CoRL 2024
264 papers
A3VLM: Actionable Articulation-Aware Vision Language Model
Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong, Abdeslam Boularias, Peng Gao, Hongsheng Li ACE: A Cross-Platform and Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation
Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang Action Space Design in Reinforcement Learning for Robot Motor Skills
Julian Eßer, Gabriel B. Margolis, Oliver Urbann, Sören Kerner, Pulkit Agrawal Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training
Wenhao Cui, Shengtao Li, Huaxing Huang, Bangyu Qin, Tianchu Zhang, Hanjincha Hanjinchao, Liang Zheng, Ziyang Tang, Chenxu Hu, Ning Yan, Jiahao Chen, Zheyuan Jiang Adaptive Language-Guided Abstraction from Contrastive Explanations
Andi Peng, Belinda Z. Li, Ilia Sucholutsky, Nishanth Kumar, Julie Shah, Jacob Andreas, Andreea Bobu ALOHA Unleashed: A Simple Recipe for Robot Dexterity
Tony Z. Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour, Chelsea Finn, Ayzaan Wahid An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
Erik Bauer, Marc Blöchlinger, Pascal Strauch, Arman Raayatsanati, Cavelti Curdin, Robert K. Katzschmann AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Christopher J. Ford, Haoran Li, Efi Psomopoulou, David A.W. Barton, Nathan F. Lepora APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs
Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega, Xiangwan Sun, Neha Sunkara, Maximus Adrian Pace, Jeannette Bohg, Sanjiban Choudhury Automated Creation of Digital Cousins for Robust Policy Learning
Tianyuan Dai, Josiah Wong, Yunfan Jiang, Chen Wang, Cem Gokmen, Ruohan Zhang, Jiajun Wu, Li Fei-Fei Autonomous Improvement of Instruction Following Skills via Foundation Models
Zhiyuan Zhou, Pranav Atreya, Abraham Lee, Homer Rich Walke, Oier Mees, Sergey Levine Autonomous Interactive Correction MLLM for Robust Robotic Manipulation
Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, Hao Dong Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning
Adam Fishman, Aaron Walsman, Mohak Bhardwaj, Wentao Yuan, Balakumar Sundaralingam, Byron Boots, Dieter Fox Bi-Level Motion Imitation for Humanoid Robots
Wenshuai Zhao, Yi Zhao, Joni Pajarinen, Michael Muehlebach BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
Nikita Chernyadev, Nicholas Backshall, Xiao Ma, Yunfan Lu, Younggyo Seo, Stephen James Bimanual Dexterity for Complex Tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, Deepak Pathak Body Transformer: Leveraging Robot Embodiment for Policy Learning
Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective
Haoran He, Peilin Wu, Chenjia Bai, Hang Lai, Lingxiao Wang, Ling Pan, Xiaolin Hu, Weinan Zhang Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision
Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, Jens Lundell, Jeffrey Ichnowski, Mårten Björkman, Danica Kragic Continuously Improving Mobile Manipulation with Autonomous Real-World RL
Russell Mendonca, Emmanuel Panov, Bernadette Bucher, Jiuguang Wang, Deepak Pathak CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning
Luke Rowe, Roger Girgis, Anthony Gosselin, Bruno Carrez, Florian Golemo, Felix Heide, Liam Paull, Christopher Pal D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Rose Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li D$^3$RoMa: Disparity Diffusion-Based Depth Sensing for Material-Agnostic Robotic Manipulation
Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Cui Wenbo, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, He Wang Detect Everything with Few Examples
Xinyu Zhang, Yuhan Liu, Yuting Wang, Abdeslam Boularias DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands
Fengbo Lan, Shengjie Wang, Yunzhe Zhang, Haotian Xu, Oluwatosin OluwaPelumi Oseni, Ziye Zhang, Yang Gao, Tao Zhang DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-Scale Synthetic Cluttered Scenes
Jialiang Zhang, Haoran Liu, Danshi Li, XinQiang Yu, Haoran Geng, Yufei Ding, Jiayi Chen, He Wang DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu, Ram Vasudevan Differentiable Robot Rendering
Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Sophia Shao, Borivoje Nikolic, Koushil Sreenath DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racing
Jonathan DeCastro, Andrew Silva, Deepak Gopinath, Emily Sumner, Thomas Matrai Balch, Laporsha Dees, Guy Rosman Dreamitate: Real-World Visuomotor Policy Learning via Video Generation
Junbang Liang, Ruoshi Liu, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models
Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Yang Wang, Zhiyong Zhao, Kun Zhan, Peng Jia, XianPeng Lang, Hang Zhao Environment Curriculum Generation via Large Language Models
William Liang, Sam Wang, Hung-Ju Wang, Osbert Bastani, Dinesh Jayaraman, Yecheng Jason Ma EquiGraspFlow: SE(3)-Equivariant 6-DoF Grasp Pose Generative Flows
Byeongdo Lim, Jongmin Kim, Jihwan Kim, Yonghyeon Lee, Frank C. Park Equivariant Diffusion Policy
Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt EscIRL: Evolving Self-Contrastive IRL for Trajectory Prediction in Autonomous Driving
Siyue Wang, Zhaorun Chen, Zhuokai Zhao, Chaoli Mao, Yiyang Zhou, Jiayu He, Albert Sibo Hu Evaluating Real-World Robot Manipulation Policies in Simulation
Xuanlin Li, Kyle Hsu, Jiayuan Gu, Oier Mees, Karl Pertsch, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, Ted Xiao Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion
Tianyi Xiong, Jiayi Wu, Botao He, Cornelia Fermuller, Yiannis Aloimonos, Heng Huang, Christopher Metzler Exploring Under Constraints with Model-Based Actor-Critic and Safety Filters
Ahmed Agha, Baris Kayalibay, Atanas Mirchev, Patrick van der Smagt, Justin Bayer FetchBench: A Simulation Benchmark for Robot Fetching
Beining Han, Meenal Parakh, Derek Geng, Jack A Defay, Gan Luyang, Jia Deng Fleet Supervisor Allocation: A Submodular Maximization Approach
Oguzhan Akcin, Ahmet Ege Tanriverdi, Kaan Kale, Sandeep P. Chinchali Flow as the Cross-Domain Manipulation Interface
Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner Gameplay Filters: Robust Zero-Shot Safety Through Adversarial Imagination
Duy Phuong Nguyen, Kai-Chieh Hsu, Wenhao Yu, Jie Tan, Jaime Fernández Fisac GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy
Yixuan Wang, Guang Yin, Binghao Huang, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
Ruihan Yang, Zhuoqun Chen, Jianhan Ma, Chongyi Zheng, Yiyu Chen, Quan Nguyen, Xiaolong Wang Generative Image as Action Models
Mohit Shridhar, Yat Long Lo, Stephen James GenSim2: Scaling Robot Data Generation with Multi-Modal and Reasoning LLMs
Pu Hua, Minghuan Liu, Annabella Macaluso, Yunfeng Lin, Weinan Zhang, Huazhe Xu, Lirui Wang Gentle Manipulation of Tree Branches: A Contact-Aware Policy Learning Approach
Jay Jacob, Shizhe Cai, Paulo Vinicius Koerich Borges, Tirthankar Bandyopadhyay, Fabio Ramos Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron Ames, Mac Schwager, Jeannette Bohg Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance
RenMing Huang, Shaochong Liu, Yunqiang Pei, Peng Wang, Guoqing Wang, Yang Yang, Heng Tao Shen Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving
Kairui Ding, Boyuan Chen, Yuchen Su, Huan-ang Gao, Bu Jin, Chonghao Sima, Xiaohui Li, Wuqiang Zhang, Paul Barsch, Hongyang Li, Hao Zhao HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers
Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen Humanoid Parkour Learning
Ziwen Zhuang, Shenzhe Yao, Hang Zhao HumanPlus: Humanoid Shadowing and Imitation from Humans
Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-Manipulation
Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli, Nikos Tsagarakis I Can Tell What I Am Doing: Toward Real-World Natural Language Grounding of Robot Experiences
Zihan Wang, Brian Liang, Varad Dhat, Zander Brumbaugh, Nick Walker, Ranjay Krishna, Maya Cakmak IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies
Haojie Huang, Karl Schmeckpeper, Dian Wang, Ondrej Biza, Yaoyao Qian, Haotian Liu, Mingxi Jia, Robert Platt, Robin Walters Jacta: A Versatile Planner for Learning Dexterous and Whole-Body Manipulation
Jan Bruedigam, Ali Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Georg Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac’h KOI: Accelerating Online Imitation Learning via Hybrid Key-State Guidance
Jingxian Lu, Wenke Xia, Dong Wang, Zhigang Wang, Bin Zhao, Di Hu, Xuelong Li KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
Hongyi Chen, Abulikemu Abuduweili, Aviral Agrawal, Yunhai Han, Harish Ravichandar, Changliu Liu, Jeffrey Ichnowski Learning Decentralized Multi-Biped Control for Payload Transport
Bikram Pandit, Ashutosh Gupta, Mohitvishnu S. Gadde, Addison Johnson, Aayam Kumar Shrestha, Helei Duan, Jeremy Dao, Alan Fern Learning Differentiable Tensegrity Dynamics Using Graph Neural Networks
Nelson Chen, Kun Wang, William R. Johson Iii, Rebecca Kramer-Bottiglio, Kostas Bekris, Mridul Aanjaneya Learning H-Infinity Locomotion Control
Junfeng Long, Wenye Yu, Quanyi Li, ZiRui Wang, Dahua Lin, Jiangmiao Pang Learning Long-Horizon Action Dependencies in Sampling-Based Bilevel Planning
Bartłomiej Cieślar, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Jorge Mendez-Mendez Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning
Dhruva Tirumala, Markus Wulfmeier, Ben Moran, Sandy Huang, Jan Humplik, Guy Lever, Tuomas Haarnoja, Leonard Hasenclever, Arunkumar Byravan, Nathan Batchelor, Neil Sreendra, Kushal Patel, Marlon Gwira, Francesco Nori, Martin Riedmiller, Nicolas Heess Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching
Eugenio Chisari, Nick Heppert, Max Argus, Tim Welschehold, Thomas Brox, Abhinav Valada Learning Visual Parkour from Generated Images
Alan Yu, Ge Yang, Ran Choi, Yajvan Ravan, John Leonard, Phillip Isola Legolas: Deep Leg-Inertial Odometry
Justin Wasserman, Ananye Agarwal, Rishabh Jangir, Girish Chowdhary, Deepak Pathak, Abhinav Gupta Lessons from Learning to Spin “Pens”
Jun Wang, Ying Yuan, Haichuan Che, Haozhi Qi, Yi Ma, Jitendra Malik, Xiaolong Wang Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction
Yili Liu, Linzhan Mou, Xuan Yu, Chenrui Han, Sitong Mao, Rong Xiong, Yue Wang LLARVA: Vision-Action Instruction Tuning Enhances Robot Learning
Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, Roei Herzig MaIL: Improving Imitation Learning with Selective State Space Models
Xiaogang Jia, Qian Wang, Atalay Donat, Bowen Xing, Ge Li, Hongyi Zhou, Onur Celik, Denis Blessing, Rudolf Lioutikov, Gerhard Neumann Manipulate-Anything: Automating Real-World Robots Using Vision-Language Models
Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song MBC: Multi-Brain Collaborative Control for Quadruped Robots
Hang Liu, Yi Cheng, Rankun Li, Xiaowen Hu, Linqi Ye, Houde Liu Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs
Zhuo Xu, Hao-Tien Lewis Chiang, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada, Chelsea Finn, Peng Xu, Sergey Levine, Jie Tan Modeling the Real World with High-Density Visual Particle Dynamics
William F Whitney, Jake Varley, Deepali Jain, Krzysztof Marcin Choromanski, Sumeet Singh, Vikas Sindhwani Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor
Anish Bhattacharya, Marco Cannici, Nishanth Rao, Yuezhan Tao, Vijay Kumar, Nikolai Matni, Davide Scaramuzza MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking
Huaxiaoyue Wang, Kushal Kedia, Juntao Ren, Rahma Abdullah, Atiksh Bhardwaj, Angela Chao, Kelly Y Chen, Nathaniel Chin, Prithwish Dan, Xinyi Fan, Gonzalo Gonzalez-Pumariega, Aditya Kompella, Maximus Adrian Pace, Yash Sharma, Xiangwan Sun, Neha Sunkara, Sanjiban Choudhury Multi-Task Interactive Robot Fleet Learning with Visual World Models
Huihan Liu, Yu Zhang, Vaarij Betala, Evan Zhang, James Liu, Crystal Ding, Yuke Zhu Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang, Jeannette Bohg, Yixin Zhu, Leonidas Guibas Neural Inverse Source Problem
Youngsun Wi, Jayjun Lee, Miquel Oller, Nima Fazeli OKAMI: Teaching Humanoid Robots Manipulation Skills Through Single Video Imitation
Jinhan Li, Yifeng Zhu, Yuqi Xie, Zhenyu Jiang, Mingyo Seo, Georgios Pavlakos, Yuke Zhu OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris M. Kitani, Changliu Liu, Guanya Shi One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits
Franck Djeumou, Thomas Jonathan Lew, Nan Ding, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits One Policy to Run Them All: An End-to-End Learning Approach to Multi-Embodiment Locomotion
Nico Bohlinger, Grzegorz Czechmanowski, Maciej Piotr Krupka, Piotr Kicki, Krzysztof Walas, Jan Peters, Davide Tateo OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation
Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto OpenVLA: An Open-Source Vision-Language-Action Model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan P Foster, Pannag R Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn OrbitGrasp: SE(3)-Equivariant Grasp Learning
Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators
Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, Luca Weihs Progressive Multi-Modal Fusion for Robust 3D Object Detection
Rohit Mohan, Daniele Cattaneo, Florian Drews, Abhinav Valada Promptable Closed-Loop Traffic Simulation
Shuhan Tan, Boris Ivanovic, Yuxiao Chen, Boyi Li, Xinshuo Weng, Yulong Cao, Philipp Kraehenbuehl, Marco Pavone Q-SLAM: Quadric Representations for Monocular SLAM
Chensheng Peng, Chenfeng Xu, Yue Wang, Mingyu Ding, Heng Yang, Masayoshi Tomizuka, Kurt Keutzer, Marco Pavone, Wei Zhan RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation
Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang Reinforcement Learning with Foundation Priors: Let Embodied Agent Efficiently Learn on Its Own
Weirui Ye, Yunsheng Zhang, Haoyang Weng, Xianfan Gu, Shengjie Wang, Tong Zhang, Mengchen Wang, Pieter Abbeel, Yang Gao ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning
Joey Hejna, Chethan Anand Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction
Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa Robotic Control via Embodied Chain-of-Thought Reasoning
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, Sergey Levine RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning
Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
Yi Zhao, Le Chen, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches
Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, Stefan Schaal Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models
Nils Blank, Moritz Reuss, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Wenzel, Oier Mees, Rudolf Lioutikov SLR: Learning Quadruped Locomotion Without Privileged Information
Shiyi Chen, Zeyu Wan, Shiyang Yan, Chun Zhang, Weiyi Zhang, Qiang Li, Debing Zhang, Fasih Ud Din Farrukh So You Think You Can Scale up Autonomous Robot Data Collection?
Suvir Mirchandani, Suneel Belkhale, Joey Hejna, Evelyn Choi, Md Sazzad Islam, Dorsa Sadigh Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
Yixiao Wang, Yifei Zhang, Mingxiao Huo, Thomas Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka Sparsh: Self-Supervised Touch Representations for Vision-Based Tactile Sensing
Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Olaolu Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe David Kennedy, Mac Schwager Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks
Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger TaMMa: Target-Driven Multi-Subscene Mobile Manipulation
Jiawei Hou, Tianyu Wang, Tongying Pan, Shouyan Wang, Xiangyang Xue, Yanwei Fu Theia: Distilling Diverse Vision Foundation Models for Robot Learning
Jinghuan Shang, Karl Schmeckpeper, Brandon B. May, Maria Vittoria Minniti, Tarik Kelestemur, David Watkins, Laura Herlant ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter
Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao, Haojie Huang, Yu Qi, Robert Platt TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg Tokenize the World into Object-Level Knowledge to Address Long-Tail Events in Autonomous Driving
Thomas Tian, Boyi Li, Xinshuo Weng, Yuxiao Chen, Edward Schmerling, Yue Wang, Boris Ivanovic, Marco Pavone Trajectory Improvement and Reward Learning from Comparative Language Feedback
Zhaojing Yang, Miru Jun, Jeremy Tien, Stuart Russell, Anca Dragan, Erdem Biyik Twisting Lids Off with Two Hands
Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, Jitendra Malik UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments
Chunru Lin, Jugang Fan, Yian Wang, Zeyuan Yang, Zhehuan Chen, Lixing Fang, Tsun-Hsuan Wang, Zhou Xian, Chuang Gan Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
Christopher Agia, Rohan Sinha, Jingyun Yang, Ziang Cao, Rika Antonova, Marco Pavone, Jeannette Bohg View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
Stephen Tian, Blake Wulfe, Kyle Sargent, Katherine Liu, Sergey Zakharov, Vitor Campagnolo Guizilini, Jiajun Wu ViPER: Visibility-Based Pursuit-Evasion via Reinforcement Learning
Yizhuo Wang, Yuhong Cao, Jimmy Chiun, Subhadeep Koley, Mandy Pham, Guillaume Adrien Sartoretti VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning
Lei Huang, Weijia Cai, Zihan Zhu, Chen Feng, Helge Rhodin, Zhengbo Zou Visual Manipulation with Legs
Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang Visual Whole-Body Control for Legged Loco-Manipulation
Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ri-Zhao Qiu, Ruihan Yang, Xiaolong Wang VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding
Runsen Xu, Zhiwei Huang, Tai Wang, Yilun Chen, Jiangmiao Pang, Dahua Lin What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn, Karol Hausman What Matters in Range View 3D Object Detection
Benjamin Wilson, Nicholas Autio Mitchell, Jhony Kaesemodel Pontes, James Hays