CoRL

Robot Learning with Sensorimotor Pre-training

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

Comments CoRL 2023; Project page: https://robotic-pretrained-transformer.github.io

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

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

Comments In CoRL 2023. Website at https://dexterous-finetuning.github.io/

PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play

Lili Chen, Shikhar Bahl, Deepak Pathak

Comments In CoRL 2023. Website at https://play-fusion.github.io

Geometry Matching for Multi-Embodiment Grasping

Maria Attarian, Muhammad Adil Asif, Jingzhou Liu, Ruthrash Hari, Animesh Garg, Igor Gilitschenski, Jonathan Tompson

Journal ref 7th Annual Conference on Robot Learning, 2023

BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities

Binyu Zhao, Wei Zhang, Zhaonian Zou

Comments 14 pages, 8 figures. Accepted by CoRL 2023

Dexterous Functional Grasping

Ananye Agarwal, Shagun Uppal, Kenneth Shaw, Deepak Pathak

Comments In CoRL 2023. Website at https://dexfunc.github.io/

Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set Regularization

Yuan Zhang, Jianhong Wang, Joschka Boedecker

Comments Accepted at CoRL 2023

Energy-based Potential Games for Joint Motion Forecasting and Control

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

Comments Conference on Robot Learning, CoRL 2023

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

Comments Accepted to the Conference on Robot Learning (CORL) 2023

A multi-modal table tennis robot system

Andreas Ziegler, Thomas Gossard, Karl Vetter, Jonas Tebbe, Andreas Zell

Comments Accepted for RoboLetics: Workshop on Robot Learning in Athletics @CoRL 2023

ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting

Kushal Kedia, Prithwish Dan, Atiksh Bhardwaj, Sanjiban Choudhury

Comments CoRL 2023

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

Songyuan Zhang, Kunal Garg, Chuchu Fan

Comments 20 pages, 10 figures; Accepted by 7th Conference on Robot Learning (CoRL 2023)

4D-Former: Multimodal 4D Panoptic Segmentation

Ali Athar, Enxu Li, Sergio Casas, Raquel Urtasun

Comments accepted at CoRL 2023

SceneScore: Learning a Cost Function for Object Arrangement

Ivan Kapelyukh, Edward Johns

Comments Presented at CoRL 2023 LEAP Workshop. Webpage: https://sites.google.com/view/scenescore

Multimodal Learning of Soft Robot Dynamics using Differentiable Filters

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

Comments 13 pages, 8 figures, 5 tables, CoRL 2023 workshop Learning for Soft Robots

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

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

Comments Poster CoRL 2023. Dataset and code available here: https://github.com/gtziafas/OCID-VLG

Learning Reusable Manipulation Strategies

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

Comments CoRL 2023. Project page: https://concepts-ai.com/p/mechanisms/

Embodied Lifelong Learning for Task and Motion Planning

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

Comments Published at CoRL 2023

Online Learning for Obstacle Avoidance

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

Comments 8 + 21 pages, 2 + 11 figures, Accepted to CoRL 2023 [Poster]

Accelerating Reinforcement Learning of Robotic Manipulations via Feedback from Large Language Models

Kun Chu, Xufeng Zhao, Cornelius Weber, Mengdi Li, Stefan Wermter

Comments CoRL 2023 Workshop (oral)

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

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

Comments CoRL 2023, project page: https://sites.google.com/view/stow-corl23

Predicting Object Interactions with Behavior Primitives: An Application in Stowing Tasks

Haonan Chen, Yilong Niu, Kaiwen Hong, Shuijing Liu, Yixuan Wang, Yunzhu Li, Katherine Driggs-Campbell

Comments Project Page: https://haonan16.github.io/stow_page/ 16 pages, 9 figures, Accepted for an oral presentation at CoRL 2023

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

Comments CoRL 2023

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

Comments Conference on Robot Learning (CoRL) 2023

CADSim: Robust and Scalable in-the-wild 3D Reconstruction for Controllable Sensor Simulation

Jingkang Wang, Sivabalan Manivasagam, Yun Chen, Ze Yang, Ioan Andrei Bârsan, Anqi Joyce Yang, Wei-Chiu Ma, Raquel Urtasun

Comments CoRL 2022. Project page: https://waabi.ai/cadsim/

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

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

Comments CoRL 2023. Project page: https://waabi.ai/adv3d/

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

Comments 20 pages, 8 figures, 7 tables

Journal ref CoRL 2023

Learning to See Physical Properties with Active Sensing Motor Policies

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

Comments In CoRL 2023. Website: https://gmargo11.github.io/active-sensing-loco/

Learning Realistic Traffic Agents in Closed-loop

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

Comments CORL 2023

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

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

Comments CoRL 2023