CoRL - arXivDaily 期刊&会议

2406.13636 2024-10-28 cs.RO cs.LG

Contrast Sets for Evaluating Language-Guided Robot Policies

Abrar Anwar, Rohan Gupta, Jesse Thomason

Comments Accepted to CoRL 2024

2410.18932 2024-10-25 cs.RO cs.AI cs.CV

ANAVI: Audio Noise Awareness using Visuals of Indoor environments for NAVIgation

Vidhi Jain, Rishi Veerapaneni, Yonatan Bisk

Comments 8th Conference on Robot Learning (CoRL) 2024

2410.18907 2024-10-25 cs.RO cs.AI cs.CV cs.LG

SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment

Caelan Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox

Journal ref 2024 Conference on Robot Learning (CoRL)

2410.18800 2024-10-25 cs.LG cs.RO

PointPatchRL -- Masked Reconstruction Improves Reinforcement Learning on Point Clouds

Balázs Gyenes, Nikolai Franke, Philipp Becker, Gerhard Neumann

Comments 18 pages, 15 figures, accepted for publication at the 8th Conference on Robot Learning (CoRL 2024)

2407.18902 2024-10-25 cs.RO cs.AI cs.LG

Lessons from Learning to Spin "Pens"

Jun Wang, Ying Yuan, Haichuan Che, Haozhi Qi, Yi Ma, Jitendra Malik, Xiaolong Wang

Comments CoRL 2024. Website: https://penspin.github.io/

2410.18065 2024-10-24 cs.RO cs.AI cs.CV cs.LG

SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation

Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Garrett, Ajay Mandlekar

Comments Conference on Robot Learning (CoRL) 2024

2410.17488 2024-10-24 cs.RO cs.CV cs.LG

GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy

Yixuan Wang, Guang Yin, Binghao Huang, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li

Comments Accepted to Conference on Robot Learning (CoRL 2024). Project Page: https://robopil.github.io/GenDP/

2403.05489 2024-10-24 cs.CV cs.RO

JointMotion: Joint Self-Supervision for Joint Motion Prediction

Royden Wagner, Omer Sahin Tas, Marvin Klemp, Carlos Fernandez

Comments CoRL'24 camera-ready

2410.16281 2024-10-23 cs.RO cs.LG cs.SY eess.SY math.OC

Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation

Hanjiang Hu, Yujie Yang, Tianhao Wei, Changliu Liu

Comments Accepted to CoRL 2024, 18 pages, 6 figures, 4 tables

2410.07408 2024-10-22 cs.RO

Automated Creation of Digital Cousins for Robust Policy Learning

Tianyuan Dai, Josiah Wong, Yunfan Jiang, Chen Wang, Cem Gokmen, Ruohan Zhang, Jiajun Wu, Li Fei-Fei

Comments CoRL 2024

2407.03245 2024-10-22 cs.RO cs.AI cs.SY eess.SY

TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach

Weikun Peng, Jun Lv, Yuwei Zeng, Haonan Chen, Siheng Zhao, Jichen Sun, Cewu Lu, Lin Shao

Comments Accepted by CoRL 2024 as Oral presentation, camera-ready version

2408.06105 2024-10-21 cs.RO

Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction

Jakob Thumm, Christopher Agia, Marco Pavone, Matthias Althoff

Comments Accepted for the Conference on Robot Learning (CoRL) 2024. Available at: https://openreview.net/forum?id=s0VNSnPeoA

2410.13860 2024-10-18 cs.CV cs.RO

VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding

Runsen Xu, Zhiwei Huang, Tai Wang, Yilun Chen, Jiangmiao Pang, Dahua Lin

Comments CoRL 2024 Camera Ready. 25 pages. A novel zero-shot 3D visual grounding framework based solely on 2D images

2410.13817 2024-10-18 cs.RO cs.AI

Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation

Jean-Pierre Sleiman, Mayank Mittal, Marco Hutter

Comments J. P. Sleiman and M. Mittal contributed equally. Accepted for CoRL 2024 (Oral). Project website: https://leggedrobotics.github.io/guided-rl-locoma/

2408.02912 2024-10-18 cs.RO cs.AI

KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance

Jingxian Lu, Wenke Xia, Dong Wang, Zhigang Wang, Bin Zhao, Di Hu, Xuelong Li

Comments Accepted by CoRL 2024

2309.16118 2024-10-18 cs.RO cs.CV cs.LG

D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement

Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li

Comments Accepted to Conference on Robot Learning (CoRL 2024) as Oral Presentation. The first three authors contributed equally. Project Page: https://robopil.github.io/d3fields/

2410.12773 2024-10-17 cs.RO cs.AI

Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions

Zhenyu Jiang, Yuqi Xie, Jinhan Li, Ye Yuan, Yifeng Zhu, Yuke Zhu

Comments Accepted for oral presentation at 8th Annual Conference on Robot Learning. Project website: https://ut-austin-rpl.github.io/Harmon/

2409.07914 2024-10-17 cs.RO cs.AI cs.CV

InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation

Andrew Lee, Ian Chuang, Ling-Yuan Chen, Iman Soltani

Comments Accepted at Conference on Robot Learning (CoRL) 2024

2410.11792 2024-10-16 cs.RO cs.AI cs.CV cs.LG

OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation

Jinhan Li, Yifeng Zhu, Yuqi Xie, Zhenyu Jiang, Mingyo Seo, Georgios Pavlakos, Yuke Zhu

Comments Accepted for oral presentation at 8th Annual Conference on Robot Learning. Project website: https://ut-austin-rpl.github.io/OKAMI/

2407.01812 2024-10-16 cs.RO cs.LG

Equivariant Diffusion Policy

Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt

Comments Conference on Robot Learning 2024, Oral Presentation

2406.10115 2024-10-16 cs.CV cs.LG cs.RO

Shelf-Supervised Cross-Modal Pre-Training for 3D Object Detection

Mehar Khurana, Neehar Peri, James Hays, Deva Ramanan

Comments The first two authors contributed equally. This work has been accepted to the Conference on Robot Learning (CoRL) 2024

2410.11600 2024-10-16 cs.RO

Robust Manipulation Primitive Learning via Domain Contraction

Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon

Comments Conference on Robot Learning (CoRL), 2024

2403.19918 2024-10-16 cs.RO cs.AI cs.LG

CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning

Luke Rowe, Roger Girgis, Anthony Gosselin, Bruno Carrez, Florian Golemo, Felix Heide, Liam Paull, Christopher Pal

Comments CoRL 2024

2403.14864 2024-10-16 cs.RO cs.AI

Learning Quadruped Locomotion Using Differentiable Simulation

Yunlong Song, Sangbae Kim, Davide Scaramuzza

Comments 8th Annual Conference on Robot Learning (CoRL)

2402.06798 2024-10-16 cs.RO

Reasoning Grasping via Multimodal Large Language Model

Shiyu Jin, Jinxuan Xu, Yutian Lei, Liangjun Zhang

Comments CoRL 2024

2410.10062 2024-10-15 cs.RO cs.AI cs.HC

Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racing

Jonathan DeCastro, Andrew Silva, Deepak Gopinath, Emily Sumner, Thomas M. Balch, Laporsha Dees, Guy Rosman

Comments Accepted to CoRL 2024, Munich, Germany

2407.01898 2024-10-15 cs.RO

Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope

Haodi Hu, Feifei Qian, Daniel Seita

Comments Accepted to CoRL 2024

2406.09798 2024-10-15 cs.RO cs.CV

Sim-to-Real Transfer via 3D Feature Fields for Vision-and-Language Navigation

Zihan Wang, Xiangyang Li, Jiahao Yang, Yeqi Liu, Shuqiang Jiang

Comments Accepted by CoRL 2024. The code is available at https://github.com/MrZihan/Sim2Real-VLN-3DFF

2406.07837 2024-10-15 cs.RO cs.AI

Scaling Manipulation Learning with Visual Kinematic Chain Prediction

Xinyu Zhang, Yuhan Liu, Haonan Chang, Abdeslam Boularias

Comments CoRL 2024

2406.02972 2024-10-15 cs.CV

Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion

Tianyi Xiong, Jiayi Wu, Botao He, Cornelia Fermuller, Yiannis Aloimonos, Heng Huang, Christopher A. Metzler

Comments In the 8th Annual Conference on Robot Learning (CoRL 2024)