Papers
The proceedings of the conference are further released at Huggingface
Oral Session
Oral Session 1: Nov 6th, 12:30-13:00
Poster Session 2: Nov 6th, 11:00-12:30
Poster Session 2: Nov 6th, 11:00-12:30
1. Equivariant Diffusion Policy
Authors: Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt
2. D³Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
Authors: Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Rose Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li
3. RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation
Authors: Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang
Oral Session 2: Nov 6th, 14:30-15:30
Poster Session 2: Nov 6th, 11:00-12:30
Poster Session 2: Nov 6th, 11:00-12:30
1. Visual Whole-Body Control for Legged Loco-Manipulation
Authors: Minghuan Liu, Zixuan Chen, Xuxin Cheng, Yandong Ji, Ri-Zhao Qiu, Ruihan Yang, Xiaolong Wang
2. Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective
Authors: Haoran He, Peilin Wu, Chenjia Bai, Hang Lai, Lingxiao Wang, Ling Pan, Xiaolin Hu, Weinan Zhang
3. Environment Curriculum Generation via Large Language Models
Authors: William Liang, Sam Wang, Hung-Ju Wang, Yecheng Jason Ma, Osbert Bastani, Dinesh Jayaraman
4. Learning Quadruped Locomotion Using Differentiable Simulation
Authors: Yunlong Song, Sang bae Kim, Davide Scaramuzza
5. Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
Authors: Jean Pierre Sleiman, Mayank Mittal, Marco Hutter
6. Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination
Authors: Duy Phuong Nguyen, Kai-Chieh Hsu, Wenhao Yu, Jie Tan, Jaime Fernandez Fisac
Oral Session 3: Nov 6th, 17:00-18:00
Poster Session 3: Nov 7th, 16:00-17:30
Poster Session 3: Nov 7th, 16:00-17:30
1. Differentiable Robot Rendering
Authors: Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick
2. Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning
Authors: Dhruva Tirumala, Markus Wulfmeier, Ben Moran, Sandy Huang, Jan Humplik, Guy Lever, Tuomas Haarnoja, Leonard Hasenclever, Arunkumar Byravan, Nathan Batchelor, Neil sreendra, Kushal Patel, Marlon Gwira, Francesco Nori, Martin Riedmiller, Nicolas Heess
3. WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
Authors: Chong Zhang, Wenli Xiao, Tairan He, Guanya Shi
4. OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models
Authors: Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor
5. Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration
Authors: Jennifer Grannen, Siddharth Karamcheti, Suvir Mirchandani, Percy Liang, Dorsa Sadigh
6. OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
Authors: Jinhan Li, Yifeng Zhu, Yuqi Xie, Zhenyu Jiang, Mingyo Seo, Georgios Pavlakos, Yuke Zhu
Oral Session 4: Nov 7th, 12:30-13:00
Poster Session 3: Nov 7th, 16:00-17:30
Poster Session 3: Nov 7th, 16:00-17:30
1. RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning
Authors: Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg
2. Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation
Authors: Ruoxuan Feng, Di Hu, Wenke Ma, Xuelong Li
3. Surgical Robot Transformer (SRT): Imitation Learning for Surgical Subtasks
Authors: Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger
Oral Session 5: Nov 7th, 09:30-10:30
Poster Session 4: Nov 8th, 16:00-17:30
Poster Session 4: Nov 8th, 16:00-17:30
1. FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality
Authors: Keyu Chen, Yuheng Lei, Hao Cheng, Haoran Wu, Wenchao Sun, Sifa Zheng
2. SELFI: Autonomous Self-Improvement with RL for Vision-Based Navigation around People
Authors: Noriaki Hirose, Dhruv Shah, Kyle Stachowicz, Ajay Sridhar, Sergey Levine
3. One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits
Authors: Franck Djeumou, Thomas Jonathan Lew, NAN DING, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits
4. Uncertainty-Aware Decision Transformer for Stochastic Driving Environments
Authors: Zenan Li, Fan Nie, Qiao Sun, Fang Da, Hang Zhao
5. PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators
Authors: Kuo-Hao Zeng, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Zichen Zhang, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, Luca Weihs
6. Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation
Authors: Ria Doshi, Homer Rich Walke, Oier Mees, Sudeep Dasari, Sergey Levine
Oral Session 6: Nov 8th, 11:00-12:00
Poster Session 4: Nov 8th, 16:00-17:30
Poster Session 4: Nov 8th, 16:00-17:30
1. Reinforcement Learning with Foundation Priors: Let Embodied Agent Efficiently Learn on Its Own
Authors: Weirui Ye, Yunsheng Zhang, Haoyang Weng, Xianfan Gu, Shengjie Wang, Tong Zhang, Mengchen Wang, Pieter Abbeel, Yang Gao
2. RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches
Authors: Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, Stefan Schaal
3. Robot See Robot Do: Part-Centric Feature Fields for Visual Imitation of Articulated Objects
Authors: Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Angjoo Kanazawa, Ken Goldberg
4. TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach
Authors: Weikun Peng, Jun Lv, Yuwei Zeng, Haonan Chen, Siheng Zhao, Jichen Sun, Cewu Lu, Lin Shao
5. Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics
Authors: Jad Abou-Chakra, Krishan Rana, Feras Dayoub, Niko Suenderhauf
6. ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning
Authors: Joey Hejna, Chethan Anand Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh
Poster Sessions
Poster and Spotlight Session 1
1. HumanPlus: Humanoid Shadowing and Imitation from Humans
Authors: Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn
2. Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning
Authors: Zhecheng Yuan, Tianming Wei, Shuiqi Cheng, Gu Zhang, Yuanpei Chen, Huazhe Xu
3. ACE: A Cross-platform and visual-Exoskeletons System for Low-Cost Dexterous Teleoperation
Authors: Shiqi Yang, Yuzhe Qin, Runyu Ding, Xuxin Cheng, Minghuan Liu, Ruihan Yang, Jialong Li, Sha Yi, Xiaolong Wang
4. Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
Authors: Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron Ames, Mac Schwager, Jeannette Bohg
5. LLARVA: Vision-Action Instruction Tuning Enhances Robot Learning
Authors: Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, Roei Herzig
6. Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
Authors: Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang, Jeannette Bohg, Yixin Zhu, Leonidas Guibas
7. Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
Authors: Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna
8. Few-shot Object Detection without Fine-tuning
Authors: Xinyu Zhang, Yuhan Liu, Yuting Wang, Abdeslam Boularias
9. Autonomous Interactive Correction MLLM for Robust Robotic Manipulation
Authors: Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, Hao Dong
10. Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping
Authors: Pinhao Song, Pengteng Li, Renaud Detry
11. RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation
Authors: Chongkai Gao, Zhengrong Xue, Shuying Deng, Tianhai Liang, Siqi Yang, Lin Shao, Huazhe Xu
12. Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion
Authors: Tianyi Xiong, Jiayi Wu, Botao He, Cornelia Fermuller, Yiannis Aloimonos, Heng Huang, Christopher Metzler
13. Generative Image as Action Models
Authors: Mohit Shridhar, Yat Long Lo, Stephen James
14. Continuous Control with Coarse-to-fine Reinforcement Learning
Authors: Younggyo Seo, Jafar Uruç, Stephen James
15. RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics
Authors: Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox
16. Twisting Lids (Off) with Two Hands
Authors: Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, Jitendra Malik
17. General Flow as Foundation Affordance for Scalable Robot Learning
Authors: Chengbo Yuan, Chuan Wen, Tong Zhang, Yang Gao
18. TaMMa: Target-driven Multi-subscene Mobile Manipulation
Authors: Jiawei Hou, Tianyu Wang, Tongying Pan, Shouyan Wang, Xiangyang Xue, Yanwei Fu
19. Control with Patterns: A D-learning Method
Authors: Quan Quan, Kai-Yuan Cai, Chenyu Wang
20. Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Authors: Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu, Ram Vasudevan
21. ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Authors: Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song
22. Large Scale Mapping of Indoor Magnetic Field by Local and Sparse Gaussian Processes
Authors: Iad ABDUL-RAOUF, Vincent Gay-Bellile, Cyril JOLY, Steve Bourgeois, Alexis Paljic
23. MJ-TN: Pick-and-Place Towel Shaping from Crumpled States based on Transporter Net with Mask-Filtered Joint-Probability Action Inference
Authors: Halid Abdulrahim Kadi, Kasim Terzić
24. Legolas: Deep Leg-Inertial Odometry
Authors: Justin Wasserman, Ananye Agarwal, Rishabh Jangir, Girish Chowdhary, Deepak Pathak, Abhinav Gupta
25. FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
Authors: Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh
26. JointMotion: Joint Self-supervision for Joint Motion Prediction
Authors: Royden Wagner, Omer Sahin Tas, Marvin Klemp, Carlos Fernandez
27. Provably Safe Online Multi-Agent Navigation in Unknown Environments
Authors: Zhan Gao, Guang Yang, Jasmine Bayrooti, Amanda Prorok
28. Modeling the Real World with High-Density Visual Particle Dynamics
Authors: William F Whitney, Jake Varley, Deepali Jain, Krzysztof Marcin Choromanski, Sumeet Singh, Vikas Sindhwani
29. Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detection
Authors: Huang-Yu Chen, Jia-Fong Yeh, Jiawei, Pin-Hsuan Peng, Winston H. Hsu
30. A Versatile Planner for Learning Dexterous and Whole-body Manipulation
Authors: Jan Bruedigam, Ali Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Georg Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h
31. Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving
Authors: Thomas Tian, Boyi Li, Xinshuo Weng, Yuxiao Chen, Edward Schmerling, Yue Wang, Boris Ivanovic, Marco Pavone
32. Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework
Authors: Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin
33. ANAVI: Audio Noise Awareness by Visual Interaction
Authors: Vidhi Jain, Rishi Veerapaneni, Yonatan Bisk
34. Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation
Authors: Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, David Fan, Wenshan Wang, Sebastian Scherer
35. Adaptive Language-Guided Abstraction from Contrastive Explanations
Authors: Andi Peng, Belinda Z. Li, Ilia Sucholutsky, Nishanth Kumar, Julie Shah, Jacob Andreas, Andreea Bobu
36. Cloth-Splatting: 3D State Estimation from RGB Supervision for Deformable Objects
Authors: Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, Jens Lundell, Jeffrey Ichnowski, Marten Björkman, Danica Kragic
37. OrbitGrasp: SE(3)-Equivariant Grasp Learning
Authors: Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt
38. Learning Long-Horizon Action Dependencies in Sampling-Based Bilevel Planning
Authors: Bartlomiej Cieslar, Leslie Pack Kaelbling, Tomas Lozano-Perez, Jorge Mendez-Mendez
39. Reasoning Grasping via Multimodal Large Language Model
Authors: Shiyu Jin, JINXUAN XU, Yutian Lei, Liangjun Zhang
40. 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
Authors: Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki
41. EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Authors: Jingyun Yang, Ziang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg
42. Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures
Authors: Kensuke Nakamura, Thomas Tian, Andrea Bajcsy
43. Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
Authors: Yixiao Wang, Yifei Zhang, Mingxiao Huo, Thomas Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka
44. Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications
Authors: Joe Eappen, Zikang Xiong, Dipam Patel, Aniket Bera, Suresh Jagannathan
45. Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions
Authors: Zhenyu Jiang, Yuqi Xie, Jinhan Li, Ye Yuan, Yifeng Zhu, Yuke Zhu
46. Learning Differentiable Tensegrity Dynamics using Graph Neural Networks
Authors: Nelson Chen, Kun Wang, William R. Johson III, Rebecca Kramer-Bottiglio, Kostas Bekris, Mridul Aanjaneya
47. DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
Authors: William Xie, Maria Valentini, Jensen Lavering, Nikolaus Correll
48. SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning
Authors: Mohammadreza Kasaei, Hamidreza Kasaei, Mohsen Khadem
49. Dual Policy Manipulation with Information-Seeking Behavior
Authors: Shivin Dass, Jiaheng Hu, Ben Abbatematteo, Peter Stone, Roberto Martin Martin
50. VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning
Authors: Lei Huang, Weijia Cai, Zihan Zhu, Chen Feng, Helge Rhodin, Zhengbo Zou
51. Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction
Authors: Jakob Thumm, Christopher Agia, Marco Pavone, Matthias Althoff
52. What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
Authors: Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn, Karol Hausman
53. Simple Masked Training Strategies Yield Control Policies That Are Robust to Sensor Failure
Authors: Skand Skand, Bikram Pandit, Chanho Kim, Li Fuxin, Stefan Lee
54. Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
Authors: Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao
55. Bimanual Dexterity for Complex Tasks
Authors: Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, Deepak Pathak
56. Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance
Authors: Mitsuhiko Nakamoto, Oier Mees, Aviral Kumar, Sergey Levine
57. Multi-Brain Collaborative Control for Quadruped Robots
Authors: Hang Liu, Yi Cheng, Rankun Li, Xiaowen Hu, Linqi Ye, Houde Liu
58. Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation
Authors: Vivek Myers, Chunyuan Zheng, Oier Mees, Kuan Fang, Sergey Levine
59. Trajectory Improvement and Reward Learning from Comparative Language Feedback
Authors: Zhaojing Yang, Miru Jun, Jeremy Tien, Stuart Russell, Anca Dragan, Erdem Biyik
60. RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
Authors: Le Chen, Yi Zhao, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler
Poster and Spotlight Session 2
1. Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
Authors: Ruihan Yang, Zhuoqun Chen, Jianhan Ma, Chongyi Zheng, Yiyu Chen, Quan Nguyen, Xiaolong Wang
2. Visual Manipulation with Legs
Authors: Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang
3. LucidSim: Learning Agile Visual Locomotion from Generated Images
Authors: Alan Yu, Ge Yang, Ran Choi, Yajvan Ravan, John Leonard, Phillip Isola
4. Q-SLAM: Quadric Representations for Monocular SLAM
Authors: Chensheng Peng, Chenfeng Xu, Yue Wang, Mingyu Ding, Heng Yang, Masayoshi Tomizuka, Kurt Keutzer, Marco Pavone, Wei Zhan
5. Pre-emptive Action Revision by Environmental Feedback for Embodied Instruction Following Agents
Authors: Jinyeon Kim, Cheolhong Min, Byeonghwi Kim, Jonghyun Choi
6. Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving
Authors: Kairui Ding, Boyuan Chen, Yuchen Su, Huan-ang Gao, Bu Jin, Chonghao Sima, Xiaohui Li, Wuqiang Zhang, Paul Barsch, Hongyang Li, Hao Zhao
7. TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation
Authors: Junli Ren, Yikai Liu, Yingru Dai, Junfeng Long, Guijin Wang
8. OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation
Authors: Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto
9. Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
Authors: Haodi Hu, Feifei Qian, Daniel Seita
10. Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks
Authors: Jialiang Zhao, Yuxiang Ma, Lirui Wang, Edward Adelson
11. 3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
Authors: Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, Yunzhu Li
12. Theia: Distilling Diverse Vision Foundation Models for Robot Learning
Authors: Jinghuan Shang, Karl Schmeckpeper, Brandon B. May, Maria Vittoria Minniti, Tarik Kelestemur, David Watkins, Laura Herlant
13. CoViS-Net: A Cooperative Visual Spatial Foundation Model for Multi-Robot Applications
Authors: Jan Blumenkamp, Steven Morad, Jennifer Gielis, Amanda Prorok
14. RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
Authors: Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li
15. Task Success Prediction for Open-Vocabulary Manipulation Based on Multi-Level Aligned Representations
Authors: Miyu Goko, Motonari Kambara, Daichi Saito, Seitaro Otsuki, Komei Sugiura
16. A3VLM: Actionable Articulation-Aware Vision Language Model
Authors: Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong, Peng Gao, Abdeslam Boularias, Hongsheng Li
17. Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Authors: Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
18. Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation
Authors: Hanjiang Hu, Yujie Yang, Tianhao Wei, Changliu Liu
19. Leveraging Mutual Information for Asymmetric Learning under Partial Observability
Authors: Hai Huu Nguyen, Long Dinh Van The, Christopher Amato, Robert Platt
20. Multi-Strategy Deployment-Time Learning and Adaptation for Navigation under Uncertainty
Authors: Abhishek Paudel, Xuesu Xiao, Gregory J. Stein
21. Structured Bayesian Meta-Learning for Data-Efficient Visual-Tactile Model Estimation
Authors: Shaoxiong Yao, Yifan Zhu, Kris Hauser
22. Object-Centric Dexterous Manipulation from Human Motion Data
Authors: Yuanpei Chen, Chen Wang, Yaodong Yang, Karen Liu
23. SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
Authors: Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox
24. DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands
Authors: Fengbo Lan, Shengjie Wang, Yunzhe Zhang, Haotian Xu, Oluwatosin OluwaPelumi Oseni, Ziye Zhang, Yang Gao, Tao Zhang
25. Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance
Authors: RenMing Huang, Shaochong Liu, Yunqiang Pei, Peng Wang, Guoqing Wang, Yang Yang, Heng Tao Shen
26. Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning
Authors: Adam Fishman, Aaron Walsman, Mohak Bhardwaj, Wentao Yuan, Balakumar Sundaralingam, Byron Boots, Dieter Fox
27. AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
Authors: Max Yang, chenghua lu, Alex Church, Yijiong Lin, Christopher J. Ford, Haoran Li, Efi Psomopoulou, David A.W. Barton, Nathan F. Lepora
28. KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance
Authors: Jingxian Lu, Wenke Xia, Dong Wang, Zhigang Wang, Bin Zhao, Di Hu, Xuelong Li
29. Learning to Open and Traverse Doors with a Legged Manipulator
Authors: Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter
30. In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning
Authors: Finn Gross Maurer, Tarek El-Agroudi, Jürgen Anker Olsen, Kostas Alexis
31. DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Authors: Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Sophia Shao, Borivoje Nikolic, Koushil Sreenath
32. ClutterGen: A Cluttered Scene Generator for Robot Learning
Authors: Yinsen Jia, Boyuan Chen
33. HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
Authors: Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli, Nikos Tsagarakis
34. SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience
Authors: Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard
35. Learning Performance-oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation
Authors: Lakshmideepakreddy Manda, Shaoru Chen, Mahyar Fazlyab
36. Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills
Authors: Tianhao Wei, Liqian Ma, Rui Chen, Weiye Zhao, Changliu Liu
37. Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racing
Authors: Jonathan DeCastro, Andrew Silva, Deepak Gopinath, Emily Sumner, Thomas Matrai Balch, Laporsha Dees, Guy Rosman
38. Neural Inverse Source Problem
Authors: Youngsun Wi, Miquel Oller, Jayjun Lee, Nima Fazeli
39. Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
Authors: Siang Chen, Pengwei Xie, Wei Tang, Dingchang Hu, Yixiang Dai, Guijin Wang
40. ALOHA Unleashed: A Simple Recipe for Robot Dexterity
Authors: Tony Z. Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour, Chelsea Finn, Ayzaan Wahid
41. UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments
Authors: Chunru Lin, Jugang Fan, Yian Wang, Zeyuan Yang, Zhehuan Chen, Lixing Fang, Tsun-Hsuan Wang, Zhou Xian, Chuang Gan
42. Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception
Authors: Anushri Dixit, Zhiting Mei, Meghan Booker, Mariko Storey-Matsutani, Allen Z. Ren, Anirudha Majumdar
43. What Matters in Range View 3D Object Detection
Authors: Benjamin Wilson, Nicholas Autio Mitchell, Jhony Kaesemodel Pontes, James Hays
44. Sparsh: Self-supervised touch representations for vision-based tactile sensing
Authors: Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam
45. SHADOW: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer
Authors: Marion Lepert, Ria Doshi, Jeannette Bohg
46. Learning a Distributed Hierarchical Locomotion Controller for Embodied Cooperation
Authors: Chuye Hong, Kangyao Huang, Huaping Liu
47. Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor
Authors: Anish Bhattacharya, Marco Cannici, Nishanth Rao, Yuezhan Tao, Vijay Kumar, Nikolai Matni, Davide Scaramuzza
48. Genetic Algorithm for Curriculum Design in Multi-Agent Reinforcement Learning
Authors: Yeeho Song, Jeff Schneider
49. EquiGraspFlow: SE(3)-Equivariant 6-DoF Grasp Pose Generative Flows
Authors: Byeongdo Lim, Jongmin Kim, Jihwan Kim, Yonghyeon Lee, Frank C. Park
50. Continuously Improving Mobile Manipulation with Autonomous Real-World RL
Authors: Russell Mendonca, Emmanuel Panov, Bernadette Bucher, Jiuguang Wang, Deepak Pathak
51. Fleet Supervisor Allocation: A Submodular Maximization Approach
Authors: Oguzhan Akcin, Ahmet Ege Tanriverdi, Kaan Kale, Sandeep P. Chinchali
52. Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling
Authors: Mingtong Zhang, Kaifeng Zhang, Yunzhu Li
53. Exploring Under Constraints with Model-Based Actor-Critic and Safety Filters
Authors: Ahmed Agha, Baris Kayalibay, Atanas Mirchev, Patrick van der Smagt, Justin Bayer
54. Action Space Design in Reinforcement Learning for Robot Motor Skills
Authors: Julian Eßer, Gabriel B. Margolis, Oliver Urbann, Sören Kerner, Pulkit Agrawal
55. Robotic Control via Embodied Chain-of-Thought Reasoning
Authors: Michael Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, Sergey Levine
56. LeLaN: Learning A Language-conditioned Navigation Policy from In-the-Wild Video
Authors: Noriaki Hirose, Ajay Sridhar, Catherine Glossop, Oier Mees, Sergey Levine
57. An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
Authors: Erik Bauer, Marc Büchlinger, Pascal Strauch, Arman Raayatsanati, Cavelti Curdin, Robert K. Katzschmann
58. Mobile ALOHA: Learning Bimanual Mobile Manipulation using Low-Cost Whole-Body Teleoperation
Authors: Zipeng Fu, Tony Z. Zhao, Chelsea Finn
59. Body Transformer: Leveraging Robot Embodiment for Policy Learning
Authors: Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel
Poster and Spotlight Session 3
1. GraspSplats: Efficient Manipulation with 3D Feature Splatting
Authors: Mazeyu Ji, Ri-Zhao Qiu, Xueyan Zou, Xiaolong Wang
2. CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning
Authors: Luke Rowe, Roger Girgis, Anthony Gosselin, Bruno Carrez, Florian Golemo, Felix Heide, Liam Paull, Christopher Pal
3. Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
Authors: Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, Xiaolong Wang
4. Dreamitate: Real-World Visuomotor Policy Learning via Video Generation
Authors: Junbang Liang, Ruoshi Liu, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick
5. TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
Authors: Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, Li Fei-Fei
6. Scaling Manipulation Learning with Visual Kinematic Chain Prediction
Authors: Xinyu Zhang, Yuhan Liu, Haonan Chang, Abdeslam Boularias
7. MILES: Making Imitation Learning Easy with Self-Supervision
Authors: Georgios Papagiannis, Edward Johns
8. GenSim2: Realistic Robot Task Generation with LLM
Authors: Pu Hua, Minghuan Liu, Annabella Macaluso, Lirui Wang, Yunfeng Lin, Weinan Zhang, Huazhe Xu, Xiaolong Wang
9. Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design
Authors: Xiaomeng Xu, Huy Ha, Shuran Song
10. Shelf-Supervised Multi-Modal Pre-Training for 3D Object Detection
Authors: Mehar Khurana, Neehar Peri, James Hays, Deva Ramanan
11. EXTRACT: Efficient Policy Learning by Extracting Transferrable Robot Skills from Offline Data
Authors: Jesse Zhang, Minho Heo, Zuxin Liu, Erdem Biyik, Joseph J Lim, Yao Liu, Rasool Fakoor
12. Lessons from Learning to Spin “Pens”
Authors: Jun Wang, Ying Yuan, Haichuan Che, Haozhi Qi, Yi Ma, Jitendra Malik, Xiaolong Wang
13. RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards
Authors: Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, Stelian Coros
14. Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks
Authors: Alex Quach, Makram Chahine, Alexander Amini, Ramin Hasani, Daniela Rus
15. Learning Compositional Behaviors from Demonstration and Language
Authors: Weiyu Liu, Neil Nie, Jiayuan Mao, Ruohan Zhang, Jiajun Wu
16. A Dual Approach to Imitation Learning from Observations with Offline Datasets
Authors: Harshit Sikchi, Caleb Chuck, Amy Zhang, Scott Niekum
17. ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Authors: Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, Li Fei-Fei
18. ESCIRL: Evolving Self-Contrastive IRL for Trajectory Prediction in Autonomous Driving
Authors: Zhaorun Chen, Siyue Wang, Zhuokai Zhao, Chaoli Mao, Yiyang Zhou, Jiayu He, Albert Sibo Hu
19. SLR: Learning Quadruped Locomotion without Privileged Information
Authors: Shiyi Chen, Zeyu Wan, Shiyang Yan, Chun Zhang, Weiyi Zhang, Qiang Li, Debing Zhang, Fasih Ud Din Farrukh
20. UMI-on-Legs: Making Manipulation Policies Mobile with a Manipulation-Centric Whole-body Controller
Authors: Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, Shuran Song
21. Flow as the Cross-domain Manipulation Interface
Authors: Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song
22. Generalizing End-To-End Autonomous Driving In Real-World Environments Using Zero-Shot LLMs
Authors: Zeyu Dong, Yimin Zhu, Yansong Li, Kevin Mahon, Yu Sun
23. RoboGolf: Mastering Real-World Minigolf with a Reflective Multi-Modality Vision-Language Model
Authors: Hantao Zhou, Tianying Ji, Jianwei Dr. Zhang, Fuchun Sun, Huazhe Xu
24. InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment
Authors: Yuxing Long, Wenzhe Cai, Hongcheng Wang, Guanqi Zhan, Hao Dong
25. Conformal Prediction for Semantically-Aware Autonomous Perception in Urban Environments
Authors: Achref Doula, Tobias Güdelhöfer, Max Mühlhäuser, Alejandro Sanchez Guinea
26. Learning H-Infinity Locomotion Control
Authors: Junfeng Long, Wenye Yu, Quanyi Li, ZiRui Wang, Dahua Lin, Jiangmiao Pang
27. OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
Authors: Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris M. Kitani, Changliu Liu, Guanya Shi
28. Bi-Level Motion Imitation for Humanoid Robots
Authors: Wenshuai Zhao, Yi Zhao, Joni Pajarinen, Michael Muehlebach
29. Multi-Task Interactive Robot Fleet Learning with Visual World Models
Authors: Huihan Liu, Yu Zhang, Vaarij Betala, Evan Zhang, James Liu, Crystal Ding, Yuke Zhu
30. Solving Offline Reinforcement Learning with Decision Tree Regression
Authors: Prajwal Koirala, Cody Fleming
31. An Open-Source Low-Cost Holonomic Mobile Manipulator for Robot Learning
Authors: Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg
32. PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations
Authors: Cheng Qian, Julen Urain, Kevin Zakka, Jan Peters
33. Rate-Informed Discovery via Bayesian Adaptive Multifidelity Sampling
Authors: Aman Sinha, Payam Nikdel, Supratik Paul, Shimon Whiteson
34. DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
Authors: Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox
35. NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
Authors: Shuo Cheng, Caelan Reed Garrett, Ajay Mandlekar, Danfei Xu
36. Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs
Authors: Zhuo Xu, Hao-Tien Lewis Chiang, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada, Chelsea Finn, Peng Xu, Sergey Levine, Jie Tan
37. KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
Authors: Hongyi Chen, ABULIKEMU ABUDUWEILI, Aviral Agrawal, Yunhai Han, Harish Ravichandar, Changliu Liu, Jeffrey Ichnowski
38. ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter
Authors: Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao, Haojie Huang, Yu Qi, Robert Platt
39. MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking
Authors: Huaxiaoyue Wang, Kushal Kedia, Juntao Ren, Rahma Abdullah, Atiksh Bhardwaj, Angela Chao, Kelly Y Chen, Nathaniel Chin, Prithwish Dan, Xinyi Fan, Gonzalo Gonzalez-Pumariega, Aditya Kompella, Maximus Adrian Pace, Yash Sharma, Xiangwan Sun, Neha Sunkara, Sanjiban Choudhury
40. Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors
Authors: Ziwei Liao, Binbin Xu, Steven L. Waslander
41. View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
Authors: Stephen Tian, Blake Wulfe, Kyle Sargent, Katherine Liu, Sergey Zakharov, Vitor Campagnolo Guizilini, Jiajun Wu
42. Contrast Sets for Evaluating Language-Guided Robot Policies
Authors: Abrar Anwar, Rohan Gupta, Jesse Thomason
43. T²SQNet: A Recognition Model for Manipulating Partially Observed Transparent Tableware Objects
Authors: Young Hun Kim, Seungyeon Kim, Yonghyeon Lee, Frank C. Park
44. Task-Oriented Hierarchical Object Decomposition for Visuomotor Control
Authors: Jianing Qian, Yunshuang Li, Bernadette Bucher, Dinesh Jayaraman
45. Accelerating Visual Sparse-Reward Learning with Latent Nearest-Demonstration-Guided Explorations
Authors: Ruihan Zhao, ufuk topcu, Sandeep P. Chinchali, Mariano Phielipp
46. APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs
Authors: Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega, Xiangwan Sun, Neha Sunkara, Maximus Adrian Pace, Jeannette Bohg, Sanjiban Choudhury
47. I Can Tell What I am Doing: Toward Real-World Natural Language Grounding of Robot Experiences
Authors: Zihan Wang, Brian Liang, Varad Dhat, Nick Walker, Zander Brumbaugh, Ranjay Krishna, Maya Cakmak
48. SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation
Authors: Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, Ajay Mandlekar
49. Progressive Multi-Modal Fusion for Robust 3D Object Detection
Authors: Rohit Mohan, Daniele Cattaneo, Abhinav Valada, Florian Drews
50. HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers
Authors: Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen
51. LiDARGrid: Self-supervised 3D Opacity Grid from LiDAR for Scene Forecasting
Authors: Chuanyu Pan, Aolin Xu
52. Learning Robotic Locomotion Affordances and Photorealistic Simulators from Human-Captured Data
Authors: Alejandro Escontrela, Justin Kerr, Kyle Stachowicz, Pieter Abbeel
53. DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
Authors: Jialiang Zhang, Haoran Liu, Danshi Li, XinQiang Yu, Haoran Geng, Yufei Ding, Jiayi Chen, He Wang
54. Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training
Authors: Wenhao Cui, Shengtao Li, Huaxing Huang, Bangyu Qin, Tianchu Zhang, hanjinchao, Liang Zheng, Ziyang Tang, Chenxu Hu, NING Yan, Jiahao Chen, Zheyuan Jiang
55. Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
Authors: Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza
56. MaIL: Improving Imitation Learning with Selective State Space Models
Authors: Xiaogang Jia, Qian Wang, Atalay Donat, Bowen Xing, Ge Li, Hongyi Zhou, Onur Celik, Denis Blessing, Rudolf Lioutikov, Gerhard Neumann
57. VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding
Authors: Runsen Xu, Zhiwei Huang, Tai Wang, Yilun Chen, Jiangmiao Pang, Dahua Lin
58. Learning to Walk from Three Minutes of Data with Semi-structured Dynamics Models
Authors: Jacob Levy, Tyler Westenbroek, David Fridovich-Keil
60. ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
Authors: Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang, He Wang
Poster and Spotlight Session 4
1. Evaluating Real-World Robot Manipulation Policies in Simulation
Authors: Xuanlin Li, Kyle Hsu, Jiayuan Gu, Oier Mees, Karl Pertsch, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, Ted Xiao
2. DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
Authors: Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk
3. Real-to-Sim Grasp: Rethinking the Gap between Simulation and Real World in Grasp Detection
Authors: Jia-Feng Cai, Zibo Chen, Xiao-Ming Wu, Jian-Jian Jiang, Yi-Lin Wei, Wei-Shi Zheng
4. Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction
Authors: Yili Liu, Linzhan Mou, Xuan Yu, Chenrui Han, Sitong Mao, Rong Xiong, Yue Wang
5. FetchBench: A Simulation Benchmark for Robot Fetching
Authors: Beining Han, Meenal Parakh, Derek Geng, Jack A Defay, Gan Luyang, Jia Deng
6. SonicSense: Object Perception from In-Hand Acoustic Vibration
Authors: Jiaxun Liu, Boyuan Chen
7. ACDC: Automated Creation of Digital Cousins for Robust Policy Learning
Authors: Tianyuan Dai, Josiah Wong, Yunfan Jiang, Chen Wang, Cem Gokmen, Ruohan Zhang, Jiajun Wu, Li Fei-Fei
8. Promptable Closed-loop Traffic Simulation
Authors: Shuhan Tan, Boris Ivanovic, Yuxiao Chen, Boyi Li, Xinshuo Weng, Yulong Cao, Philipp Kraehenbuehl, Marco Pavone
9. Sim-to-Real Transfer via 3D Feature Fields for Vision-and-Language Navigation
Authors: Zihan Wang, Xiangyang Li, Jiahao Yang, Yeqi Liu, Shuqiang Jiang
10. A Planar-Symmetric SO(3) Representation for Learning Grasp Detection
Authors: Tianyi Ko, Takuya Ikeda, Hiroya Sato, Koichi Nishiwaki
11. Adaptive Diffusion Terrain Generator for Autonomous Uneven Terrain Navigation
Authors: Youwei Yu, Junhong Xu, Lantao Liu
12. Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Authors: Olaolu Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe David Kennedy, Mac Schwager
13. Non-rigid Relative Placement through 3D Dense Diffusion
Authors: Eric Cai, Octavian Donca, Ben Eisner, David Held
14. Language-guided Manipulator Motion Planning with Bounded Task Space
Authors: Thies Oelerich, Christian Hartl-Nesic, Andreas Kugi
15. FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation
Authors: Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held
16. Modeling Drivers’ Situational Awareness from Eye Gaze for Driving Assistance
Authors: Abhijat Biswas, Pranay Gupta, Shreeya Khurana, David Held, Henny Admoni
17. Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction
Authors: Aidan Curtis, Nishanth Kumar, Jing Cao, Tomas Lozano-Perez, Leslie Pack Kaelbling
18. VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation
Authors: I-Chun Arthur Liu, Sicheng He, Daniel Seita, Gaurav S. Sukhatme
19. Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation
Authors: Teli Ma, Jiaming Zhou, Zifan Wang, Ronghe Qiu, Junwei Liang
20. Humanoid Parkour Learning
Authors: Ziwen Zhuang, Shenzhe Yao, Hang Zhao
21. Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph
Authors: Utkarsh Aashu Mishra, Yongxin Chen, Danfei Xu
22. Multi-agent Reinforcement Learning with Hybrid Action Space for Free Gait Motion Planning of Hexapod Robots
Authors: Huiqiao Fu, Kaiqiang Tang, Peng Li, Guizhou Deng, Chunlin Chen
23. BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
Authors: Nikita Chernyadev, Nicholas Backshall, Xiao Ma, Yunfan Lu, Younggyo Seo, Stephen James
24. TLDR: Unsupervised Goal-Conditioned RL via Temporal Distance-Aware Representations
Authors: Junik Bae, Kwanyoung Park, Youngwoon Lee
25. PointPatchRL - Masked Reconstruction Improves Reinforcement Learning on Point Clouds
Authors: Balazs Gyenes, Nikolai Franke, Philipp Becker, Gerhard Neumann
26. Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning
Authors: Piotr Kicki, Davide Tateo, Puze Liu, Jonas Günster, Jan Peters, Krzysztof Walas
27. Multi-Transmotion: Pre-trained Model for Human Motion Prediction
Authors: Yang Gao, Po-Chien Luan, Alexandre Alahi
28. Robust Manipulation Primitive Learning via Domain Contraction
Authors: Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon
29. Teaching Robots with Show and Tell: Using Foundation Models to Synthesize Robot Policies from Language and Visual Demonstration
Authors: Michael Murray, Abhishek Gupta, Maya Cakmak
30. One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
Authors: Nico Bohlinger, Grzegorz Czechmanowski, Maciej Piotr Krupka, Piotr Kicki, Krzysztof Walas, Jan Peters, Davide Tateo
31. ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
Authors: Patrick Naughton, Jinda Cui, Karankumar Patel, Soshi Iba
32. MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
Authors: Kelin Yu, Yunhai Han, Qixian Wang, Vaibhav Saxena, Danfei Xu, Ye Zhao
33. Handling Long-Term Safety and Uncertainty in Safe Reinforcement Learning
Authors: Jonas Günster, Puze Liu, Jan Peters, Davide Tateo
34. Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions
Authors: Juan Del Aguila Ferrandis, Joao Moura, Sethu Vijayakumar
35. Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
Authors: Mike Zhang, Kaixian Qu, Vaishakh Patil, Cesar Cadena, Marco Hutter
36. IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies
Authors: Haojie Huang, Karl Schmeckpeper, Dian Wang, Ondrej Biza, Yaoyao Qian, Haotian Liu, Mingxi Jia, Robert Platt, Robin Walters
37. Discovering Robotic Interaction Modes with Discrete Representation Learning
Authors: Liquan Wang, Ankit Goyal, Haoping Xu, Animesh Garg
38. Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation
Authors: Zheyu Zhuang, RUIYU WANG, Nils Ingelhag, Ville Kyrki, Danica Kragic
39. Gentle Manipulation of Tree Branches: A Contact-Aware Policy Learning Approach
Authors: Jay Jacob, shizhe cai, Paulo Vinicius Koerich Borges, Tirthankar Bandyopadhyay, Fabio Ramos
40. GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy
Authors: Yixuan Wang, Guang Yin, Binghao Huang, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li
41. Learning Decentralized Multi-Biped Control for Payload Transport
Authors: Bikram Pandit, Ashutosh Gupta, Mohitvishnu S. Gadde, Addison Johnson, Aayam Kumar Shrestha, Helei Duan, Jeremy Dao, Alan Fern
42. InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation
Authors: Andrew Choong-Won Lee, Ian Chuang, Ling-Yuan Chen, Iman Soltani
43. RoboKoop: Efficient Control Conditioned Representations from Visual Input in Robotics using Koopman Operator
Authors: Hemant Kumawat, Biswadeep Chakraborty, Saibal Mukhopadhyay
44. Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
Authors: Christopher Agia, Rohan Sinha, Jingyun Yang, Ziang Cao, Rika Antonova, Marco Pavone, Jeannette Bohg
45. DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models
Authors: Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Yang Wang, Zhiyong Zhao, Kun Zhan, Peng Jia, XianPeng Lang, Hang Zhao
46. Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models
Authors: Nils Blank, Moritz Reuss, Marcel Rühle, Ömer Yagümurlu, Fabian Wenzel, Oier Mees, Rudolf Lioutikov
47. D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation
Authors: Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Cui Wenbo, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, He Wang
48. So You Think You Can Scale Up Autonomous Robot Data Collection?
Authors: Suvir Mirchandani, Suneel Belkhale, Joey Hejna, Evelyn Choi, Md Sazzad Islam, Dorsa Sadigh
49. Lifelong Autonomous Improvement of Navigation Foundation Models in the Wild
Authors: Kyle Stachowicz, Lydia Ignatova, Sergey Levine
50. ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning
Authors: Yizhuo Wang, Yuhong Cao, Jimmy Chiun, Subhadeep Koley, Mandy Pham, Guillaume Adrien Sartoretti
51. OpenVLA: An Open-Source Vision-Language-Action Model
Authors: Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan P Foster, Pannag R Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn
52. Context-Aware Replanning with Pre-Explored Semantic Map for Object Navigation
Authors: Hung-Ting Su, CY Chen, Po-Chen Ko, Jia-Fong Yeh, Min Sun, Winston H. Hsu
53. Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching
Authors: Eugenio Chisari, Nick Heppert, Max Argus, Tim Welschehold, Thomas Brox, Abhinav Valada
54. Autonomous Improvement of Instruction Following Skills via Foundation Models
Authors: Zhiyuan Zhou, Pranav Atreya, Abraham Lee, Homer Rich Walke, Oier Mees, Sergey Levine
55. Learning Interpretable Reward Models via Unsupervised Feature Selection
Authors: Daulet Baimukashev, Gokhan Alcan, Ville Kyrki, Kevin Sebastian Luck
56. Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems
Authors: Yunyue Wei, Zeji Yi, Hongda Li, Saraswati Soedarmadji, Yanan Sui
57. Towards Open-World Grasping with Large Vision-Language Models
Authors: Georgios Tziafas, Hamidreza Kasaei