CoRL

Structure from Silence: Learning Scene Structure from Ambient Sound

Ziyang Chen, Xixi Hu, Andrew Owens

Comments Accepted to CoRL 2021 (Oral Presentation)

Dealing with the Unknown: Pessimistic Offline Reinforcement Learning

Jinning Li, Chen Tang, Masayoshi Tomizuka, Wei Zhan

Comments Published in 5th Annual Conference on Robot Learning (CoRL 2021)

A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation

Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

Comments Presented at CORL 2021

V-MAO: Generative Modeling for Multi-Arm Manipulation of Articulated Objects

Xingyu Liu, Kris M. Kitani

Comments CoRL 2021

ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations

Ruohan Gao, Yen-Yu Chang, Shivani Mall, Li Fei-Fei, Jiajun Wu

Comments In CoRL 2021. Chang and Mall contributed equally to this work. Project page: https://ai.stanford.edu/~rhgao/objectfolder/

LILA: Language-Informed Latent Actions

Siddharth Karamcheti, Megha Srivastava, Percy Liang, Dorsa Sadigh

Comments Accepted at the 5th Conference on Robot Learning (CoRL). Joint first authorship. 21 Pages, 11 Figures

My House, My Rules: Learning Tidying Preferences with Graph Neural Networks

Ivan Kapelyukh, Edward Johns

Comments Published at CoRL 2021. Webpage and video: https://www.robot-learning.uk/my-house-my-rules

Reinforcement Learning with Videos: Combining Offline Observations with Interaction

Karl Schmeckpeper, Oleh Rybkin, Kostas Daniilidis, Sergey Levine, Chelsea Finn

Journal ref Conference on Robot Learning (2020)

A System for General In-Hand Object Re-Orientation

Tao Chen, Jie Xu, Pulkit Agrawal

Comments Accepted as an oral paper by CORL (Conference on Robot Learning); Keywords: dexterous manipulation, in-hand manipulation, object reorientation

Learning Eye-in-Hand Camera Calibration from a Single Image

Eugene Valassakis, Kamil Dreczkowski, Edward Johns

Comments Published at the 2021 Conference on Robot Learning (CoRL). Webpage and video: https://www.robot-learning.uk/learning-eye-in-hand-calibration

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese

Comments Accepted at Conference on Robot Learning (CoRL) 2021. Project website: http://svl.stanford.edu/igibson/

Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes

Alex X. Lee, Coline Devin, Yuxiang Zhou, Thomas Lampe, Konstantinos Bousmalis, Jost Tobias Springenberg, Arunkumar Byravan, Abbas Abdolmaleki, Nimrod Gileadi, David Khosid, Claudio Fantacci, Jose Enrique Chen, Akhil Raju, Rae Jeong, Michael Neunert, Antoine Laurens, Stefano Saliceti, Federico Casarini, Martin Riedmiller, Raia Hadsell, Francesco Nori

Comments CoRL 2021. Video: https://dpmd.ai/robotics-stacking-YT . Blog: https://dpmd.ai/robotics-stacking . Code: https://github.com/deepmind/rgb_stacking

Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots

Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak

Comments CoRL 2021. Website at https://energy-locomotion.github.io

Learning Inertial Odometry for Dynamic Legged Robot State Estimation

Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice Fallon

Comments To be presented at 5th Annual Conference on Robot Learning (CoRL), 2021

Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation

Suraj Nair, Eric Mitchell, Kevin Chen, Brian Ichter, Silvio Savarese, Chelsea Finn

Comments Conference on Robot Learning (CoRL) 2021. 24 Pages, 18 Figures

Offline-to-Online Reinforcement Learning via Balanced Replay and Pessimistic Q-Ensemble

Seunghyun Lee, Younggyo Seo, Kimin Lee, Pieter Abbeel, Jinwoo Shin

Comments CoRL 2021. First two authors contributed equally

Equivariant $Q$ Learning in Spatial Action Spaces

Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt

Comments Accepted at Conference on Robot Learning (CoRL) 2021

Learning to Jump from Pixels

Gabriel B. Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, Pulkit Agrawal

Comments Accepted for publication at Conference on Robot Learning (CoRL) 2021

Learning Feasibility to Imitate Demonstrators with Different Dynamics

Zhangjie Cao, Yilun Hao, Mengxi Li, Dorsa Sadigh

Journal ref CoRL 2021

Orientation Probabilistic Movement Primitives on Riemannian Manifolds

Leonel Rozo, Vedant Dave

Comments To appear at CoRL 2021

Anomaly Detection in Multi-Agent Trajectories for Automated Driving

Julian Wiederer, Arij Bouazizi, Marco Troina, Ulrich Kressel, Vasileios Belagiannis

Comments 15 pages incl. supplementary material, 8 figures, 4 tables (accepted by CoRL 2021)

Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects

Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg

Comments 11 pages, 9 figures, to be published in the Conference on Robot Learning (CoRL) 2021

O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning

Kaichun Mo, Yuzhe Qin, Fanbo Xiang, Hao Su, Leonidas Guibas

Comments to appear in CoRL 2021

Understanding the World Through Action

Sergey Levine

Comments Published in Conference on Robot Learning (CoRL) 2021, Blue Sky Track

Distributional Depth-Based Estimation of Object Articulation Models

Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov, Scott Niekum

Comments In the proceedings of the 5th Annual Conference on Robot Learning (CoRL), 2021. Project webpage: https://pearl-utexas.github.io/DUST-net/ . 18 pages, 10 figures, 4 tables

The Boombox: Visual Reconstruction from Acoustic Vibrations

Boyuan Chen, Mia Chiquier, Hod Lipson, Carl Vondrick

Comments CoRL 2021. Website: boombox.cs.columbia.edu

Learning to Predict Vehicle Trajectories with Model-based Planning

Haoran Song, Di Luan, Wenchao Ding, Michael Yu Wang, Qifeng Chen

Comments Accepted by The Conference on Robot Learning (CoRL) 2021. Project page at http://haoran-song.github.io/prime

Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability

Hai Nguyen, Brett Daley, Xinchao Song, Christopher Amato, Robert Platt

Comments Accepted at Conference on Robot Learning (CoRL) 2020

Learning Multimodal Rewards from Rankings

Vivek Myers, Erdem Bıyık, Nima Anari, Dorsa Sadigh

Comments 17 pages, 12 figures, 2 tables. Published at Conference on Robot Learning (CoRL) 2021

FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding

Huy Ha, Shuran Song

Comments 11 pages, 6 figures. Code, data, and simulation environment publicly available at https://flingbot.cs.columbia.edu

Journal ref Conference on Robot Learning (CoRL 2021)