CoRL

EXTRACT: Efficient Policy Learning by Extracting Transferable Robot Skills from Offline Data

Jesse Zhang, Minho Heo, Zuxin Liu, Erdem Biyik, Joseph J Lim, Yao Liu, Rasool Fakoor

Comments 25 pages, 16 figures

Journal ref CoRL 2024

ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning

Patrick Naughton, Jinda Cui, Karankumar Patel, Soshi Iba

Comments Accepted to CoRL 2024

Adaptive Language-Guided Abstraction from Contrastive Explanations

Andi Peng, Belinda Z. Li, Ilia Sucholutsky, Nishanth Kumar, Julie A. Shah, Jacob Andreas, Andreea Bobu

Comments CoRL 2024

Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching

Eugenio Chisari, Nick Heppert, Max Argus, Tim Welschehold, Thomas Brox, Abhinav Valada

Comments Presented at CoRL 2024. Project website at http://pointflowmatch.cs.uni-freiburg.de/

Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detection

Huang-Yu Chen, Jia-Fong Yeh, Jia-Wei Liao, Pin-Hsuan Peng, Winston H. Hsu

Comments Accepted to CoRL 2024

Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving

Kairui Ding, Boyuan Chen, Yuchen Su, Huan-ang Gao, Bu Jin, Chonghao Sima, Wuqiang Zhang, Xiaohui Li, Paul Barsch, Hongyang Li, Hao Zhao

Comments CoRL 2024, Project Page: https://air-discover.github.io/Hint-AD/

Promptable Closed-loop Traffic Simulation

Shuhan Tan, Boris Ivanovic, Yuxiao Chen, Boyi Li, Xinshuo Weng, Yulong Cao, Philipp Krähenbühl, Marco Pavone

Comments Accepted to CoRL 2024. Website available at https://ariostgx.github.io/ProSim

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning

Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Muhammad Zubair Irshad, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg

Comments CoRL 2024 (Oral). Project website: https://rovi-aug.github.io

Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance

RenMing Huang, Shaochong Liu, Yunqiang Pei, Peng Wang, Guoqing Wang, Yang Yang, Hengtao Shen

Comments Accepted to CoRL 2024

RoboKoop: Efficient Control Conditioned Representations from Visual Input in Robotics using Koopman Operator

Hemant Kumawat, Biswadeep Chakraborty, Saibal Mukhopadhyay

Comments Accepted to the $8^{th}$ Conference on Robot Learning (CoRL 2024)

Equivariant Reinforcement Learning under Partial Observability

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

Comments Conference on Robot Learning, 2023

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

Comments CoRL 2023 Oral. Website: https://yanjieze.com/GNFactor/

HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation

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

Comments 7th Conference on Robot Learning (CoRL 2023)

Inferring geometric constraints in human demonstrations

Guru Subramani, Michael Zinn, Michael Gleicher

Comments 2nd Conference on Robot Learning (CoRL 2018). Accepted. 14 pages, 5 figures

Journal ref Proceedings of The 2nd Conference on Robot Learning, PMLR 87:223-236, 2018

Emergence of In-Context Reinforcement Learning from Noise Distillation

Ilya Zisman, Vladislav Kurenkov, Alexander Nikulin, Viacheslav Sinii, Sergey Kolesnikov

Comments Proceedings of the 41-st International Conference on Machine Learning (ICML 2024); code: https://github.com/corl-team/ad-eps

InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment

Yuxing Long, Wenzhe Cai, Hongcheng Wang, Guanqi Zhan, Hao Dong

Comments Submitted to CoRL 2024

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

Xiaoyu Zhang, Saurabh Gupta

Comments Accepted by Conference on Robot Learning (CoRL) 2023. for project website with video, see https://sites.google.com/view/pushpastgreen/

Composable Part-Based Manipulation

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

Comments Presented at CoRL 2023. For videos and additional results, see our website: https://cpmcorl2023.github.io/

TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation

Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held

Comments Conference on Robot Learning (CoRL), 2022. Supplementary material is available at https://sites.google.com/view/tax-pose/home

HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Collaborative roBOTs

Esteve Valls Mascaro, Daniel Sliwowski, Dongheui Lee

Comments Proceedings in Conference on Robot Learning 2023. Webpage: https://evm7.github.io/HOI4ABOT_page/

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

Comments 16 pages, 8 figures

Journal ref Proceedings of The 7th Conference on Robot Learning, PMLR 229:2288-2303, 2023

BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark 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, Wensi Ai, Benjamin Martinez, Hang Yin, Michael Lingelbach, Minjune Hwang, Ayano Hiranaka, Sujay Garlanka, Arman Aydin, Sharon Lee, Jiankai Sun, Mona Anvari, Manasi Sharma, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb R Matthews, Ivan Villa-Renteria, Jerry Huayang Tang, Claire Tang, Fei Xia, Yunzhu Li, Silvio Savarese, Hyowon Gweon, C. Karen Liu, Jiajun Wu, Li Fei-Fei

Comments A preliminary version was published at 6th Conference on Robot Learning (CoRL 2022)

Sample-Efficient Preference-based Reinforcement Learning with Dynamics Aware Rewards

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

Comments CoRL 2023. arXiv admin note: substantial text overlap with arXiv:2211.06527

MResT: Multi-Resolution Sensing for Real-Time Control with Vision-Language Models

Saumya Saxena, Mohit Sharma, Oliver Kroemer

Comments CoRL'23, Project website: http://tinyurl.com/multi-res-realtime-control

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

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

Comments Presented at the 7th Conference on Robot Learning (CoRL 2023), Atlanta, USA

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

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

Comments Conference paper submitted to CoRL 23

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

Utkarsh A. Mishra, Shangjie Xue, Yongxin Chen, Danfei Xu

Comments Accepted at CoRL 2023: https://openreview.net/forum?id=HtJE9ly5dT

MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot Learning

Rafael Rafailov, Kyle Hatch, Victor Kolev, John D. Martin, Mariano Phielipp, Chelsea Finn

Comments This is an updated version of a manuscript that originally appeared at CoRL 2023. The project website is here https://sites.google.com/view/mo2o

Journal ref Proceedings of The 7th Conference on Robot Learning, PMLR 229:3654-3671, 2023

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

Jingyi Yu, Zizhao Zhang, Shengfu Xia, Jizhang Sang

Journal ref Conference on Robot Learning. PMLR, 2023: 2429-2443

Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation

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

Comments Project website at https://f3rm.csail.mit.edu, Accepted at the 7th Annual Conference on Robot Learning (CoRL), 2023 in Atlanta, US