CoRL - arXivDaily 期刊&会议

2306.14079 2023-10-18 cs.LG cs.AI cs.RO cs.SY eess.SY

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

Comments Glen Chou, Hongkai Dai, and Lujie Yang contributed equally to this work. Accepted to CoRL 2023

2305.16309 2023-10-18 cs.RO cs.CV cs.LG

Imitating Task and Motion Planning with Visuomotor Transformers

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

Comments Conference on Robot Learning (CoRL) 2023. 8 pages, 5 figures, 2 tables; 11 pages appendix (10 additional figures)

2301.09749 2023-10-18 cs.RO

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 Driggs-Campbell

Comments Published at Conference on Robot Learning (CoRL), 2023

2310.10509 2023-10-17 cs.RO

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

Comments Conference on Robot Learning (CoRL) 2023

2309.00987 2023-10-17 cs.RO cs.AI cs.LG

Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation

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

Comments 7th Conference on Robot Learning (CoRL 2023)

2306.13412 2023-10-17 cs.LG

CLUE: Calibrated Latent Guidance for Offline Reinforcement Learning

Jinxin Liu, Lipeng Zu, Li He, Donglin Wang

Comments CoRL 2023

2306.06335 2023-10-17 cs.LG cs.RO cs.SY eess.SY

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

Comments Final submission to CoRL 2023

2210.08577 2023-10-17 cs.RO

Stochastic Occupancy Grid Map Prediction in Dynamic Scenes

Zhanteng Xie, Philip Dames

Comments Accepted by 7th Annual Conference on Robot Learning (CoRL), 2023

2310.09289 2023-10-16 cs.RO cs.CV

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

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

Comments Accepted to CoRL 2023

2306.10474 2023-10-16 cs.RO cs.AI cs.CV cs.LG

A Universal Semantic-Geometric Representation for Robotic Manipulation

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

Comments CoRL 2023. Project website: https://semantic-geometric-representation.github.io

2302.12422 2023-10-16 cs.RO

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

Comments 7th Conference on Robot Learning (CoRL 2023 oral presentation)

2301.00521 2023-10-16 cs.RO cs.LG

A Policy Optimization Method Towards Optimal-time Stability

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

Comments 27 pages, 11 figues. 7th Annual Conference on Robot Learning. 2023

2309.04370 2023-10-13 cs.RO cs.LG

Seeing-Eye Quadruped Navigation with Force Responsive Locomotion Control

David DeFazio, Eisuke Hirota, Shiqi Zhang

Comments Accepted to CoRL 2023

2104.05859 2023-10-12 cs.RO cs.AI cs.LG

Rapid Exploration for Open-World Navigation with Latent Goal Models

Dhruv Shah, Benjamin Eysenbach, Gregory Kahn, Nicholas Rhinehart, Sergey Levine

Comments Presented at 5th Annual Conference on Robot Learning (CoRL 2021), London, UK as an Oral Talk. Project page and dataset release at https://sites.google.com/view/recon-robot

2302.04903 2023-10-03 cs.RO cs.LG cs.SY eess.SY

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

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

Comments Conference on Robot Learning (CoRL), 2023

2309.09979 2023-09-29 cs.RO cs.AI cs.CV cs.LG

General In-Hand Object Rotation with Vision and Touch

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

Comments CoRL 2023; Website: https://haozhi.io/rotateit/

2307.06135 2023-09-29 cs.RO cs.AI

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

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

Comments Accepted for oral presentation at the Conference on Robot Learning (CoRL), 2023. Project page can be found here: https://sayplan.github.io

2309.15596 2023-09-28 cs.RO cs.CV

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

Shizhe Chen, Ricardo Garcia, Cordelia Schmid, Ivan Laptev

Comments Accepted to CoRL 2023. Project website: https://www.di.ens.fr/willow/research/polarnet/

2309.14744 2023-09-27 cs.CV cs.RO

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

Zizhang Wu, Zhuozheng Li, Zhi-Gang Fan, Yunzhe Wu, Xiaoquan Wang, Rui Tang, Jian Pu

Comments accepted by CoRL 2023

2309.14320 2023-09-26 cs.RO

MUTEX: Learning Unified Policies from Multimodal Task Specifications

Rutav Shah, Roberto Martín-Martín, Yuke Zhu

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

2309.13753 2023-09-26 cs.RO cs.SY eess.SY

Policy Stitching: Learning Transferable Robot Policies

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

Comments CoRL 2023

2309.12295 2023-09-26 cs.CV cs.AI cs.LG cs.RO

Learning to Drive Anywhere

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

Comments Conference on Robot Learning (CoRL) 2023

2108.06038 2023-09-21 cs.RO cs.AI

Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration

Chen Wang, Claudia Pérez-D'Arpino, Danfei Xu, Li Fei-Fei, C. Karen Liu, Silvio Savarese

Comments CoRL 2021

2309.08052 2023-09-18 cs.RO cs.SY eess.SY

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

Charles Dawson, Chuchu Fan

Comments To appear at the 2023 Conference on Robot Learning (CoRL)

2309.05665 2023-09-13 cs.RO cs.AI cs.CV cs.LG

Robot Parkour Learning

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

Comments CoRL 2023 (Oral). Project website at https://robot-parkour.github.io

2309.05655 2023-09-12 cs.RO cs.LG

Dynamic Handover: Throw and Catch with Bimanual Hands

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

Comments Accepted at CoRL 2023. https://binghao-huang.github.io/dynamic_handover/

2309.03322 2023-09-08 cs.LG cs.AI cs.RO

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

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

Comments Accepted at CORL 2023. The first two authors contributed equally

2309.02721 2023-09-08 cs.RO cs.HC

Gesture-Informed Robot Assistance via Foundation Models

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

Comments CoRL 2023

2309.02547 2023-09-07 cs.RO cs.AI cs.LG

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

Manav Kulshrestha, Ahmed H. Qureshi

Comments Accepted to Conference on Robot Learning (CoRL) 2023

2309.01884 2023-09-06 cs.RO cs.LG cs.SY eess.SY

Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies

Tianyu Li, Nadia Figueroa

Comments Accepted to CoRL 2023