CoRL 2023
201 papers
4D-Former: Multimodal 4D Panoptic Segmentation
Ali Athar, Enxu Li, Sergio Casas, Raquel Urtasun A Bayesian Approach to Robust Inverse Reinforcement Learning
Ran Wei, Siliang Zeng, Chenliang Li, Alfredo Garcia, Anthony D McDonald, Mingyi Hong A Data-Efficient Visual-Audio Representation with Intuitive Fine-Tuning for Voice-Controlled Robots
Peixin Chang, Shuijing Liu, Tianchen Ji, Neeloy Chakraborty, Kaiwen Hong, Katherine Rose Driggs-Campbell A Policy Optimization Method Towards Optimal-Time Stability
Shengjie Wang, Lan Fengb, Xiang Zheng, Yuxue Cao, Oluwatosin OluwaPelumi Oseni, Haotian Xu, Tao Zhang, Yang Gao Action-Quantized Offline Reinforcement Learning for Robotic Skill Learning
Jianlan Luo, Perry Dong, Jeffrey Wu, Aviral Kumar, Xinyang Geng, Sergey Levine Adv3D: Generating Safety-Critical 3D Objects Through Closed-Loop Simulation
Jay Sarva, Jingkang Wang, James Tu, Yuwen Xiong, Sivabalan Manivasagam, Raquel Urtasun Affordance-Driven Next-Best-View Planning for Robotic Grasping
Xuechao Zhang, Dong Wang, Sun Han, Weichuang Li, Bin Zhao, Zhigang Wang, Xiaoming Duan, Chongrong Fang, Xuelong Li, Jianping He An Unbiased Look at Datasets for Visuo-Motor Pre-Training
Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, Abhinav Gupta AR2-D2: Training a Robot Without a Robot
Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna Autonomous Robotic Reinforcement Learning with Asynchronous Human Feedback
Max Balsells, Marcel Torne Villasevil, Zihan Wang, Samedh Desai, Pulkit Agrawal, Abhishek Gupta Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model Guidance
Jesse Zhang, Jiahui Zhang, Karl Pertsch, Ziyi Liu, Xiang Ren, Minsuk Chang, Shao-Hua Sun, Joseph J. Lim BridgeData V2: A Dataset for Robot Learning at Scale
Homer Rich Walke, Kevin Black, Tony Z. Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, Abraham Lee, Kuan Fang, Chelsea Finn, Sergey Levine CAJun: Continuous Adaptive Jumping Using a Learned Centroidal Controller
Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States
Zidan Wang, Takeru Oba, Takuma Yoneda, Rui Shen, Matthew Walter, Bradly C. Stadie Composable Part-Based Manipulation
Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, Jiajun Wu Compositional Diffusion-Based Continuous Constraint Solvers
Zhutian Yang, Jiayuan Mao, Yilun Du, Jiajun Wu, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling Context-Aware Deep Reinforcement Learning for Autonomous Robotic Navigation in Unknown Area
Jingsong Liang, Zhichen Wang, Yuhong Cao, Jimmy Chiun, Mengqi Zhang, Guillaume Adrien Sartoretti Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs
Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu, Siwei Cai, Eric Pu Jing, Shreesh Keskar, Shijie Geng, Adeeb Abbas, Lifeng Zhou, Kostas Bekris, Abdeslam Boularias Continual Vision-Based Reinforcement Learning with Group Symmetries
Shiqi Liu, Mengdi Xu, Peide Huang, Xilun Zhang, Yongkang Liu, Kentaro Oguchi, Ding Zhao Contrastive Value Learning: Implicit Models for Simple Offline RL
Bogdan Mazoure, Benjamin Eysenbach, Ofir Nachum, Jonathan Tompson Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control
Kevin Huang, Rwik Rana, Alexander Spitzer, Guanya Shi, Byron Boots Deception Game: Closing the Safety-Learning Loop in Interactive Robot Autonomy
Haimin Hu, Zixu Zhang, Kensuke Nakamura, Andrea Bajcsy, Jaime Fernández Fisac DEFT: Dexterous Fine-Tuning for Hand Policies
Aditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam, Deepak Pathak Dexterous Functional Grasping
Ananye Agarwal, Shagun Uppal, Kenneth Shaw, Deepak Pathak Diff-LfD: Contact-Aware Model-Based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-Based Simulation and Rendering
Xinghao Zhu, JingHan Ke, Zhixuan Xu, Zhixin Sun, Bizhe Bai, Jun Lv, Qingtao Liu, Yuwei Zeng, Qi Ye, Cewu Lu, Masayoshi Tomizuka, Lin Shao Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation
William Shen, Ge Yang, Alan Yu, Jansen Wong, Leslie Pack Kaelbling, Phillip Isola DROID: Learning from Offline Heterogeneous Demonstrations via Reward-Policy Distillation
Sravan Jayanthi, Letian Chen, Nadya Balabanska, Van Duong, Erik Scarlatescu, Ezra Ameperosa, Zulfiqar Haider Zaidi, Daniel Martin, Taylor Keith Del Matto, Masahiro Ono, Matthew Gombolay Dynamic Handover: Throw and Catch with Bimanual Hands
Binghao Huang, Yuanpei Chen, Tianyu Wang, Yuzhe Qin, Yaodong Yang, Nikolay Atanasov, Xiaolong Wang Dynamic Multi-Team Racing: Competitive Driving on 1/10-Th Scale Vehicles via Learning in Simulation
Peter Werner, Tim Seyde, Paul Drews, Thomas Matrai Balch, Igor Gilitschenski, Wilko Schwarting, Guy Rosman, Sertac Karaman, Daniela Rus Embodied Lifelong Learning for Task and Motion Planning
Jorge Mendez-Mendez, Leslie Pack Kaelbling, Tomás Lozano-Pérez Energy-Based Potential Games for Joint Motion Forecasting and Control
Christopher Diehl, Tobias Klosek, Martin Krueger, Nils Murzyn, Timo Osterburg, Torsten Bertram Equivariant Motion Manifold Primitives
Byeongho Lee, Yonghyeon Lee, Seungyeon Kim, MinJun Son, Frank C. Park Equivariant Reinforcement Learning Under Partial Observability
Hai Huu Nguyen, Andrea Baisero, David Klee, Dian Wang, Robert Platt, Christopher Amato Finetuning Offline World Models in the Real World
Yunhai Feng, Nicklas Hansen, Ziyan Xiong, Chandramouli Rajagopalan, Xiaolong Wang Fleet Active Learning: A Submodular Maximization Approach
Oguzhan Akcin, Orhan Unuvar, Onat Ure, Sandeep P. Chinchali General In-Hand Object Rotation with Vision and Touch
Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma, Roberto Calandra, Jitendra Malik Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural Rendering
Yasasa Abeysirigoonawardena, Kevin Xie, Chuhan Chen, Salar Hosseini Khorasgani, Ruiting Chen, Ruiqi Wang, Florian Shkurti Geometry Matching for Multi-Embodiment Grasping
Maria Attarian, Muhammad Adil Asif, Jingzhou Liu, Ruthrash Hari, Animesh Garg, Igor Gilitschenski, Jonathan Tompson Gesture-Informed Robot Assistance via Foundation Models
Li-Heng Lin, Yuchen Cui, Yilun Hao, Fei Xia, Dorsa Sadigh GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields
Yanjie Ze, Ge Yan, Yueh-Hua Wu, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen, Li Erran Li, Xiaolong Wang Goal Representations for Instruction Following: A Semi-Supervised Language Interface to Control
Vivek Myers, Andre Wang He, Kuan Fang, Homer Rich Walke, Philippe Hansen-Estruch, Ching-An Cheng, Mihai Jalobeanu, Andrey Kolobov, Anca Dragan, Sergey Levine Grounding Complex Natural Language Commands for Temporal Tasks in Unseen Environments
Jason Xinyu Liu, Ziyi Yang, Ifrah Idrees, Sam Liang, Benjamin Schornstein, Stefanie Tellex, Ankit Shah HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation
Vainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg Hijacking Robot Teams Through Adversarial Communication
Zixuan Wu, Sean Charles Ye, Byeolyi Han, Matthew Gombolay HomeRobot: Open-Vocabulary Mobile Manipulation
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin S. Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander Clegg, John M. Turner, Zsolt Kira, Manolis Savva, Angel X. Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox Improving Behavioural Cloning with Positive Unlabeled Learning
Qiang Wang, Robert McCarthy, David Cordova Bulens, Kevin McGuinness, Noel E. O’Connor, Francisco Roldan Sanchez, Nico Gürtler, Felix Widmaier, Stephen J. Redmond KITE: Keypoint-Conditioned Policies for Semantic Manipulation
Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg LabelFormer: Object Trajectory Refinement for Offboard Perception from LiDAR Point Clouds
Anqi Joyce Yang, Sergio Casas, Nikita Dvornik, Sean Segal, Yuwen Xiong, Jordan Sir Kwang Hu, Carter Fang, Raquel Urtasun Language Conditioned Traffic Generation
Shuhan Tan, Boris Ivanovic, Xinshuo Weng, Marco Pavone, Philipp Kraehenbuehl Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping
Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg Language to Rewards for Robotic Skill Synthesis
Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montserrat Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, Fei Xia Language-Conditioned Path Planning
Amber Xie, Youngwoon Lee, Pieter Abbeel, Stephen James Language-Guided Robot Grasping: CLIP-Based Referring Grasp Synthesis in Clutter
Georgios Tziafas, Yucheng Xu, Arushi Goel, Mohammadreza Kasaei, Zhibin Li, Hamidreza Kasaei Language-Guided Traffic Simulation via Scene-Level Diffusion
Ziyuan Zhong, Davis Rempe, Yuxiao Chen, Boris Ivanovic, Yulong Cao, Danfei Xu, Marco Pavone, Baishakhi Ray Large Language Models as General Pattern Machines
Suvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng Learning Efficient Abstract Planning Models That Choose What to Predict
Nishanth Kumar, Willie McClinton, Rohan Chitnis, Tom Silver, Tomás Lozano-Pérez, Leslie Pack Kaelbling Learning Realistic Traffic Agents in Closed-Loop
Chris Zhang, James Tu, Lunjun Zhang, Kelvin Wong, Simon Suo, Raquel Urtasun Learning Reusable Manipulation Strategies
Jiayuan Mao, Tomás Lozano-Pérez, Joshua B. Tenenbaum, Leslie Pack Kaelbling Learning to Design and Use Tools for Robotic Manipulation
Ziang Liu, Stephen Tian, Michelle Guo, Karen Liu, Jiajun Wu Learning to Drive Anywhere
Ruizhao Zhu, Peng Huang, Eshed Ohn-Bar, Venkatesh Saligrama MimicGen: A Data Generation System for Scalable Robot Learning Using Human Demonstrations
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox MimicPlay: Long-Horizon Imitation Learning by Watching Human Play
Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu, Anima Anandkumar MOTO: Offline Pre-Training to Online Fine-Tuning for Model-Based Robot Learning
Rafael Rafailov, Kyle Beltran Hatch, Victor Kolev, John D. Martin, Mariano Phielipp, Chelsea Finn Navigation with Large Language Models: Semantic Guesswork as a Heuristic for Planning
Dhruv Shah, Michael Robert Equi, Błażej Osiński, Fei Xia, Brian Ichter, Sergey Levine NOIR: Neural Signal Operated Intelligent Robots for Everyday Activities
Ruohan Zhang, Sharon Lee, Minjune Hwang, Ayano Hiranaka, Chen Wang, Wensi Ai, Jin Jie Ryan Tan, Shreya Gupta, Yilun Hao, Gabrael Levine, Ruohan Gao, Anthony Norcia, Li Fei-Fei, Jiajun Wu One-Shot Imitation Learning via Interaction Warping
Ondrej Biza, Skye Thompson, Kishore Reddy Pagidi, Abhinav Kumar, Elise van der Pol, Robin Walters, Thomas Kipf, Jan-Willem van de Meent, Lawson L. S. Wong, Robert Platt Online Learning for Obstacle Avoidance
David Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo, Elad Hazan, Anirudha Majumdar Open-World Object Manipulation Using Pre-Trained Vision-Language Models
Austin Stone, Ted Xiao, Yao Lu, Keerthana Gopalakrishnan, Kuang-Huei Lee, Quan Vuong, Paul Wohlhart, Sean Kirmani, Brianna Zitkovich, Fei Xia, Chelsea Finn, Karol Hausman OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data
Shiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias, Kostas Bekris PLEX: Making the Most of the Available Data for Robotic Manipulation Pretraining
Garrett Thomas, Ching-An Cheng, Ricky Loynd, Felipe Vieira Frujeri, Vibhav Vineet, Mihai Jalobeanu, Andrey Kolobov Policy Stitching: Learning Transferable Robot Policies
Pingcheng Jian, Easop Lee, Zachary Bell, Michael M. Zavlanos, Boyuan Chen Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning
Zhenjun Yu, Wenqiang Xu, Siqiong Yao, Jieji Ren, Tutian Tang, Yutong Li, Guoying Gu, Cewu Lu Predicting Object Interactions with Behavior Primitives: An Application in Stowing Tasks
Haonan Chen, Yilong Niu, Kaiwen Hong, Shuijing Liu, Yixuan Wang, Yunzhu Li, Katherine Rose Driggs-Campbell Preference Learning for Guiding the Tree Search in Continuous POMDPs
Jiyong Ahn, Sanghyeon Son, Dongryung Lee, Jisu Han, Dongwon Son, Beomjoon Kim Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions
Yevgen Chebotar, Quan Vuong, Karol Hausman, Fei Xia, Yao Lu, Alex Irpan, Aviral Kumar, Tianhe Yu, Alexander Herzog, Karl Pertsch, Keerthana Gopalakrishnan, Julian Ibarz, Ofir Nachum, Sumedh Anand Sontakke, Grecia Salazar, Huong T. Tran, Jodilyn Peralta, Clayton Tan, Deeksha Manjunath, Jaspiar Singh, Brianna Zitkovich, Tomas Jackson, Kanishka Rao, Chelsea Finn, Sergey Levine Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference
Jana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation
Zheyuan Hu, Aaron Rovinsky, Jianlan Luo, Vikash Kumar, Abhishek Gupta, Sergey Levine RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning
Kevin Zakka, Philipp Wu, Laura Smith, Nimrod Gileadi, Taylor Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel Robot Learning with Sensorimotor Pre-Training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik Robot Parkour Learning
Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher G. Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao Robots That Ask for Help: Uncertainty Alignment for Large Language Model Planners
Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, Quan Vuong, Vincent Vanhoucke, Huong Tran, Radu Soricut, Anikait Singh, Jaspiar Singh, Pierre Sermanet, Pannag R. Sanketi, Grecia Salazar, Michael S. Ryoo, Krista Reymann, Kanishka Rao, Karl Pertsch, Igor Mordatch, Henryk Michalewski, Yao Lu, Sergey Levine, Lisa Lee, Tsang-Wei Edward Lee, Isabel Leal, Yuheng Kuang, Dmitry Kalashnikov, Ryan Julian, Nikhil J. Joshi, Alex Irpan, Brian Ichter, Jasmine Hsu, Alexander Herzog, Karol Hausman, Keerthana Gopalakrishnan, Chuyuan Fu, Pete Florence, Chelsea Finn, Kumar Avinava Dubey, Danny Driess, Tianli Ding, Krzysztof Marcin Choromanski, Xi Chen, Yevgen Chebotar, Justice Carbajal, Noah Brown, Anthony Brohan, Montserrat Gonzalez Arenas, Kehang Han RVT: Robotic View Transformer for 3D Object Manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, Dieter Fox SayTap: Language to Quadrupedal Locomotion
Yujin Tang, Wenhao Yu, Jie Tan, Heiga Zen, Aleksandra Faust, Tatsuya Harada Semantic Mechanical Search with Large Vision and Language Models
Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, Brian Ichter, Ken Goldberg Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-Modal Rearrangement
Anthony Simeonov, Ankit Goyal, Lucas Manuelli, Yen-Chen Lin, Alina Sarmiento, Alberto Rodriguez Garcia, Pulkit Agrawal, Dieter Fox SLAP: Spatial-Language Attention Policies
Priyam Parashar, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk, Chris Paxton Surrogate Assisted Generation of Human-Robot Interaction Scenarios
Varun Bhatt, Heramb Nemlekar, Matthew Christopher Fontaine, Bryon Tjanaka, Hejia Zhang, Ya-Chuan Hsu, Stefanos Nikolaidis Synthesizing Navigation Abstractions for Planning with Portable Manipulation Skills
Eric Rosen, Steven James, Sergio Orozco, Vedant Gupta, Max Merlin, Stefanie Tellex, George Konidaris Towards General Single-Utensil Food Acquisition with Human-Informed Actions
Ethan Kroll Gordon, Amal Nanavati, Ramya Challa, Bernie Hao Zhu, Taylor Annette Kessler Faulkner, Siddhartha Srinivasa Towards Scalable Coverage-Based Testing of Autonomous Vehicles
James Tu, Simon Suo, Chris Zhang, Kelvin Wong, Raquel Urtasun Tuning Legged Locomotion Controllers via Safe Bayesian Optimization
Daniel Widmer, Dongho Kang, Bhavya Sukhija, Jonas Hübotter, Andreas Krause, Stelian Coros ViNT: A Foundation Model for Visual Navigation
Dhruv Shah, Ajay Sridhar, Nitish Dashora, Kyle Stachowicz, Kevin Black, Noriaki Hirose, Sergey Levine Waypoint-Based Imitation Learning for Robotic Manipulation
Lucy Xiaoyang Shi, Archit Sharma, Tony Z. Zhao, Chelsea Finn What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery
Peide Huang, Xilun Zhang, Ziang Cao, Shiqi Liu, Mengdi Xu, Wenhao Ding, Jonathan Francis, Bingqing Chen, Ding Zhao XSkill: Cross Embodiment Skill Discovery
Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song