CoRL

Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance

Mitsuhiko Nakamoto, Oier Mees, Aviral Kumar, Sergey Levine

Comments Conference on Robot Learning (CoRL) 2024. Project Page: https://nakamotoo.github.io/V-GPS

Autonomous Improvement of Instruction Following Skills via Foundation Models

Zhiyuan Zhou, Pranav Atreya, Abraham Lee, Homer Walke, Oier Mees, Sergey Levine

Comments 2024 Conference on Robot Learning (CoRL)

Journal ref Conference on Robot Learning 2024

MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation

Kelin Yu, Yunhai Han, Qixian Wang, Vaibhav Saxena, Danfei Xu, Ye Zhao

Comments Accepted by CoRL 2024, Best Paper Award at NeurIPS 2023 Touch Processing Workshop

HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers

Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen

Comments Accepted to CORL 2024

Offline-to-online Reinforcement Learning for Image-based Grasping with Scarce Demonstrations

Bryan Chan, Anson Leung, James Bergstra

Comments In CoRL Workshop on Mastering Robot Manipulation in a World of Abundant Data 2024

Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications

Joe Eappen, Zikang Xiong, Dipam Patel, Aniket Bera, Suresh Jagannathan

Comments Accepted to CoRL 2024. arXiv admin note: text overlap with arXiv:2401.14554 by other authors

Future Success Prediction in Open-Vocabulary Object Manipulation Tasks Based on End-Effector Trajectories

Motonari Kambara, Komei Sugiura

Comments Accepted for presentation at LangRob @ CoRL 2024

Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation

Vivek Myers, Bill Chunyuan Zheng, Oier Mees, Sergey Levine, Kuan Fang

Comments 27 pages, 14 figures

Journal ref Conference on Robot Learning, 2024

Goal Representations for Instruction Following: A Semi-Supervised Language Interface to Control

Vivek Myers, Andre He, Kuan Fang, Homer Walke, Philippe Hansen-Estruch, Ching-An Cheng, Mihai Jalobeanu, Andrey Kolobov, Anca Dragan, Sergey Levine

Comments 15 pages, 5 figures

Journal ref Conference on Robot Learning (CoRL), 2023

3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing

Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, Yunzhu Li

Comments Accepted at Conference on Robot Learning (CoRL) 2024

Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision

Alberta Longhini, Marcel Büsching, Bardienus P. Duisterhof, Jens Lundell, Jeffrey Ichnowski, Mårten Björkman, Danica Kragic

Comments Accepted at the 8th Conference on Robot Learning (CoRL 2024). Code and videos available at: kth-rpl.github.io/cloth-splatting

Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems

Yunyue Wei, Zeji Yi, Hongda Li, Saraswati Soedarmadji, Yanan Sui

Comments Accepted by CoRL 2024

FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation

Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held

Comments Accepted to CoRL 2024

GeoMatch++: Morphology Conditioned Geometry Matching for Multi-Embodiment Grasping

Yunze Wei, Maria Attarian, Igor Gilitschenski

Comments 8 pages, 3 figures, CoRL Workshop on Learning Robot Fine and Dexterous Manipulation: Perception and Control

Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions

Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar

Comments Conference on Robot Learning (CoRL 2024)

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg

Comments Conference on Robot Learning (CoRL), 2024. Project page: https://tidybot2.github.io

Progressive Multi-Modal Fusion for Robust 3D Object Detection

Rohit Mohan, Daniele Cattaneo, Florian Drews, Abhinav Valada

Journal ref 8th Annual Conference on Robot Learning, 2024

TLDR: Unsupervised Goal-Conditioned RL via Temporal Distance-Aware Representations

Junik Bae, Kwanyoung Park, Youngwoon Lee

Comments CoRL 2024

Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations

Yanwei Wang, Nadia Figueroa, Shen Li, Ankit Shah, Julie Shah

Comments CoRL 2022 Oral Talk

Journal ref Proceedings of The 6th Conference on Robot Learning (2022) PMLR 205:94-105

STEVE-Audio: Expanding the Goal Conditioning Modalities of Embodied Agents in Minecraft

Nicholas Lenzen, Amogh Raut, Andrew Melnik

Comments Accepted at CoRL 2024: Workshop on Lifelong Learning for Home Robots

Rate-Informed Discovery via Bayesian Adaptive Multifidelity Sampling

Aman Sinha, Payam Nikdel, Supratik Paul, Shimon Whiteson

Comments Published at CoRL 2024: https://openreview.net/forum?id=bftFwjSJxk

Bimanual Dexterity for Complex Tasks

Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, Deepak Pathak

Comments In CoRL 2024. Website at https://bidex-teleop.github.io/

Q-SLAM: Quadric Representations for Monocular SLAM

Chensheng Peng, Chenfeng Xu, Yue Wang, Mingyu Ding, Heng Yang, Masayoshi Tomizuka, Kurt Keutzer, Marco Pavone, Wei Zhan

Comments Conference on Robot Learning (CoRL 2024)

UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments

Chunru Lin, Jugang Fan, Yian Wang, Zeyuan Yang, Zhehuan Chen, Lixing Fang, Tsun-Hsuan Wang, Zhou Xian, Chuang Gan

Comments CoRL 2024. The first two authors contributed equally to this paper

RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands

Yi Zhao, Le Chen, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler

Comments Accepted by Conference on Robot Learning (CoRL) 2024. Project Website: https://rp1m.github.io/

Iterative Batch Reinforcement Learning via Safe Diversified Model-based Policy Search

Amna Najib, Stefan Depeweg, Phillip Swazinna

Comments Workshop on Safe and Robust Robot Learning for Operation in the Real World (SAFE-ROL) at CoRL 2024

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight

Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza

Comments 8th Annual Conference on Robot Learning (CoRL)

Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures

Kensuke Nakamura, Ran Tian, Andrea Bajcsy

Comments 6 figures, 3 tables, Accepted to CoRL 2024

OrbitGrasp: $SE(3)$-Equivariant Grasp Learning

Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt

Comments Conference on Robot Learning 2024

TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators

Duc Huy Nguyen, Tim Schneider, Guillaume Duret, Alap Kshirsagar, Boris Belousov, Jan Peters

Comments 11 pages, accepted at "CoRL Workshop on Learning Robot Fine and Dexterous Manipulation: Perception and Control"