimistic Q-Ensemble Seunghyun Lee, Younggyo Seo, Kimin Lee, Pieter Abbeel, Jinwoo Shin

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Orientation Probabilistic Movement Primitives on Riemannian Manifolds Leonel Rozo, Vedant Dave

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Parallelised Diffeomorphic Sampling-Based Motion Planning Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos

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Predicting Stable Configurations for Semantic Placement of Novel Objects Chris Paxton, Chris Xie, Tucker Hermans, Dieter Fox

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Probabilistic and Geometric Depth: Detecting Objects in Perspective Tai Wang, Xinge Zhu, Jiangmiao Pang, Dahua Lin

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Rapid Exploration for Open-World Navigation with Latent Goal Models Dhruv Shah, Benjamin Eysenbach, Nicholas Rhinehart, Sergey Levine

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Redundancy Resolution as Action Bias in Policy Search for Robotic Manipulation Firas Al-Hafez, Jochen J. Steil

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ReSkin: Versatile, Replaceable, Lasting Tactile Skins Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, Abhinav Gupta

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RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks Chris Xie, Arsalan Mousavian, Yu Xiang, Dieter Fox

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Risk-Averse Zero-Order Trajectory Optimization Marin Vlastelica, Sebastian Blaes, Cristina Pinneri, Georg Martius

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RoboFlow: A Data-Centric Workflow Management System for Developing AI-Enhanced Robots Qinjie Lin, Guo Ye, Jiayi Wang, Han Liu

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Robot Reinforcement Learning on the Constraint Manifold Puze Liu, Davide Tateo, Haitham Bou Ammar, Jan Peters

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Robots on Demand: A Democratized Robotics Research Cloud Victoria Dean, Yonadav G Shavit, Abhinav Gupta

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RoCUS: Robot Controller Understanding via Sampling Yilun Zhou, Serena Booth, Nadia Figueroa, Julie Shah

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Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning Sean J Wang, Samuel Triest, Wenshan Wang, Sebastian Scherer, Aaron Johnson

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S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning in Robotics Samarth Sinha, Ajay Mandlekar, Animesh Garg

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Safe Driving via Expert Guided Policy Optimization Zhenghao Peng, Quanyi Li, Chunxiao Liu, Bolei Zhou

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Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson, Zengyi Qin, Sicun Gao, Chuchu Fan

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Scaling up Multi-Task Robotic Reinforcement Learning Dmitry Kalashnikov, Jake Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, Karol Hausman

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SCAPE: Learning Stiffness Control from Augmented Position Control Experiences Mincheol Kim, Scott Niekum, Ashish D. Deshpande

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Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects Haoping Xu, Yi Ru Wang, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti, Animesh Garg

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Self-Improving Semantic Perception for Indoor Localisation Hermann Blum, Francesco Milano, René Zurbrügg, Roland Siegwart, Cesar Cadena, Abel Gawel

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Self-Supervised Point Cloud Prediction Using 3D Spatio-Temporal Convolutional Networks Benedikt Mersch, Xieyuanli Chen, Jens Behley, Cyrill Stachniss

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Self-Supervised Reinforcement Learning with Independently Controllable Subgoals Andrii Zadaianchuk, Georg Martius, Fanny Yang

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Semantic Terrain Classification for Off-Road Autonomous Driving Amirreza Shaban, Xiangyun Meng, JoonHo Lee, Byron Boots, Dieter Fox

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SeqMatchNet: Contrastive Learning with Sequence Matching for Place Recognition & Relocalization Sourav Garg, Madhu Vankadari, Michael Milford

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SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland

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Single-Shot Scene Reconstruction Sergey Zakharov, Rares Andrei Ambrus, Vitor Campagnolo Guizilini, Dennis Park, Wadim Kehl, Fredo Durand, Joshua B. Tenenbaum, Vincent Sitzmann, Jiajun Wu, Adrien Gaidon

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Skill Preferences: Learning to Extract and Execute Robotic Skills from Human Feedback Xiaofei Wang, Kimin Lee, Kourosh Hakhamaneshi, Pieter Abbeel, Michael Laskin

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Smooth Exploration for Robotic Reinforcement Learning Antonin Raffin, Jens Kober, Freek Stulp

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Social Interactions as Recursive MDPs Ravi Tejwani, Yen-Ling Kuo, Tianmin Shu, Boris Katz, Andrei Barbu

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SORNet: Spatial Object-Centric Representations for Sequential Manipulation Wentao Yuan, Chris Paxton, Karthik Desingh, Dieter Fox

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Specializing Versatile Skill Libraries Using Local Mixture of Experts Onur Celik, Dongzhuoran Zhou, Ge Li, Philipp Becker, Gerhard Neumann

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Stochastic Policy Optimization with Heuristic Information for Robot Learning Seonghyun Kim, Ingook Jang, Samyeul Noh, Hyunseok Kim

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STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

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Strength Through Diversity: Robust Behavior Learning via Mixture Policies Tim Seyde, Wilko Schwarting, Igor Gilitschenski, Markus Wulfmeier, Daniela Rus

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Structure from Silence: Learning Scene Structure from Ambient Sound Ziyang Chen, Xixi Hu, Andrew Owens

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Structured Deep Generative Models for Sampling on Constraint Manifolds in Sequential Manipulation Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Marc Toussaint

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Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora

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Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora

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TANDEM: Tracking and Dense Mapping in Real-Time Using Deep Multi-View Stereo Lukas Koestler, Nan Yang, Niclas Zeller, Daniel Cremers

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Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning Alec Farid, Sushant Veer, Anirudha Majumdar

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Taskography: Evaluating Robot Task Planning over Large 3D Scene Graphs Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti

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The Boombox: Visual Reconstruction from Acoustic Vibrations Boyuan Chen, Mia Chiquier, Hod Lipson, Carl Vondrick

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The Task Specification Problem Pulkit Agrawal

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ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg

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Toward Robots That Learn to Summarize Their Actions in Natural Language: A Set of Tasks Chad DeChant, Daniel Bauer

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Towards Real Robot Learning in the Wild: A Case Study in Bipedal Locomotion Michael Bloesch, Jan Humplik, Viorica Patraucean, Roland Hafner, Tuomas Haarnoja, Arunkumar Byravan, Noah Yamamoto Siegel, Saran Tunyasuvunakool, Federico Casarini, Nathan Batchelor, Francesco Romano, Stefano Saliceti, Martin Riedmiller, S. M. Ali Eslami, Nicolas Heess

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Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes Jongseok Lee, Jianxiang Feng, Matthias Humt, Marcus Gerhard Müller, Rudolph Triebel

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Understanding the World Through Action Sergey Levine

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Urban Driver: Learning to Drive from Real-World Demonstrations Using Policy Gradients Oliver Scheel, Luca Bergamini, Maciej Wolczyk, Błażej Osiński, Peter Ondruska

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Using Physics Knowledge for Learning Rigid-Body Forward Dynamics with Gaussian Process Force Priors Lucas Rath, Andreas René Geist, Sebastian Trimpe

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V-MAO: Generative Modeling for Multi-Arm Manipulation of Articulated Objects Xingyu Liu, Kris M. Kitani

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Visual Learning Towards Soft Robot Force Control Using a 3D Metamaterial with Differential Stiffness Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, Chaoyang Song

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Visual-Locomotion: Learning to Walk on Complex Terrains with Vision Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, Tingnan Zhang

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Visually-Grounded Library of Behaviors for Manipulating Diverse Objects Across Diverse Configurations and Views Jingyun Yang, Hsiao-Yu Tung, Yunchu Zhang, Gaurav Pathak, Ashwini Pokle, Christopher G Atkeson, Katerina Fragkiadaki

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What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín

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XIRL: Cross-Embodiment Inverse Reinforcement Learning Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi

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You Only Evaluate Once: A Simple Baseline Algorithm for Offline RL Wonjoon Goo, Scott Niekum

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