CoRL 2022
197 papers
A Dual Representation Framework for Robot Learning with Human Guidance
Ruohan Zhang, Dhruva Bansal, Yilun Hao, Ayano Hiranaka, Jialu Gao, Chen Wang, Roberto Martín-Martín, Li Fei-Fei, Jiajun Wu BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation
Chengshu Li, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Michael Lingelbach, Jiankai Sun, Mona Anvari, Minjune Hwang, Manasi Sharma, Arman Aydin, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb R Matthews, Ivan Villa-Renteria, Jerry Huayang Tang, Claire Tang, Fei Xia, Silvio Savarese, Hyowon Gweon, Karen Liu, Jiajun Wu, Li Fei-Fei CADSim: Robust and Scalable In-the-Wild 3D Reconstruction for Controllable Sensor Simulation
Jingkang Wang, Sivabalan Manivasagam, Yun Chen, Ze Yang, Ioan Andrei Bârsan, Anqi Joyce Yang, Wei-Chiu Ma, Raquel Urtasun CAtNIPP: Context-Aware Attention-Based Network for Informative Path Planning
Yuhong Cao, Yizhuo Wang, Apoorva Vashisth, Haolin Fan, Guillaume Adrien Sartoretti CC-3DT: Panoramic 3D Object Tracking via Cross-Camera Fusion
Tobias Fischer, Yung-Hsu Yang, Suryansh Kumar, Min Sun, Fisher Yu COACH: Cooperative Robot Teaching
Cunjun Yu, Yiqing Xu, Linfeng Li, David Hsu Concept Learning for Interpretable Multi-Agent Reinforcement Learning
Renos Zabounidis, Joseph Campbell, Simon Stepputtis, Dana Hughes, Katia P. Sycara Contrastive Decision Transformers
Sachin G. Konan, Esmaeil Seraj, Matthew Gombolay Cross-Domain Transfer via Semantic Skill Imitation
Karl Pertsch, Ruta Desai, Vikash Kumar, Franziska Meier, Joseph J Lim, Dhruv Batra, Akshara Rai DayDreamer: World Models for Physical Robot Learning
Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, Ken Goldberg Deep Black-Box Reinforcement Learning with Movement Primitives
Fabian Otto, Onur Celik, Hongyi Zhou, Hanna Ziesche, Vien Anh Ngo, Gerhard Neumann Discriminator-Guided Model-Based Offline Imitation Learning
Wenjia Zhang, Haoran Xu, Haoyi Niu, Peng Cheng, Ming Li, Heming Zhang, Guyue Zhou, Xianyuan Zhan Do as I Can, Not as I Say: Grounding Language in Robotic Affordances
Brian Ichter, Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, Dmitry Kalashnikov, Sergey Levine, Yao Lu, Carolina Parada, Kanishka Rao, Pierre Sermanet, Alexander T Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Mengyuan Yan, Noah Brown, Michael Ahn, Omar Cortes, Nicolas Sievers, Clayton Tan, Sichun Xu, Diego Reyes, Jarek Rettinghouse, Jornell Quiambao, Peter Pastor, Linda Luu, Kuang-Huei Lee, Yuheng Kuang, Sally Jesmonth, Nikhil J. Joshi, Kyle Jeffrey, Rosario Jauregui Ruano, Jasmine Hsu, Keerthana Gopalakrishnan, Byron David, Andy Zeng, Chuyuan Kelly Fu Don’t Start from Scratch: Leveraging Prior Data to Automate Robotic Reinforcement Learning
Homer Rich Walke, Jonathan Heewon Yang, Albert Yu, Aviral Kumar, Jędrzej Orbik, Avi Singh, Sergey Levine Efficient Tactile Simulation with Differentiability for Robotic Manipulation
Jie Xu, Sangwoon Kim, Tao Chen, Alberto Rodriguez Garcia, Pulkit Agrawal, Wojciech Matusik, Shinjiro Sueda Embedding Synthetic Off-Policy Experience for Autonomous Driving via Zero-Shot Curricula
Eli Bronstein, Sirish Srinivasan, Supratik Paul, Aman Sinha, Matthew O’Kelly, Payam Nikdel, Shimon Whiteson Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects
Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg Exploring with Sticky Mittens: Reinforcement Learning with Expert Interventions via Option Templates
Souradeep Dutta, Kaustubh Sridhar, Osbert Bastani, Edgar Dobriban, James Weimer, Insup Lee, Julia Parish-Morris Fast Lifelong Adaptive Inverse Reinforcement Learning from Demonstrations
Letian Chen, Sravan Jayanthi, Rohan R Paleja, Daniel Martin, Viacheslav Zakharov, Matthew Gombolay Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg Generative Category-Level Shape and Pose Estimation with Semantic Primitives
Guanglin Li, Yifeng Li, Zhichao Ye, Qihang Zhang, Tao Kong, Zhaopeng Cui, Guofeng Zhang GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Gilbert Feng, Hongbo Zhang, Zhongyu Li, Xue Bin Peng, Bhuvan Basireddy, Linzhu Yue, Zhitao Song, Lizhi Yang, Yunhui Liu, Koushil Sreenath, Sergey Levine Graph Inverse Reinforcement Learning from Diverse Videos
Sateesh Kumar, Jonathan Zamora, Nicklas Hansen, Rishabh Jangir, Xiaolong Wang Graph Network Simulators Can Learn Discontinuous, Rigid Contact Dynamics
Kelsey R Allen, Tatiana Lopez Guevara, Yulia Rubanova, Kim Stachenfeld, Alvaro Sanchez-Gonzalez, Peter Battaglia, Tobias Pfaff HTRON: Efficient Outdoor Navigation with Sparse Rewards via Heavy Tailed Adaptive Reinforce Algorithm
Kasun Weerakoon, Souradip Chakraborty, Nare Karapetyan, Adarsh Jagan Sathyamoorthy, Amrit Bedi, Dinesh Manocha HUM3DIL: Semi-Supervised Multi-Modal 3D HumanPose Estimation for Autonomous Driving
Andrei Zanfir, Mihai Zanfir, Alex Gorban, Jingwei Ji, Yin Zhou, Dragomir Anguelov, Cristian Sminchisescu Human-Robot Commensality: Bite Timing Prediction for Robot-Assisted Feeding in Groups
Jan Ondras, Abrar Anwar, Tong Wu, Fanjun Bu, Malte Jung, Jorge Jose Ortiz, Tapomayukh Bhattacharjee Hypernetworks in Meta-Reinforcement Learning
Jacob Beck, Matthew Thomas Jackson, Risto Vuorio, Shimon Whiteson I-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops
Saminda Wishwajith Abeyruwan, Laura Graesser, David B D’Ambrosio, Avi Singh, Anish Shankar, Alex Bewley, Deepali Jain, Krzysztof Marcin Choromanski, Pannag R Sanketi In-Hand Gravitational Pivoting Using Tactile Sensing
Jason Toskov, Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun In-Hand Object Rotation via Rapid Motor Adaptation
Haozhi Qi, Ashish Kumar, Roberto Calandra, Yi Ma, Jitendra Malik Inferring Versatile Behavior from Demonstrations by Matching Geometric Descriptors
Niklas Freymuth, Nicolas Schreiber, Aleksandar Taranovic, Philipp Becker, Gerhard Neumann Inner Monologue: Embodied Reasoning Through Planning with Language Models
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Tomas Jackson, Noah Brown, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter INQUIRE: INteractive Querying for User-Aware Informative REasoning
Tesca Fitzgerald, Pallavi Koppol, Patrick Callaghan, Russell Quinlan Jun Hei Wong, Reid Simmons, Oliver Kroemer, Henny Admoni Instruction-Driven History-Aware Policies for Robotic Manipulations
Pierre-Louis Guhur, Shizhe Chen, Ricardo Garcia Pinel, Makarand Tapaswi, Ivan Laptev, Cordelia Schmid Is Anyone There? Learning a Planner Contingent on Perceptual Uncertainty
Charles Packer, Nicholas Rhinehart, Rowan Thomas McAllister, Matthew A. Wright, Xin Wang, Jeff He, Sergey Levine, Joseph E. Gonzalez LaRa: Latents and Rays for Multi-Camera Bird’s-Eye-View Semantic Segmentation
Florent Bartoccioni, Eloi Zablocki, Andrei Bursuc, Patrick Perez, Matthieu Cord, Karteek Alahari Last-Mile Embodied Visual Navigation
Justin Wasserman, Karmesh Yadav, Girish Chowdhary, Abhinav Gupta, Unnat Jain Latent Plans for Task-Agnostic Offline Reinforcement Learning
Erick Rosete-Beas, Oier Mees, Gabriel Kalweit, Joschka Boedecker, Wolfram Burgard Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations
Chenhao Li, Marin Vlastelica, Sebastian Blaes, Jonas Frey, Felix Grimminger, Georg Martius Learning Bimanual Scooping Policies for Food Acquisition
Jennifer Grannen, Yilin Wu, Suneel Belkhale, Dorsa Sadigh Learning Dense Visual Descriptors Using Image Augmentations for Robot Manipulation Tasks
Christian Graf, David B. Adrian, Joshua Weil, Miroslav Gabriel, Philipp Schillinger, Markus Spies, Heiko Neumann, Andras Gabor Kupcsik Learning Goal-Conditioned Policies Offline with Self-Supervised Reward Shaping
Lina Mezghani, Sainbayar Sukhbaatar, Piotr Bojanowski, Alessandro Lazaric, Karteek Alahari Learning Interpretable BEV Based VIO Without Deep Neural Networks
Zexi Chen, Haozhe Du, Xuecheng Xu, Rong Xiong, Yiyi Liao, Yue Wang Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation
Xuesu Xiao, Tingnan Zhang, Krzysztof Marcin Choromanski, Tsang-Wei Edward Lee, Anthony Francis, Jake Varley, Stephen Tu, Sumeet Singh, Peng Xu, Fei Xia, Sven Mikael Persson, Dmitry Kalashnikov, Leila Takayama, Roy Frostig, Jie Tan, Carolina Parada, Vikas Sindhwani Learning Multi-Objective Curricula for Robotic Policy Learning
Jikun Kang, Miao Liu, Abhinav Gupta, Christopher Pal, Xue Liu, Jie Fu Learning Neuro-Symbolic Skills for Bilevel Planning
Tom Silver, Ashay Athalye, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling Learning Representations That Enable Generalization in Assistive Tasks
Jerry Zhi-Yang He, Zackory Erickson, Daniel S. Brown, Aditi Raghunathan, Anca Dragan Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Qiuyu Chen, Karl Van Wyk, Yu-Wei Chao, Wei Yang, Arsalan Mousavian, Abhishek Gupta, Dieter Fox Learning Semantics-Aware Locomotion Skills from Human Demonstration
Yuxiang Yang, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots Learning with Muscles: Benefits for Data-Efficiency and Robustness in Anthropomorphic Tasks
Isabell Wochner, Pierre Schumacher, Georg Martius, Dieter Büchler, Syn Schmitt, Daniel Haeufle Leveraging Language for Accelerated Learning of Tool Manipulation
Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik R Narasimhan, Anirudha Majumdar Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal, Shankar Sastry, Koushil Sreenath Masked World Models for Visual Control
Younggyo Seo, Danijar Hafner, Hao Liu, Fangchen Liu, Stephen James, Kimin Lee, Pieter Abbeel MegaPose: 6d Pose Estimation of Novel Objects via Render & Compare
Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic Meta-Learning Priors for Safe Bayesian Optimization
Jonas Rothfuss, Christopher Koenig, Alisa Rupenyan, Andreas Krause MidasTouch: Monte-Carlo Inference over Distributions Across Sliding Touch
Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam MIRA: Mental Imagery for Robotic Affordances
Yen-Chen Lin, Pete Florence, Andy Zeng, Jonathan T. Barron, Yilun Du, Wei-Chiu Ma, Anthony Simeonov, Alberto Rodriguez Garcia, Phillip Isola Motion Policy Networks
Adam Fishman, Adithyavairavan Murali, Clemens Eppner, Bryan Peele, Byron Boots, Dieter Fox Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration
Mandy Xie, Ankur Handa, Stephen Tyree, Dieter Fox, Harish Ravichandar, Nathan D. Ratliff, Karl Van Wyk Offline Reinforcement Learning for Visual Navigation
Dhruv Shah, Arjun Bhorkar, Hrishit Leen, Ilya Kostrikov, Nicholas Rhinehart, Sergey Levine On-Robot Learning with Equivariant Models
Dian Wang, Mingxi Jia, Xupeng Zhu, Robin Walters, Robert Platt One-Shot Transfer of Affordance Regions? AffCorrs!
Denis Hadjivelichkov, Sicelukwanda Zwane, Lourdes Agapito, Marc Peter Deisenroth, Dimitrios Kanoulas Particle-Based Score Estimation for State Space Model Learning in Autonomous Driving
Angad Singh, Omar Makhlouf, Maximilian Igl, Joao Messias, Arnaud Doucet, Shimon Whiteson Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation
Xingyu Lin, Carl Qi, Yunchu Zhang, Zhiao Huang, Katerina Fragkiadaki, Yunzhu Li, Chuang Gan, David Held PlanT: Explainable Planning Transformers via Object-Level Representations
Katrin Renz, Kashyap Chitta, Otniel-Bogdan Mercea, A. Sophia Koepke, Zeynep Akata, Andreas Geiger PoET: Pose Estimation Transformer for Single-View, Multi-Object 6d Pose Estimation
Thomas Georg Jantos, Mohamed Amin Hamdad, Wolfgang Granig, Stephan Weiss, Jan Steinbrener PRISM: Probabilistic Real-Time Inference in Spatial World Models
Atanas Mirchev, Baris Kayalibay, Ahmed Agha, Patrick van der Smagt, Daniel Cremers, Justin Bayer R3M: A Universal Visual Representation for Robot Manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, Abhinav Gupta RAP: Risk-Aware Prediction for Robust Planning
Haruki Nishimura, Jean Mercat, Blake Wulfe, Rowan Thomas McAllister, Adrien Gaidon Real-World Robot Learning with Masked Visual Pre-Training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, Trevor Darrell Representation Learning for Object Detection from Unlabeled Point Cloud Sequences
Xiangru Huang, Yue Wang, Vitor Campagnolo Guizilini, Rares Andrei Ambrus, Adrien Gaidon, Justin Solomon Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation
Joanne Truong, Max Rudolph, Naoki Harrison Yokoyama, Sonia Chernova, Dhruv Batra, Akshara Rai RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments
Haoyu Xiong, Haoyuan Fu, Jieyi Zhang, Chen Bao, Qiang Zhang, Yongxi Huang, Wenqiang Xu, Animesh Garg, Cewu Lu Robust Trajectory Prediction Against Adversarial Attacks
Yulong Cao, Danfei Xu, Xinshuo Weng, Zhuoqing Mao, Anima Anandkumar, Chaowei Xiao, Marco Pavone ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Christopher Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar Safe Robot Learning in Assistive Devices Through Neural Network Repair
Keyvan Majd, Geoffrey Mitchell Clark, Tanmay Khandait, Siyu Zhou, Sriram Sankaranarayanan, Georgios Fainekos, Heni Amor SE(3)-Equivariant Point Cloud-Based Place Recognition
Chien Erh Lin, Jingwei Song, Ray Zhang, Minghan Zhu, Maani Ghaffari SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
Anthony Simeonov, Yilun Du, Yen-Chen Lin, Alberto Rodriguez Garcia, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Pulkit Agrawal See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation
Hao Li, Yizhi Zhang, Junzhe Zhu, Shaoxiong Wang, Michelle A Lee, Huazhe Xu, Edward Adelson, Li Fei-Fei, Ruohan Gao, Jiajun Wu Sim-to-Real via Sim-to-Seg: End-to-End Off-Road Autonomous Driving Without Real Data
John So, Amber Xie, Sunggoo Jung, Jeffrey Edlund, Rohan Thakker, Ali-akbar Agha-mohammadi, Pieter Abbeel, Stephen James Skill-Based Model-Based Reinforcement Learning
Lucy Xiaoyang Shi, Joseph J Lim, Youngwoon Lee Socially-Attentive Policy Optimization in Multi-Agent Self-Driving System
Zipeng Dai, Tianze Zhou, Kun Shao, David Henry Mguni, Bin Wang, Jianye Hao SurroundDepth: Entangling Surrounding Views for Self-Supervised Multi-Camera Depth Estimation
Yi Wei, Linqing Zhao, Wenzhao Zheng, Zheng Zhu, Yongming Rao, Guan Huang, Jiwen Lu, Jie Zhou Tailoring Visual Object Representations to Human Requirements: A Case Study with a Recycling Robot
Debasmita Ghose, Michal Adam Lewkowicz, Kaleb Gezahegn, Julian Lee, Timothy Adamson, Marynel Vazquez, Brian Scassellati ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds
Daniel Seita, Yufei Wang, Sarthak J Shetty, Edward Yao Li, Zackory Erickson, David Held Topological Semantic Graph Memory for Image-Goal Navigation
Nuri Kim, Obin Kwon, Hwiyeon Yoo, Yunho Choi, Jeongho Park, Songhwai Oh Towards Long-Tailed 3D Detection
Neehar Peri, Achal Dave, Deva Ramanan, Shu Kong Transformers Are Adaptable Task Planners
Vidhi Jain, Yixin Lin, Eric Undersander, Yonatan Bisk, Akshara Rai TRITON: Neural Neural Textures for Better Sim2Real
Ryan D. Burgert, Jinghuan Shang, Xiang Li, Michael S. Ryoo USHER: Unbiased Sampling for Hindsight Experience Replay
Liam Schramm, Yunfu Deng, Edgar Granados, Abdeslam Boularias Verified Path Following Using Neural Control Lyapunov Functions
Alec Reed, Guillaume O Berger, Sriram Sankaranarayanan, Chris Heckman Vision-Based Uneven BEV Representation Learning with Polar Rasterization and Surface Estimation
Zhi Liu, Shaoyu Chen, Xiaojie Guo, Xinggang Wang, Tianheng Cheng, Hongmei Zhu, Qian Zhang, Wenyu Liu, Yi Zhang Visuo-Tactile Transformers for Manipulation
Yizhou Chen, Mark Van der Merwe, Andrea Sipos, Nima Fazeli Visuotactile Affordances for Cloth Manipulation with Local Control
Neha Sunil, Shaoxiong Wang, Yu She, Edward Adelson, Alberto Rodriguez Garcia Volumetric-Based Contact Point Detection for 7-DoF Grasping
Junhao Cai, Jingcheng Su, Zida Zhou, Hui Cheng, Qifeng Chen, Michael Y Wang When the Sun Goes Down: Repairing Photometric Losses for All-Day Depth Estimation
Madhu Vankadari, Stuart Golodetz, Sourav Garg, Sangyun Shin, Andrew Markham, Niki Trigoni