PMLR proceedings now available here: https://proceedings.mlr.press/v229/

Oral 1: Manipulation

Nov 7, 8:30 - 9:30 am, Session Chair: Shuran Song

  1. Stabilize to Act: Learning to Coordinate for Bimanual Manipulation

    Jennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh

  2. 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

  3. RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools

    Haochen Shi, Huazhe Xu, Samuel Clarke, Yunzhu Li, Jiajun Wu

  4. On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills

    Yunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar

  5. 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

  6. 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

Oral 2: RL

Nov 7, 1:45 - 2:45 pm, Session Chair: Brian Ichter

  1. How to Learn and Generalize From Three Minutes of Data: Physics-Constrained and Uncertainty-Aware Neural Stochastic Differential Equations

    Franck Djeumou, Cyrus Neary, ufuk topcu

  2. Finetuning Offline World Models in the Real World

    Yunhai Feng, Nicklas Hansen, Ziyan Xiong, Chandramouli Rajagopalan, Xiaolong Wang

  3. Hijacking Robot Teams Through Adversarial Communication

    Zixuan Wu, Sean Charles Ye, Byeolyi Han, Matthew Gombolay

  4. Expansive Latent Planning for Sparse Reward Offline Reinforcement Learning

    Robert Gieselmann, Florian T. Pokorny

  5. Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation

    Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held

Oral 3: Mobility (driving / navigation / locomotion)

Nov 8, 8:30 - 9:30 am, Session Chair: Jemin Hwangbo

  1. ViNT: A Large-Scale, Multi-Task Visual Navigation Backbone with Cross-Robot Generalization

    Dhruv Shah, Ajay Sridhar, Nitish Dashora, Kyle Stachowicz, Kevin Black, Noriaki Hirose, Sergey Levine

  2. Robot Parkour Learning

    Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher G Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao

  3. DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control

    Kevin Huang, Rwik Rana, Guanya Shi, Alexander Spitzer, Byron Boots

  4. Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning

    Xiyang Wu, Rohan Chandra, Tianrui Guan, Amrit Bedi, Dinesh Manocha

  5. Language-Guided Traffic Simulation via Scene-Level Diffusion

    Ziyuan Zhong, Davis Rempe, Yuxiao Chen, Boris Ivanovic, Yulong Cao, Danfei Xu, Marco Pavone, Baishakhi Ray

Oral 4: LLM

Nov 8, 11:00 am - 12:00 pm, Session Chair: Dorsa Sadigh

  1. Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping

    Satvik Sharma, Adam Rashid, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg

  2. 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

  3. 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

  4. 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

  5. SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Task Planning

    Krishan Rana, Jad Abou-Chakra, Sourav Garg, Jesse Haviland, Ian Reid, Niko Suenderhauf

  6. VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

    Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, Li Fei-Fei

Oral 5: Manipulation 2

Nov 9, 8:30 - 9:30 am, Session Chair: Pulkit Agrawal

  1. 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

  2. Continual Vision-based Reinforcement Learning with Group Symmetries

    Shiqi Liu, Mengdi Xu, Peide Huang, Xilun Zhang, Yongkang Liu, Kentaro Oguchi, Ding Zhao

  3. General Part Assembly Planing

    Yulong Li, Andy Zeng, Shuran Song

  4. Distilled Feature Fields Enable Few-Shot Manipulation

    William Shen, Ge Yang, Alan Yu, Jensen Wong, Leslie Pack Kaelbling, Phillip Isola

  5. 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

  6. RVT: Robotic View Transformer for 3D Object Manipulation

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

Oral 6: Pre-training, surrogate model, and representation learning

Nov 9, 1:45 - 2:45 pm, Session Chair: Animesh Garg

  1. Measuring Interpretability of Neural Policies of Robots with Disentangled Representation

    Tsun-Hsuan Wang, Wei Xiao, Tim Seyde, Ramin Hasani, Daniela Rus

  2. Task-Oriented Koopman-Based Control with Contrastive Encoder

    Xubo Lyu, Hanyang Hu, Seth Siriya, Ye Pu, Mo Chen

  3. Robot Learning with Sensorimotor Pre-training

    Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik

  4. PreCo: Enhancing Generalization in Co-Design of Modular Soft Robots via Brain-Body Pre-Training

    Yuxing Wang, Shuang Wu, Tiantian Zhang, Yongzhe Chang, QIANG FU, Haobo Fu, Xueqian Wang

  5. Surrogate Assisted Generation of Human-Robot Interaction Scenarios

    Varun Bhatt, Heramb Nemlekar, Matthew Christopher Fontaine, Bryon Tjanaka, Hejia Zhang, Ya-Chuan Hsu, Stefanos Nikolaidis

Poster 1: Manipulation 1

Nov 7, 2:45 - 3:30 pm

  1. Dynamic Handover: Throw and Catch with Bimanual Hands

    Binghao Huang, Yuanpei Chen, Tianyu Wang, Yuzhe Qin, Yaodong Yang, Nikolay Atanasov, Xiaolong Wang

  2. Towards General Food Acquisition with Human-Informed Actions

    Ethan Kroll Gordon, Amal Nanavati, Ramya Challa, Bernie Hao Zhu, Taylor Annette Kessler Faulkner, Siddhartha Srinivasa

  3. Learning Reusable Manipulation Strategies

    Jiayuan Mao, Tomás Lozano-Pérez, Joshua B. Tenenbaum, Leslie Pack Kaelbling

  4. 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

  5. FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection

    Harry Zhang, Ben Eisner, David Held

  6. Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play

    Irmak Guzey, Ben Evans, Soumith Chintala, Lerrel Pinto

  7. XSkill: Cross Embodiment Skill Discovery

    Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song

  8. That Sounds Right: Auditory Self-Supervision for Dynamic Robot Manipulation

    Abitha Thankaraj, Lerrel Pinto

  9. One-Shot Imitation Learning: A Pose Estimation Perspective

    Pietro Vitiello, Kamil Dreczkowski, Edward Johns

  10. UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding

    Han Xue, Yutong Li, Wenqiang Xu, Dongzhe Zheng, Cewu Lu

  11. 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

  12. Learning Robot Manipulation from Cross-Morphology Demonstration

    Gautam Salhotra, I-Chun Arthur Liu, Gaurav S. Sukhatme

  13. 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

  14. SCONE: A Food Scooping Robot Learning Framework with Active Perception

    Yen-Ling Tai, Yu Chien Chiu, Yu-Wei Chao, Yi-Ting Chen

  15. Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model

    Matan Sudry, Tom Jurgenson, Aviv Tamar, Erez Karpas

  16. An Unbiased Look at Datasets for Visuo-Motor Pre-Training

    Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, Abhinav Gupta

  17. HYDRA: Hybrid Robot Actions for Imitation Learning

    Suneel Belkhale, Yuchen Cui, Dorsa Sadigh

  18. Act3D: Infinite Resolution Action Detection Transformer for Robot Manipulation

    Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, Katerina Fragkiadaki

  19. Learning Lyapunov-Stable Polynomial Dynamical Systems Through Imitation

    Amin Abyaneh, Hsiu-Chin Lin

  20. 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

  21. AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer

    Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar

  22. A Universal Semantic-Geometric Representation for Robotic Manipulation

    Tong Zhang, Yingdong Hu, Hanchen Cui, Hang Zhao, Yang Gao

  23. General In-hand Object Rotation with Vision and Touch

    Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma, Roberto Calandra, Jitendra Malik

  24. Unifying Diffusion Models with Action Detection Transformers for Multi-task Robotic Manipulation

    Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Katerina Fragkiadaki

  25. A Data-efficient Neural ODE Framework for Optimal Control of Soft Manipulators

    Mohammadreza Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li, Mohsen Khadem

  26. Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models

    Utkarsh Aashu Mishra, Shangjie Xue, Yongxin Chen, Danfei Xu

  27. Stabilize to Act: Learning to Coordinate for Bimanual Manipulation

    Jennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh

  28. LTODO: 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

  29. RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools

    Haochen Shi, Huazhe Xu, Samuel Clarke, Yunzhu Li, Jiajun Wu

  30. On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills

    Yunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar

  31. 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

  32. 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

  33. Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation

    Yuanpei Chen, Chen Wang, Li Fei-Fei, Karen Liu

Poster 2: RL/IL

Nov 7, 4:15 - 5:00 pm

  1. FastRLAP: A System for Learning High-Speed Driving via Deep RL and Autonomous Practicing

    Kyle Stachowicz, Dhruv Shah, Arjun Bhorkar, Ilya Kostrikov, Sergey Levine

  2. Learning Realistic Traffic Agents in Closed-loop

    Chris Zhang, James Tu, Lunjun Zhang, Kelvin Wong, Simon Suo, Raquel Urtasun

  3. Imitating Task and Motion Planning with Visuomotor Transformers

    Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox

  4. A Bayesian Approach to Robust Inverse Reinforcement Learning

    Ran Wei, Siliang Zeng, Chenliang Li, Alfredo Garcia, Anthony D McDonald, Mingyi Hong

  5. Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot Arms

    Rianna Jitosho, Tyler Ga Wei Lum, Allison Okamura, Karen Liu

  6. AR2-D2: Training a Robot Without a Robot

    Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna

  7. 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

  8. Contrastive Value Learning: Implicit Models for Simple Offline RL

    Bogdan Mazoure, Benjamin Eysenbach, Ofir Nachum, Jonathan Tompson

  9. Sample-Efficient Preference-based Reinforcement Learning by Encoding Environment Dynamics in the Reward Function

    Rin Metcalf, Miguel Sarabia, Natalie Mackraz, Barry-John Theobald

  10. Few-Shot In-Context Imitation Learning via Implicit Graph Alignment

    Vitalis Vosylius, Edward Johns

  11. Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning

    Zhenjun Yu, Wenqiang Xu, Jieji Ren, Tutian Tang, Yutong Li, Siqiong Yao, Guoying Gu, Cewu Lu

  12. 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

  13. Equivariant Reinforcement Learning under Partial Observability

    Hai Huu Nguyen, Andrea Baisero, David Klee, Dian Wang, Robert Platt, Christopher Amato

  14. Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set Regularization

    Yuan Zhang, Jianhong Wang, Joschka Boedecker

  15. A Policy Optimization Method Towards Optimal-time Stability

    Shengjie Wang, Fengbo Lan, Xiang Zheng, Yuxue Cao, Oluwatosin Oseni, Haotian Xu, Tao Zhang, Yang Gao

  16. IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors

    Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg

  17. TraCo: Learning Virtual Traffic Coordinator for Cooperation with Multi-Agent Reinforcement Learning

    Weiwei Liu, Wei Jing, lingping Gao, Ke Guo, Gang Xu, Yong Liu

  18. 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 Del Matto, Masahiro Ono, Matthew Gombolay

  19. Preference learning for guiding the tree search in continuous POMDPs

    Jiyong Ahn, Sanghyeon Son, Dongryung Lee, Jisu Han, Dongwon Son, Beomjoon Kim

  20. Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States

    Zidan Wang, Takuma Yoneda, Takeru Oba, Rui Shen, Matthew Walter, Bradly C. Stadie

  21. 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

  22. Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning

    Archit Sharma, Ahmed M Ahmed, Rehaan Ahmad, Chelsea Finn

  23. Autonomous Robotic Reinforcement Learning with Asynchronous Human Feedback

    Max Balsells I Pamies, Marcel Torne Villasevil, Zihan Wang, Samedh Desai, Pulkit Agrawal, Abhishek Gupta

  24. Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching

    H.J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake

  25. Feedback is All You Need: Real-World Reinforcement Learning with Approximate Physics-Based Models

    Tyler Westenbroek, Jake Levy, David Fridovich-Keil

  26. Learning to Discern: Imitating Heterogeneous Human Demonstrations with Preference and Representation Learning

    Sachit Kuhar, Shuo Cheng, Shivang Chopra, Matthew Bronars, Danfei Xu

  27. 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

  28. Deception Game: Closing the Safety-Learning Loop in Interactive Robot Autonomy

    Haimin Hu, Zixu Zhang, Kensuke Nakamura, Andrea Victoria Bajcsy, Jaime Fernández Fisac

  29. Action-Quantized Offline Reinforcement Learning for Robotic Skill Learning

    Jianlan Luo, Perry Dong, Jeffrey Wu, Aviral Kumar, Xinyang Geng, Sergey Levine

  30. CLUE: Calibrated Latent Guidance for Offline Reinforcement Learning

    Lipeng Zu, Jinxin Liu, Li He, Donglin Wang

  31. 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

  32. How to Learn and Generalize From Three Minutes of Data: Physics-Constrained and Uncertainty-Aware Neural Stochastic Differential Equations

    Franck Djeumou, Cyrus Neary, ufuk topcu

  33. Finetuning Offline World Models in the Real World

    Yunhai Feng, Nicklas Hansen, Ziyan Xiong, Chandramouli Rajagopalan, Xiaolong Wang

  34. Hijacking Robot Teams Through Adversarial Communication

    Zixuan Wu, Sean Charles Ye, Byeolyi Han, Matthew Gombolay

  35. Expansive Latent Planning for Sparse Reward Offline Reinforcement Learning

    Robert Gieselmann, Florian T. Pokorny

  36. Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation

    Wenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held

Poster 3: Mobility

Nov 8, 12:00 - 12:45 pm

  1. Parting with Misconceptions about Learning-based Vehicle Motion Planning

    Daniel Dauner, Marcel Hallgarten, Andreas Geiger, Kashyap Chitta

  2. Towards Scalable Coverage-Based Testing of Autonomous Vehicles

    James Tu, Simon Suo, Chris Zhang, Kelvin Wong, Raquel Urtasun

  3. Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulation

    Jay Sarva, Jingkang Wang, James Tu, Yuwen Xiong, Sivabalan Manivasagam, Raquel Urtasun

  4. SayTap: Language to Quadrupedal Locomotion

    Yujin Tang, Wenhao Yu, Jie Tan, Heiga Zen, Aleksandra Faust, Tatsuya Harada

  5. ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map Construction

    Jingyi Yu, Zizhao Zhang, Shengfu Xia, Jizhang Sang

  6. Stochastic Occupancy Grid Map Prediction in Dynamic Scenes

    Zhanteng Xie, Philip Dames

  7. Learning Physically Grounded Robot Vision with Active Sensing Motor Policies

    Gabriel B. Margolis, Xiang Fu, Yandong Ji, Pulkit Agrawal

  8. CAT: Closed-loop Adversarial Training for Safe End-to-End Driving

    Linrui Zhang, Zhenghao Peng, Quanyi Li, Bolei Zhou

  9. Learning to Drive Anywhere via Regional Channel Attention

    Ruizhao Zhu, Peng Huang, Eshed Ohn-Bar, Venkatesh Saligrama

  10. 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

  11. Synthesizing Navigation Abstractions for Planning with Portable Manipulation Skills

    Eric Rosen, Steven James, Sergio Orozco, Vedant Gupta, Max Merlin, Stefanie Tellex, George Konidaris

  12. Cross-dataset Sensor Alignment: Making Visual 3D Object Detector Generalize

    Liangtao Zheng, Yicheng Liu, Yue Wang, Hang Zhao

  13. Energy-based Potential Games for Joint Motion Forecasting and Control

    Christopher Diehl, Tobias Klosek, Martin Krueger, Nils Murzyn, Timo Osterburg, Torsten Bertram

  14. Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors

    Sushant Veer, Apoorva Sharma, Marco Pavone

  15. Self-Supervised Terrain Representation Learning from Unconstrained Robot Experience

    Haresh Karnan, Elvin Yang, Daniel Farkash, Garrett Warnell, Joydeep Biswas, Peter Stone

  16. Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural Rendering

    Yasasa Abeysirigoonawardena, Kevin Xie, Chuhan Chen, Salar Hosseini Khorasgani, Ruiqi Wang, Florian Shkurti

  17. Curiosity-Driven Learning for Joint Locomotion and Manipulation Tasks

    Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter

  18. 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

  19. Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

    Daniel Widmer, Dongho Kang, Bhavya Sukhija, Jonas Hübotter, Andreas Krause, Stelian Coros

  20. CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller

    Yuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu, Tingnan Zhang, Jie Tan, Byron Boots

  21. Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism

    J. Taery Kim, Wenhao Yu, Yash Kothari, Jie Tan, Greg Turk, Sehoon Ha

  22. Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control

    David DeFazio, Eisuke Hirota, Shiqi Zhang

  23. Scalable Deep Kernel Gaussian Process for Vehicle Dynamics in Autonomous Racing

    Jingyun Ning, Madhur Behl

  24. Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation

    Harel Biggie, Ajay Narasimha Mopidevi, Dusty Woods, Chris Heckman

  25. Online Learning for Obstacle Avoidance

    David Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo, Anirudha Majumdar, Elad Hazan

  26. 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

  27. ViNT: A Large-Scale, Multi-Task Visual Navigation Backbone with Cross-Robot Generalization

    Dhruv Shah, Ajay Sridhar, Nitish Dashora, Kyle Stachowicz, Kevin Black, Noriaki Hirose, Sergey Levine

  28. Robot Parkour Learning

    Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher G Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao

  29. DATT: Deep Adaptive Trajectory Tracking for Quadrotor Control

    Kevin Huang, Rwik Rana, Guanya Shi, Alexander Spitzer, Byron Boots

  30. Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning

    Xiyang Wu, Rohan Chandra, Tianrui Guan, Amrit Bedi, Dinesh Manocha

  31. Language-Guided Traffic Simulation via Scene-Level Diffusion

    Ziyuan Zhong, Davis Rempe, Yuxiao Chen, Boris Ivanovic, Yulong Cao, Danfei Xu, Marco Pavone, Baishakhi Ray

Poster 4: LLM/VLM/HRI

Nov 8, 5:15 - 6:00 pm

  1. 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

  2. NOIR: Neural Signal Operated Intelligent Robot for Everyday Activities

    Sharon Lee, Ruohan Zhang, 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

  3. REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction

    Zeyi Liu, Arpit Bahety, Shuran Song

  4. Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition

    Huy Ha, Pete Florence, Shuran Song

  5. Human-in-the-Loop Task and Motion Planning for Imitation Learning

    Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu, Dieter Fox

  6. 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

  7. SLAP: Spatial-Language Attention Policies

    Priyam Parashar, Chris Paxton, Vidhi Jain, Xiaohan Zhang, Jay Vakil, Sam Powers, Yonatan Bisk

  8. Language Conditioned Traffic Generation

    Shuhan Tan, Boris Ivanovic, Xinshuo Weng, Marco Pavone, Philipp Kraehenbuehl

  9. 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

  10. PolarNet: 3D Point Clouds for Language-Guided Robotic Manipulation

    Shizhe Chen, Ricardo Garcia Pinel, Ivan Laptev, Cordelia Schmid

  11. Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Clutter

    Georgios Tziafas, Yucheng XU, Arushi Goel, Mohammadreza Kasaei, Zhibin Li, Hamidreza Kasaei

  12. 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

  13. Predicting Routine Object Usage for Proactive Robot Assistance

    Maithili Patel, Aswin Prakash, Sonia Chernova

  14. HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Assistive roBOTs

    Esteve Valls Mascaro, Daniel Sliwowski, Dongheui Lee

  15. FindThis: Language-Driven Object Disambiguation in Indoor Environments

    Arjun Majumdar, Fei Xia, brian ichter, Dhruv Batra, Leonidas Guibas

  16. Quantifying Assistive Robustness Via the Natural-Adversarial Frontier

    Jerry Zhi-Yang He, Daniel S. Brown, Zackory Erickson, Anca Dragan

  17. Learning Human Contribution Preferences in Collaborative Human-Robot Tasks

    Michelle D Zhao, Reid Simmons, Henny Admoni

  18. Multi-Resolution Sensing for Real-Time Control with Vision-Language Models

    Saumya Saxena, Mohit Sharma, Oliver Kroemer

  19. Gesture-Informed Robot Assistance via Foundation Models

    Li-Heng Lin, Yuchen Cui, Yilun Hao, Fei Xia, Dorsa Sadigh

  20. PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play

    Lili Chen, Shikhar Bahl, Deepak Pathak

  21. Open-World Semantic Mechanical Search with Large Vision and Language Models

    Satvik Sharma, Kaushik Shivakumar, Huang Huang, Lawrence Yunliang Chen, Ryan Hoque, brian ichter, Ken Goldberg

  22. 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

  23. OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data

    Shiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias, Kostas Bekris

  24. 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

  25. Language-Conditioned Path Planning

    Amber Xie, Youngwoon Lee, Pieter Abbeel, Stephen James

  26. 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, Andrey Kolobov, Anca Dragan, Sergey Levine

  27. 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 Boularious

  28. Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping

    Satvik Sharma, Adam Rashid, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg

  29. 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

  30. 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

  31. 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

  32. SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Task Planning

    Krishan Rana, Jad Abou-Chakra, Sourav Garg, Jesse Haviland, Ian Reid, Niko Suenderhauf

  33. VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

    Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, Li Fei-Fei

Poster 5: Manipulation 2

Nov 9, 2:45 - 3:30 pm

  1. ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting

    Kushal Kedia, Prithwish Dan, Atiksh Bhardwaj, Sanjiban Choudhury

  2. SCALE: Causal Learning and Discovery of Robot Manipulation Skills using Simulation

    Tabitha Edith Lee, Shivam Vats, Siddharth Girdhar, Oliver Kroemer

  3. Learning to Design and Use Tools for Robotic Manipulation

    Ziang Liu, Stephen Tian, Michelle Guo, Karen Liu, Jiajun Wu

  4. Geometry Matching for Multi-Embodiment Grasping

    Maria Attarian, Muhammad Adil Asif, Animesh Garg, Igor Gilitschenski, Jonathan Tompson

  5. Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning

    Xiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu, Masayoshi Tomizuka

  6. Simultaneous Learning of Contact and Continuous Dynamics

    Bibit Bianchini, Mathew Halm, Michael Posa

  7. Structural Concept Learning via Graph Attention for Multi-Level Rearrangement Planning

    Manav Kulshrestha, Ahmed H Qureshi

  8. Dexterous Functional Grasping

    Ananye Agarwal, Shagun Uppal, Kenneth Shaw, Deepak Pathak

  9. DEFT: Dexterous Fine-Tuning for Real-World Hand Policies

    Aditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam, Deepak Pathak

  10. Learning Sequential Acquisition Policies for Robot-Assisted Feeding

    Priya Sundaresan, Jiajun Wu, Dorsa Sadigh

  11. TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control

    Miquel Oller, Dmitry Berenson, Nima Fazeli

  12. Push Past Green: Learning to Look Behind Plant Foliage by Moving It

    Xiaoyu Zhang, Saurabh Gupta

  13. Vision-Based Contact Localization Without Touch or Force Sensing

    Leon Kim, Yunshuang Li, Michael Posa, Dinesh Jayaraman

  14. Neural Field Dynamics Model for Granular Object Piles Manipulation

    Shangjie Xue, Shuo Cheng, Pujith Kachana, Danfei Xu

  15. KITE: Keypoint-Conditioned Policies for Semantic Manipulation

    Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg

  16. CRADLE: Embracing Variability in Cross-Embodiment Transfer

    Jonathan Heewon Yang, Dorsa Sadigh, Chelsea Finn

  17. 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

  18. CALAMARI: Contact-Aware and Language conditioned spatial Action MApping for contact-RIch manipulation

    Youngsun Wi, Mark Van der Merwe, Pete Florence, Andy Zeng, Nima Fazeli

  19. DYNAMO-GRASP: DYNAMics-aware Optimization for GRASP Point Detection in Suction Grippers

    Boling Yang, Soofiyan Layakalli Atar, Markus Grotz, Byron Boots, Joshua Smith

  20. M2T2: Multi-Task Masked Transformer for Object-centric Pick and Place

    Wentao Yuan, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox

  21. Composable Part-Based Manipulation

    Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, Jiajun Wu

  22. MUTEX: Learning Unified Policies from Multimodal Task Specifications

    Rutav Shah, Roberto Martín-Martín, Yuke Zhu

  23. Learning Generalizable Manipulation Policies with Object-Centric 3D Representations

    Yifeng Zhu, Zhenyu Jiang, Peter Stone, Yuke Zhu

  24. REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation

    Zheyuan Hu, Aaron Rovinsky, Jianlan Luo, Vikash Kumar, Abhishek Gupta, Sergey Levine

  25. Waypoint-Based Imitation Learning for Robotic Manipulation

    Archit Sharma, Lucy Xiaoyang Shi, Tony Z. Zhao, Chelsea Finn

  26. Leveraging 3D Reconstruction for Mechanical Search on Cluttered Shelves

    Seungyeon Kim, Young Hun Kim, Yonghyeon Lee, Frank C. Park

  27. 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

  28. Continual Vision-based Reinforcement Learning with Group Symmetries

    Shiqi Liu, Mengdi Xu, Peide Huang, Xilun Zhang, Yongkang Liu, Kentaro Oguchi, Ding Zhao

  29. General Part Assembly Planing

    Yulong Li, Andy Zeng, Shuran Song

  30. Distilled Feature Fields Enable Few-Shot Manipulation

    William Shen, Ge Yang, Alan Yu, Jensen Wong, Leslie Pack Kaelbling, Phillip Isola

  31. 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

  32. RVT: Robotic View Transformer for 3D Object Manipulation

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

Poster 6: Perception, representation, adaptation

Nov 9, 4:15 - 5:00 pm

  1. 4D-Former: Multimodal 4D Panoptic Segmentation

    Ali Athar, Enxu Li, Sergio Casas, Raquel Urtasun

  2. LabelFormer: Auto-labelling Objects from LiDAR Point Clouds via Trajectory-level Refinement

    Anqi Joyce Yang, Sergio Casas, Nikita Dvornik, Sean Segal, Yuwen Xiong, Jordan Sir Kwang Hu, Carter Fang, Raquel Urtasun

  3. ADU-Depth: Attention-based Distillation with Uncertainty Modeling for Depth Estimation

    ZiZhang Wu, Zhuozheng Li, Zhigang Fan, Yunzhe Wu, Xiaoquan Wang, Rui Tang, Jian Pu

  4. DORT: Modeling Dynamic Objects in Recurrent for Multi-Camera 3D Object Detection and Tracking

    Qing LIAN, Tai Wang, Dahua Lin, Jiangmiao Pang

  5. Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference

    Jana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans

  6. Revisiting Depth-guided Methods for Monocular 3D Object Detection by Hierarchical Balanced Depth

    Yi-Rong Chen, Ching-Yu Tseng, Yi-Syuan Liou, Tsung-Han Wu, Winston H. Hsu

  7. Stealthy Terrain-Aware Multi-Agent Active Search

    Nikhil Angad Bakshi, Jeff Schneider

  8. STOW: Discrete-Frame Segmentation and Tracking of Unseen Objects for Warehouse Picking Robots

    Yi Li, Muru Zhang, Markus Grotz, Kaichun Mo, Dieter Fox

  9. SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objects

    Ning Gao, Vien Anh Ngo, Hanna Ziesche, Gerhard Neumann

  10. Marginalized Importance Sampling for Off-Environment Policy Evaluation

    Pulkit Katdare, Nan Jiang, Katherine Rose Driggs-Campbell

  11. 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

  12. Heteroscedastic Gaussian Processes and Random Features: Scalable Motion Primitives with Guarantees

    Edoardo Caldarelli, Antoine Chatalic, Adrià Colomé, Lorenzo Rosasco, Carme Torras

  13. Fleet Active Learning: A Submodular Maximization Approach

    Oguzhan Akcin, Orhan Unuvar, Onat Ure, Sandeep P. Chinchali

  14. BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities

    Binyu Zhao, Wei ZHANG, Zhaonian Zou

  15. A Bayesian approach to breaking things: efficiently predicting and repairing failure modes via sampling

    Charles Dawson, Chuchu Fan

  16. Topology-Matching Normalizing Flows for Out-of-Distribution Detection in Robot Learning

    Jianxiang Feng, Jongseok Lee, Simon Geisler, Stephan Günnemann, Rudolph Triebel

  17. Fine-Tuning Generative Models as an Inference Method for Robotic Tasks

    Orr Krupnik, Elisei Shafer, Tom Jurgenson, Aviv Tamar

  18. Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent Control

    Songyuan Zhang, Kunal Garg, Chuchu Fan

  19. Learning Efficient Abstract Planning Models that Choose What to Predict

    Nishanth Kumar, Willie McClinton, Rohan Chitnis, Tom Silver, Tomás Lozano-Pérez, Leslie Pack Kaelbling

  20. PairwiseNet: Pairwise Collision Distance Learning for High-dof Robot Systems

    Jihwan Kim, Frank C. Park

  21. Equivariant Motion Manifold Primitives

    Byeongho Lee, Yonghyeon Lee, Seungyeon Kim, MinJun Son, Frank C. Park

  22. Policy Stitching: Learning Transferable Robot Policies

    Pingcheng Jian, Easop Lee, Zachary Bell, Michael M. Zavlanos, Boyuan Chen

  23. α-MDF: An Attention-based Multimodal Differentiable Filter for Robot State Estimation

    Xiao Liu, Yifan Zhou, Shuhei Ikemoto, Heni Ben Amor

  24. Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration

    Lanke Frank Tarimo Fu, Maurice Fallon

  25. Embodied Lifelong Learning for Task and Motion Planning

    Jorge A Mendez, Leslie Pack Kaelbling, Tomás Lozano-Pérez

  26. Compositional Diffusion-Based Continuous Constraint Solvers

    Zhutian Yang, Jiayuan Mao, Yilun Du, Jiajun Wu, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling

  27. Generalization of Heterogeneous Multi-Robot Policies via Awareness and Communication of Capabilities

    Pierce Howell, Max Rudolph, Reza Joseph Torbati, Kevin Fu, Harish Ravichandar

  28. Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies

    Tianyu Li, Nadia Figueroa

  29. Online Model Adaptation with Feedforward Compensation

    ABULIKEMU ABUDUWEILI, Changliu Liu

  30. Measuring Interpretability of Neural Policies of Robots with Disentangled Representation

    Tsun-Hsuan Wang, Wei Xiao, Tim Seyde, Ramin Hasani, Daniela Rus

  31. Task-Oriented Koopman-Based Control with Contrastive Encoder

    Xubo Lyu, Hanyang Hu, Seth Siriya, Ye Pu, Mo Chen

  32. Robot Learning with Sensorimotor Pre-training

    Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik

  33. PreCo: Enhancing Generalization in Co-Design of Modular Soft Robots via Brain-Body Pre-Training

    Yuxing Wang, Shuang Wu, Tiantian Zhang, Yongzhe Chang, QIANG FU, Haobo Fu, Xueqian Wang

  34. Surrogate Assisted Generation of Human-Robot Interaction Scenarios

    Varun Bhatt, Heramb Nemlekar, Matthew Christopher Fontaine, Bryon Tjanaka, Hejia Zhang, Ya-Chuan Hsu, Stefanos Nikolaidis