CoRL

Object and Contact Point Tracking in Demonstrations Using 3D Gaussian Splatting

Michael Büttner, Jonathan Francis, Helge Rhodin, Andrew Melnik

Comments CoRL 2024, Workshop on Lifelong Learning for Home Robots, Munich, Germany

Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor

Anish Bhattacharya, Marco Cannici, Nishanth Rao, Yuezhan Tao, Vijay Kumar, Nikolai Matni, Davide Scaramuzza

Comments 18 pages with supplementary

Journal ref Conference on Robot Learning (CoRL), Munich, Germany, 2024

Multi-Modal 3D Scene Graph Updater for Shared and Dynamic Environments

Emilio Olivastri, Jonathan Francis, Alberto Pretto, Niko Sünderhauf, Krishan Rana

Comments This paper has been accepted at the Workshop on Lifelong Learning for Home Robots at the 8th Conference on Robot Learning (CoRL 2024), Munich, Germany

Multi-Transmotion: Pre-trained Model for Human Motion Prediction

Yang Gao, Po-Chien Luan, Alexandre Alahi

Comments CoRL 2024

Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration

Jennifer Grannen, Siddharth Karamcheti, Suvir Mirchandani, Percy Liang, Dorsa Sadigh

Comments Published at CoRL 2024. 24 pages, 8 figures. Project Page: https://vocal-sandbox.github.io

OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models

Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor

Comments 8 pages, 4 figures. Accepted to Conference on Robot Learning (CoRL) 2024

Learning Lyapunov-Stable Polynomial Dynamical Systems through Imitation

Amin Abyaneh, Hsiu-Chin Lin

Comments In 7th Annual Conference on Robot Learning 2023 Aug 30

DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation

Joshua Bagajo, Clemens Schwarke, Victor Klemm, Ignat Georgiev, Jean-Pierre Sleiman, Jesus Tordesillas, Animesh Garg, Marco Hutter

Comments Presented at the CoRL 2024 Workshop 'Differentiable Optimization Everywhere'

RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, Stelian Coros

Comments This paper has been accepted to 8th Conference on Robot Learning (CoRL 2024). Project website: https://sites.google.com/view/robot-keyframing

Traffic and Safety Rule Compliance of Humans in Diverse Driving Situations

Michael Kurenkov, Sajad Marvi, Julian Schmidt, Christoph B. Rist, Alessandro Canevaro, Hang Yu, Julian Jordan, Georg Schildbach, Abhinav Valada

Comments 8 pages, CoRL 2024 Workshop SAFE-ROL

So You Think You Can Scale Up Autonomous Robot Data Collection?

Suvir Mirchandani, Suneel Belkhale, Joey Hejna, Evelyn Choi, Md Sazzad Islam, Dorsa Sadigh

Comments 21 pages, 25 figures. Conference on Robot Learning (CoRL) 2024

Eurekaverse: Environment Curriculum Generation via Large Language Models

William Liang, Sam Wang, Hung-Ju Wang, Osbert Bastani, Dinesh Jayaraman, Yecheng Jason Ma

Comments Conference on Robot Learning (CoRL), 2024. Project website and code: https://eureka-research.github.io/eurekaverse

The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control

Oleg Kaidanov, Firas Al-Hafez, Yusuf Suvari, Boris Belousov, Jan Peters

Comments Conference on Robot Learning, Workshop on Whole-Body Control and Bimanual Manipulation

Task-Oriented Hierarchical Object Decomposition for Visuomotor Control

Jianing Qian, Yunshuang Li, Bernadette Bucher, Dinesh Jayaraman

Journal ref CoRL 2024

Context-Aware Replanning with Pre-explored Semantic Map for Object Navigation

Po-Chen Ko, Hung-Ting Su, Ching-Yuan Chen, Jia-Fong Yeh, Min Sun, Winston H. Hsu

Comments CoRL 2024 camera ready. The first three authors contributed equally, and their order of authorship is interchangeable. Project page: https://care-maps.github.io/

ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data

Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song

Comments Conference on Robot Learning (CoRL) 2024; Project website: https://maniwav.github.io/

Visual Whole-Body Control for Legged Loco-Manipulation

Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ri-Zhao Qiu, Ruihan Yang, Xiaolong Wang

Comments CoRL 2024 Oral. Project page: https://wholebody-b1.github.io

Learning Performance-Oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation

Lakshmideepakreddy Manda, Shaoru Chen, Mahyar Fazlyab

Comments 8th Conference on Robot Learning (CoRL 2024), Munich, Germany

Sparsh: Self-supervised touch representations for vision-based tactile sensing

Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam

Comments Conference on Robot Learning (CoRL), 2024

Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress

Christopher Agia, Rohan Sinha, Jingyun Yang, Zi-ang Cao, Rika Antonova, Marco Pavone, Jeannette Bohg

Comments Project page: https://sites.google.com/stanford.edu/sentinel. 35 pages, 9 figures. Accepted to the Conference on Robot Learning (CoRL) 2024

Estimating Neural Network Robustness via Lipschitz Constant and Architecture Sensitivity

Abulikemu Abuduweili, Changliu Liu

Comments SAFE-ROL at CoRL 2024

Keypoint Abstraction using Large Models for Object-Relative Imitation Learning

Xiaolin Fang, Bo-Ruei Huang, Jiayuan Mao, Jasmine Shone, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling

Comments CoRL LangRob Workshop, 2024

Multi-Task Interactive Robot Fleet Learning with Visual World Models

Huihan Liu, Yu Zhang, Vaarij Betala, Evan Zhang, James Liu, Crystal Ding, Yuke Zhu

Comments In Proceedings of CoRL 2024

DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning

Zhen Zhang, Xiangyu Chu, Yunxi Tang, K. W. Samuel Au

Comments 5 pages, 6 figures, 2024 CoRL Workshop on Learning Robot Fine and Dexterous Manipulation: Perception and Control

Non-rigid Relative Placement through 3D Dense Diffusion

Eric Cai, Octavian Donca, Ben Eisner, David Held

Comments Conference on Robot Learning (CoRL), 2024

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

Jingyun Yang, Zi-ang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg

Comments CoRL 2024. The first two authors contributed equally. Project page: https://equi-bot.github.io

Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models

Jacob Levy, Tyler Westenbroek, David Fridovich-Keil

Comments v2: corrected typos in eqs (1) and (3); add CoRL footnote

MILES: Making Imitation Learning Easy with Self-Supervision

Georgios Papagiannis, Edward Johns

Comments Published at the Conference on Robot Learning (CoRL) 2024

APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs

Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega, Xiangwan Sun, Neha Sunkara, Maximus Adrian Pace, Jeannette Bohg, Sanjiban Choudhury

Comments Conference on Robot Learning (CoRL) 2024

Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning

Yixiao Wang, Yifei Zhang, Mingxiao Huo, Ran Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka

Comments Published at CoRL 2024