CoRL

TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction

Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, Li Fei-Fei

Comments 8th Conference on Robot Learning (CoRL 2024), Munich, Germany. Project website: https://transic-robot.github.io/

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

Comments Accepted by CoRL 2024

Towards Open-World Grasping with Large Vision-Language Models

Georgios Tziafas, Hamidreza Kasaei

Comments 8th Conference on Robot Learning (CoRL 2024), Munich, Germany

Reinforcement Learning with Foundation Priors: Let the 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

Comments CoRL 2024 (Oral)

Incremental Learning of Humanoid Robot Behavior from Natural Interaction and Large Language Models

Leonard Bärmann, Rainer Kartmann, Fabian Peller-Konrad, Jan Niehues, Alex Waibel, Tamim Asfour

Comments This version (v3) adds further quantitative evaluation and many improvements. v2 was presented at the Workshop on Language and Robot Learning (LangRob) at the Conference on Robot Learning (CoRL) 2023. Supplementary video available at https://youtu.be/y5O2mRGtsLM

Journal ref Frontiers in Robotics and AI, Volume 11 - 2024

FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality

Keyu Chen, Yuheng Lei, Hao Cheng, Haoran Wu, Wenchao Sun, Sifa Zheng

Comments Accepted by CoRL 2024

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

Comments CoRL 2024

Generative Image as Action Models

Mohit Shridhar, Yat Long Lo, Stephen James

Comments CoRL 2024. Website, code, checkpoints: https://genima-robot.github.io/

Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction

Yili Liu, Linzhan Mou, Xuan Yu, Chenrui Han, Sitong Mao, Rong Xiong, Yue Wang

Comments Accepted to CoRL 2024

Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion

Alexander L. Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner

Comments 14 pages, 8 figures, 2 tables, Accepted to CoRL 2024

Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors

Ziwei Liao, Binbin Xu, Steven L. Waslander

Comments Accepted by CoRL 2024

Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks

Jialiang Zhao, Yuxiang Ma, Lirui Wang, Edward H. Adelson

Comments Accepted to 2024 Conference on Robot Learning (CoRL)

ClutterGen: A Cluttered Scene Generator for Robot Learning

Yinsen Jia, Boyuan Chen

Comments Accepted by 8th Annual Conference on Robot Learning

VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation

I-Chun Arthur Liu, Sicheng He, Daniel Seita, Gaurav Sukhatme

Comments Accepted to the Conference on Robot Learning (CoRL) 2024

SELFI: Autonomous Self-Improvement with Reinforcement Learning for Social Navigation

Noriaki Hirose, Dhruv Shah, Kyle Stachowicz, Ajay Sridhar, Sergey Levine

Comments 20pages, 12 figures, 2 tables, Conference on Robot Learning 2024

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

Comments CoRL 2024. Project website: https://gensim2.github.io/

LeLaN: Learning A Language-Conditioned Navigation Policy from In-the-Wild Videos

Noriaki Hirose, Catherine Glossop, Ajay Sridhar, Dhruv Shah, Oier Mees, Sergey Levine

Comments 23 pages, 9 figures, 5 tables, Conference on Robot Learning 2024

Flow as the Cross-Domain Manipulation Interface

Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song

Comments Conference on Robot Learning 2024

Bi-Level Motion Imitation for Humanoid Robots

Wenshuai Zhao, Yi Zhao, Joni Pajarinen, Michael Muehlebach

Comments CoRL 2024

Detect Everything with Few Examples

Xinyu Zhang, Yuhan Liu, Yuting Wang, Abdeslam Boularias

Comments CoRL 2024

Continuously Improving Mobile Manipulation with Autonomous Real-World RL

Russell Mendonca, Emmanuel Panov, Bernadette Bucher, Jiuguang Wang, Deepak Pathak

Comments CoRL 2024. Website at https://continual-mobile-manip.github.io/

STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent

Yewon Lee, Andrew Z. Li, Philip Huang, Eric Heiden, Krishna Murthy Jatavallabhula, Fabian Damken, Kevin Smith, Derek Nowrouzezahrai, Fabio Ramos, Florian Shkurti

Comments 14 pages, 9 figures, Learning Effective Abstractions for Planning (LEAP) Workshop at CoRL 2023

TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation

Junli Ren, Yikai Liu, Yingru Dai, Junfeng Long, Guijin Wang

Comments Published on CoRL 2024

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

Comments CoRL 2024, Project page: https://robot-see-robot-do.github.io

Humanoid Parkour Learning

Ziwen Zhuang, Shenzhe Yao, Hang Zhao

Comments Published on CoRL 2024

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation

Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao

Comments CoRL 2024. Project website: http://sgrv2-robot.github.io

Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph

Utkarsh A. Mishra, Yongxin Chen, Danfei Xu

Comments 28 pages, 17 figures, 2024 Conference on Robot Learning

Handling Long-Term Safety and Uncertainty in Safe Reinforcement Learning

Jonas Günster, Puze Liu, Jan Peters, Davide Tateo

Comments Preprint version of a paper accepted to the Conference on Robot Learning

SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience

Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard

Comments CoRL 2024. Project website: https://gepetto.github.io/SoloParkour/

A Dual Approach to Imitation Learning from Observations with Offline Datasets

Harshit Sikchi, Caleb Chuck, Amy Zhang, Scott Niekum

Comments 8th Conference on Robot Learning (CoRL 2024), Munich, Germany. 23 pages