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Volume 305: Conference on Robot Learning, 27-30 September 2025, Seoul, Korea
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Editors: Joseph Lim, Shuran Song, Hae-Won Park
Oral
Data Retrieval with Importance Weights for Few-Shot Imitation Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1-16
$\pi_0.5$: a Vision-Language-Action Model with Open-World Generalization
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:17-40
Geometric Red-Teaming for Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:41-67
Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:68-92
Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:93-104
Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:105-123
“Stack It Up!”: 3D Stable Structure Generation from 2D Hand-drawn Sketch
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:124-151
Cross-Sensor Touch Generation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:152-167
One View, Many Worlds: Single-Image to 3D object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:168-197
AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:198-220
Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:221-237
Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:238-257
Steering Your Diffusion Policy with Latent Space Reinforcement Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:258-282
Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:283-308
ScrewSplat: An End-to-End Method for Articulated Object Recognition
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:309-335
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:336-364
Training Strategies for Efficient Embodied Reasoning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:365-391
Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:392-405
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:406-419
The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:420-436
DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:437-459
ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:460-488
Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:489-512
SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:513-531
LocoFormer: Generalist Locomotion via Long-context Adaptation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:532-546
Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:547-577
Sampling-based System Identification with Active Exploration for Legged Sim2Real Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:578-598
DemoSpeedup: Accelerating Visuomotor Policies via Entropy-Guided Demonstration Acceleration
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:599-609
Versatile Loco-Manipulation through Flexible Interlimb Coordination
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:610-632
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:633-651
Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:652-669
Omni-Perception: Omnidirectional Collision Avoidance of Legged Robots in Dynamic Environments
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:670-685
HuB: Learning Extreme Humanoid Balance
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:686-704
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:705-720
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:721-749
Divide, Discover, Deploy: Factorized Skill Learning with Symmetry and Style Priors
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:750-768
DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:769-793
Visual Imitation Enables Contextual Humanoid Control
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:794-815
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:816-833
ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:834-858
FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:859-884
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:885-905
Poster
Wheeled Lab: Modern Sim2Real for Low-cost, Open-source Wheeled Robotics
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:906-923
FlashBack: Consistency Model-Accelerated Shared Autonomy
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:924-940
CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:941-960
DEQ-MPC : Deep Equilibrium Model Predictive Control
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:961-980
Merging and Disentangling Views in Visual Reinforcement Learning for Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:981-1003
GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1004-1029
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1030-1048
Ensuring Force Safety in Vision-Guided Robotic Manipulation via Implicit Tactile Calibration
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1049-1062
Learning Long-Horizon Robot Manipulation Skills via Privileged Action
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1063-1078
Estimating Value of Assistance for Online POMDP Robotic Agents
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1079-1101
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1102-1119
SocialNav-SUB: Benchmarking VLMs for Scene Understanding in Social Robot Navigation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1120-1143
AT-Drone: Benchmarking Adaptive Teaming in Multi-Drone Pursuit
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1144-1161
Robot Operating Home Appliances by Reading User Manuals
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1162-1209
KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1210-1224
ActLoc: Learning to Localize on the Move via Active Viewpoint Selection
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1225-1245
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1246-1281
TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policies
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1282-1310
$\textttSPIN$: distilling $\textttSkill-RRT$ for long-horizon prehensile and non-prehensile manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1311-1351
FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inference
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1352-1381
CogniPlan: Uncertainty-Guided Path Planning with Conditional Generative Layout Prediction
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1382-1396
ObjectReact: Learning Object-Relative Control for Visual Navigation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1397-1419
CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1420-1451
Residual Neural Terminal Constraint for MPC-based Collision Avoidance in Dynamic Environments
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1452-1469
Multi-critic Learning for Whole-body End-effector Twist Tracking
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1470-1485
Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1486-1514
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1515-1530
Sequence Modeling for Time-Optimal Quadrotor Trajectory Optimization with Sampling-based Robustness Analysis
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1531-1540
O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1541-1561
Multimodal Fused Learning for Solving the Generalized Traveling Salesman Problem in Robotic Task Planning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1562-1575
Capability-Aware Shared Hypernetworks for Flexible Heterogeneous Multi-Robot Coordination
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1576-1597
ReCoDe: Reinforcement Learning-based Dynamic Constraint Design for Multi-Agent Coordination
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1598-1614
Predictive Red Teaming: Breaking Policies Without Breaking Robots
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1615-1635
Efficient Evaluation of Multi-Task Robot Policies With Active Experiment Selection
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1636-1653
Learning Smooth State-Dependent Traversability from Dense Point Clouds
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1654-1671
Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1672-1689
Steerable Scene Generation with Post Training and Inference-Time Search
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1690-1702
Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1703-1725
LaDi-WM: A Latent Diffusion-Based World Model for Predictive Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1726-1743
Learning Long-Context Diffusion Policies via Past-Token Prediction
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1744-1755
Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1756-1776
QuaDreamer: Controllable Panoramic Video Generation for Quadruped Robots
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1777-1789
Human-like Navigation in a World Built for Humans
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1790-1808
GC-VLN: Instruction as Graph Constraints for Training-free Vision-and-Language Navigation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1809-1824
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1825-1846
Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1847-1878
SDS – See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1879-1897
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1898-1913
Sample-Efficient Online Control Policy Learning with Real-Time Recursive Model Updates
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1914-1939
BranchOut: Capturing Realistic Multimodality in Autonomous Driving Decisions
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1940-1952
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1953-1974
JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1975-1996
AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1997-2017
Long-VLA: Unleashing Long-Horizon Capability of Vision Language Action Model for Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2018-2037
Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2038-2062
Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2063-2092
Search-TTA: A Multi-Modal Test-Time Adaptation Framework for Visual Search in the Wild
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2093-2120
MEReQ: Max-Ent Residual-Q Inverse RL for Sample-Efficient Alignment from Intervention
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2121-2142
TWIST: Teleoperated Whole-Body Imitation System
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2143-2154
KoopMotion: Learning Almost Divergence Free Koopman Flow Fields for Motion Planning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2155-2169
Pointing3D: A Benchmark for 3D Object Referral via Pointing Gestures
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2170-2183
Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference Scoped Exploration
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2184-2199
Enabling Long(er) Horizon Imitation for Manipulation Tasks by Modeling Subgoal Transitions
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2219-2238
Cost-aware Discovery of Contextual Failures using Bayesian Active Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2239-2267
ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2268-2293
Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2294-2310
Self-supervised perception for tactile skin covered dexterous hands
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2311-2328
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2329-2343
3DS-VLA: A 3D Spatial-Aware Vision Language Action Model for Robust Multi-Task Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2344-2359
CoRI: Communication of Robot Intent for Physical Human-Robot Interaction
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2360-2390
MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2391-2408
AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2409-2429
Latent Adaptive Planner for Dynamic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2430-2448
Improving Efficiency of Sampling-based Motion Planning via Message-Passing Monte Carlo
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2449-2461
CASPER: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2462-2483
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2484-2500
Few-Shot Neuro-Symbolic Imitation Learning for Long-Horizon Planning and Acting
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2501-2518
From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2519-2535
exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2536-2554
IRIS: An Immersive Robot Interaction System
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2555-2582
GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2583-2602
ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2603-2627
ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2628-2642
Generalist Robot Manipulation beyond Action Labeled Data
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2643-2664
Subteaming and Adaptive Formation Control for Coordinated Multi-Robot Navigation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2665-2677
Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2678-2694
Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2695-2713
GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2714-2742
Mechanistic Interpretability for Steering Vision-Language-Action Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2743-2762
AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2763-2778
LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2779-2801
Uncertainty-aware Accurate Elevation Modeling for Off-road Navigation via Neural Processes
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2802-2822
Generative Visual Foresight Meets Task-Agnostic Pose Estimation in Robotic Table-top Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2823-2846
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2847-2887
Humanoid Policy Human Policy
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2888-2906
CUPID: Curating Data your Robot Loves with Influence Functions
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2907-2932
MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2933-2948
Constrained Style Learning from Imperfect Demonstrations under Task Optimality
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2949-2965
SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World RL
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2966-2982
GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2983-3007
Poke and Strike: Learning Task-Informed Exploration Policies
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3008-3034
Robust Dexterous Grasping of General Objects
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3035-3050
ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3051-3068
FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3069-3093
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3094-3114
ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3115-3136
LLM-Guided Probabilistic Program Induction for POMDP Model Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3137-3184
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3185-3199
RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3200-3217
SafeBimanual: Diffusion-based trajectory optimization for safe bimanual manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3218-3238
Shortcut Learning in Generalist Robot Policies: The Role of Dataset Diversity and Fragmentation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3239-3266
HALO : Human Preference Aligned Offline Reward Learning for Robot Navigation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3267-3284
Contrastive Forward Prediction Reinforcement Learning for Adaptive Fault-Tolerant Legged Robots
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3285-3303
Self-supervised Learning Of Visual Pose Estimation Without Pose Labels By Classifying LED States
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3304-3317
ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3318-3340
$Door(s)$: Junction State Estimation for Efficient Exploration in Reinforcement Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3341-3356
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3357-3377
DiWA: Diffusion Policy Adaptation with World Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3378-3400
SimShear: Sim-to-Real Shear-based Tactile Servoing
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3401-3412
ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3413-3462
Distributed Upload and Active Labeling for Resource-Constrained Fleet Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3463-3482
Towards Embodiment Scaling Laws in Robot Locomotion
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3483-3515
Mobi-$\pi$: Mobilizing Your Robot Learning Policy
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3516-3536
RoboChemist: Long-Horizon and Safety-Compliant Robotic Chemical Experimentation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3537-3568
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3569-3588
UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3589-3604
WoMAP: World Models For Embodied Open-Vocabulary Object Localization
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3605-3630
Constraint-Preserving Data Generation for One-Shot Visuomotor Policy Generalization
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3631-3646
Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3647-3664
Learning Deployable Locomotion Control via Differentiable Simulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3665-3684
Agreement Volatility: A Second-Order Metric for Uncertainty Quantification in Surgical Robot Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3685-3703
CARE: Enhancing Safety of Visual Navigation through Collision Avoidance via Repulsive Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3704-3719
Embrace Contacts: humanoid shadowing with full body ground contacts
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3720-3735
FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Flow Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3736-3761
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3762-3777
VLM-AD: End-to-End Autonomous Driving through Vision-Language Model Supervision
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3778-3803
SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3804-3827
Articulated Object Estimation in the Wild
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3828-3849
Decentralized Aerial Manipulation of a Cable-Suspended Load Using Multi-Agent Reinforcement Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3850-3868
Focusing on What Matters: Object-Agent-centric Tokenization for Vision Language Action models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3869-3887
In-Context Iterative Policy Improvement for Dynamic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3888-3901
One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3902-3914
Neural Robot Dynamics
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3915-3935
Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3936-3951
FLARE: Robot Learning with Implicit World Modeling
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3952-3971
GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3972-3994
Extracting Visual Plans from Unlabeled Videos via Symbolic Guidance
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3995-4018
Elucidating the Design Space of Torque-aware Vision-Language-Action Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4019-4037
AnyPlace: Learning Generalizable Object Placement for Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4038-4057
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4058-4073
RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4074-4092
Off Policy Lyapunov Stability in Reinforcement Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4093-4102
From Space to Time: Enabling Adaptive Safety with Learned Value Functions via Disturbance Recasting
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4103-4122
KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4123-4138
TrackVLA: Embodied Visual Tracking in the Wild
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4139-4164
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4165-4189
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4190-4205
Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4206-4225
Robot Learning from Any Images
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4226-4245
ComposableNav: Instruction-Following Navigation in Dynamic Environments via Composable Diffusion
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4246-4268
UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4269-4294
PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4295-4312
Co-Design of Soft Gripper with Neural Physics
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4313-4327
Joint Model-based Model-free Diffusion for Planning with Constraints
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4328-4350
Action-Free Reasoning for Policy Generalization
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4351-4366
UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4367-4384
OPAL: Visibility-aware LiDAR-to-OpenStreetMap Place Recognition via Adaptive Radial Fusion
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4385-4400
Uncertainty-Aware Scene Understanding via Efficient Sampling-Free Confidence Estimation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4401-4417
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4418-4441
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4442-4472
MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4473-4492
CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4493-4505
Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4506-4523
HyperTASR: Hypernetwork-Driven Task-Aware Scene Representations for Robust Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4524-4544
Phantom: Training Robots Without Robots Using Only Human Videos
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4545-4565
Granular loco-manipulation: Repositioning rocks through strategic sand avalanche
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4566-4584
Articulate AnyMesh: Open-vocabulary 3D Articulated Objects Modeling
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4585-4606
COLLAGE: Adaptive Fusion-based Retrieval for Augmented Policy Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4607-4624
Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristics
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4625-4640
Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4641-4656
Do LLM Modules Generalize? A Study on Motion Generation for Autonomous Driving
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4657-4683
Diffusion-Guided Multi-Arm Motion Planning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4684-4696
See, Point, Fly: A Learning-Free VLM Framework for Universal Unmanned Aerial Navigation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4697-4708
Pseudo-Simulation for Autonomous Driving
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4709-4722
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4723-4742
CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4743-4766
Generating Robot Constitutions & Benchmarks for Semantic Safety
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4767-4823
BEVCalib: LiDAR-Camera Calibration via Geometry-Guided Bird’s-Eye View Representation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4824-4836
Imagine, Verify, Execute: Memory-guided Agentic Exploration with Vision-Language Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4837-4858
Distilling On-device Language Models for Robot Planning with Minimal Human Intervention
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4859-4884
Beyond Constant Parameters: Hyper Prediction Models and HyperMPC
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4885-4907
Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4908-4925
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4926-4940
ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4941-4957
EndoVLA: Dual-Phase Vision-Language-Action for Precise Autonomous Tracking in Endoscopy
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4958-4974
TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4975-4993
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4994-5021
RICL: Adding In-Context Adaptability to Pre-Trained Vision-Language-Action Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5022-5038
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5039-5055
Deep Reactive Policy: Learning Reactive Manipulator Motion Planning for Dynamic Environments
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5056-5071
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5072-5106
Motion Blender Gaussian Splatting for Dynamic Reconstruction
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5107-5128
TReF-6: Inferring Task-Relevant Frames from a Single Demonstration for One-Shot Skill Generalization
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5129-5150
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5151-5169
DreamGen: Unlocking Generalization in Robot Learning through Video World Models
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5170-5194
GENNAV: Polygon Mask Generation for Generalized Referring Navigable Regions
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5195-5217
NeuralSVCD for Efficient Swept Volume Collision Detection
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5218-5233
First Order Model-Based RL through Decoupled Backpropagation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5234-5255
Rapid Mismatch Estimation via Neural Network Informed Variational Inference
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5256-5277
Mastering Multi-Drone Volleyball through Hierarchical Co-Self-Play Reinforcement Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5278-5300
CaRL: Learning Scalable Planning Policies with Simple Rewards
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5301-5338
Meta-Optimization and Program Search using Language Models for Task and Motion Planning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5339-5361
From Real World to Logic and Back: Learning Generalizable Relational Concepts For Long Horizon Robot Planning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5362-5434
Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5435-5449
Vision in Action: Learning Active Perception from Human Demonstrations
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5450-5463
Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5464-5482
Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5483-5505
LaVA-Man: Learning Visual Action Representations for Robot Manipulation
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5506-5525
FOMO-3D: Using Vision Foundation Models for Long-Tailed 3D Object Detection
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5526-5556
Disentangled Multi-Context Meta-Learning: Unlocking Robust and Generalized Task Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5557-5580
Fail2Progress: Learning from Real-World Robot Failures with Stein Variational Inference
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5581-5605
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