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Volume 164: Conference on Robot Learning, 8-11 November 2021, London, UK

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Editors: Aleksandra Faust, David Hsu, Gerhard Neumann

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Contents:

Contributed Papers

Example-Driven Model-Based Reinforcement Learning for Solving Long-Horizon Visuomotor Tasks

Bohan Wu, Suraj Nair, Li Fei-Fei, Chelsea Finn; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1-13

Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear

Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora; Proceedings of the 5th Conference on Robot Learning, PMLR 164:14-23

FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding

Huy Ha, Shuran Song; Proceedings of the 5th Conference on Robot Learning, PMLR 164:24-33

TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo

Lukas Koestler, Nan Yang, Niclas Zeller, Daniel Cremers; Proceedings of the 5th Conference on Robot Learning, PMLR 164:34-45

Taskography: Evaluating robot task planning over large 3D scene graphs

Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti; Proceedings of the 5th Conference on Robot Learning, PMLR 164:46-58

Broadly-Exploring, Local-Policy Trees for Long-Horizon Task Planning

brian ichter, Pierre Sermanet, Corey Lynch; Proceedings of the 5th Conference on Robot Learning, PMLR 164:59-69

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:70-80

Parallelised Diffeomorphic Sampling-based Motion Planning

Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos; Proceedings of the 5th Conference on Robot Learning, PMLR 164:81-90

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning

Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter; Proceedings of the 5th Conference on Robot Learning, PMLR 164:91-100

Using Physics Knowledge for Learning Rigid-body Forward Dynamics with Gaussian Process Force Priors

Lucas Rath, Andreas René Geist, Sebastian Trimpe; Proceedings of the 5th Conference on Robot Learning, PMLR 164:101-111

3D Neural Scene Representations for Visuomotor Control

Yunzhu Li, Shuang Li, Vincent Sitzmann, Pulkit Agrawal, Antonio Torralba; Proceedings of the 5th Conference on Robot Learning, PMLR 164:112-123

Learning Density Distribution of Reachable States for Autonomous Systems

Yue Meng, Dawei Sun, Zeng Qiu, Md Tawhid Bin Waez, Chuchu Fan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:124-136

A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation

Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam; Proceedings of the 5th Conference on Robot Learning, PMLR 164:137-147

SORNet: Spatial Object-Centric Representations for Sequential Manipulation

Wentao Yuan, Chris Paxton, Karthik Desingh, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:148-157

Implicit Behavioral Cloning

Pete Florence, Corey Lynch, Andy Zeng, Oscar A Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson; Proceedings of the 5th Conference on Robot Learning, PMLR 164:158-168

Influencing Behavioral Attributions to Robot Motion During Task Execution

Nick Walker, Christoforos Mavrogiannis, Siddhartha Srinivasa, Maya Cakmak; Proceedings of the 5th Conference on Robot Learning, PMLR 164:169-179

DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries

Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, Justin Solomon; Proceedings of the 5th Conference on Robot Learning, PMLR 164:180-191

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy

Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held; Proceedings of the 5th Conference on Robot Learning, PMLR 164:192-202

Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals

Nachiket Deo, Eric Wolff, Oscar Beijbom; Proceedings of the 5th Conference on Robot Learning, PMLR 164:203-212

Structured deep generative models for sampling on constraint manifolds in sequential manipulation

Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Marc Toussaint; Proceedings of the 5th Conference on Robot Learning, PMLR 164:213-223

Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning

Sean J Wang, Samuel Triest, Wenshan Wang, Sebastian Scherer, Aaron Johnson; Proceedings of the 5th Conference on Robot Learning, PMLR 164:224-233

LEO: Learning Energy-based Models in Factor Graph Optimization

Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess; Proceedings of the 5th Conference on Robot Learning, PMLR 164:234-244

Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning

Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake; Proceedings of the 5th Conference on Robot Learning, PMLR 164:245-255

Learning Visible Connectivity Dynamics for Cloth Smoothing

Xingyu Lin, Yufei Wang, Zixuan Huang, David Held; Proceedings of the 5th Conference on Robot Learning, PMLR 164:256-266

GRAC: Self-Guided and Self-Regularized Actor-Critic

Lin Shao, Yifan You, Mengyuan Yan, Shenli Yuan, Qingyun Sun, Jeannette Bohg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:267-276

Learning to Regrasp by Learning to Place

Shuo Cheng, Kaichun Mo, Lin Shao; Proceedings of the 5th Conference on Robot Learning, PMLR 164:277-286

V-MAO: Generative Modeling for Multi-Arm Manipulation of Articulated Objects

Xingyu Liu, Kris M. Kitani; Proceedings of the 5th Conference on Robot Learning, PMLR 164:287-296

A System for General In-Hand Object Re-Orientation

Tao Chen, Jie Xu, Pulkit Agrawal; Proceedings of the 5th Conference on Robot Learning, PMLR 164:297-307

Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation

Charles Sun, Jȩdrzej Orbik, Coline Manon Devin, Brian H. Yang, Abhishek Gupta, Glen Berseth, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:308-319

Adversarially Robust Imitation Learning

Jianren Wang, Ziwen Zhuang, Yuyang Wang, Hang Zhao; Proceedings of the 5th Conference on Robot Learning, PMLR 164:320-331

Look Before You Leap: Safe Model-Based Reinforcement Learning with Human Intervention

Yunkun Xu, Zhenyu Liu, Guifang Duan, Jiangcheng Zhu, Xiaolong Bai, Jianrong Tan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:332-341

Learning Multimodal Rewards from Rankings

Vivek Myers, Erdem Biyik, Nima Anari, Dorsa Sadigh; Proceedings of the 5th Conference on Robot Learning, PMLR 164:342-352

Learning Reward Functions from Scale Feedback

Nils Wilde, Erdem Biyik, Dorsa Sadigh, Stephen L. Smith; Proceedings of the 5th Conference on Robot Learning, PMLR 164:353-362

Learning Feasibility to Imitate Demonstrators with Different Dynamics

Zhangjie Cao, Yilun Hao, Mengxi Li, Dorsa Sadigh; Proceedings of the 5th Conference on Robot Learning, PMLR 164:363-372

Orientation Probabilistic Movement Primitives on Riemannian Manifolds

Leonel Rozo, Vedant Dave; Proceedings of the 5th Conference on Robot Learning, PMLR 164:373-383

Self-supervised Reinforcement Learning with Independently Controllable Subgoals

Andrii Zadaianchuk, Georg Martius, Fanny Yang; Proceedings of the 5th Conference on Robot Learning, PMLR 164:384-394

Haptics-based Curiosity for Sparse-reward Tasks

Sai Rajeswar, Cyril Ibrahim, Nitin Surya, Florian Golemo, David Vazquez, Aaron Courville, Pedro O. Pinheiro; Proceedings of the 5th Conference on Robot Learning, PMLR 164:395-405

Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization

Youngwoon Lee, Joseph J Lim, Anima Anandkumar, Yuke Zhu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:406-416

A Workflow for Offline Model-Free Robotic Reinforcement Learning

Aviral Kumar, Anikait Singh, Stephen Tian, Chelsea Finn, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:417-428

SeqMatchNet: Contrastive Learning with Sequence Matching for Place Recognition & Relocalization

Sourav Garg, Madhu Vankadari, Michael Milford; Proceedings of the 5th Conference on Robot Learning, PMLR 164:429-443

Risk-Averse Zero-Order Trajectory Optimization

Marin Vlastelica, Sebastian Blaes, Cristina Pinneri, Georg Martius; Proceedings of the 5th Conference on Robot Learning, PMLR 164:444-454

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Elliott Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese; Proceedings of the 5th Conference on Robot Learning, PMLR 164:455-465

ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations

Ruohan Gao, Yen-Yu Chang, Shivani Mall, Li Fei-Fei, Jiajun Wu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:466-476

BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments

Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia, Kent Elliott Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, Li Fei-Fei; Proceedings of the 5th Conference on Robot Learning, PMLR 164:477-490

Learning Model Preconditions for Planning with Multiple Models

Alex Licari LaGrassa, Oliver Kroemer; Proceedings of the 5th Conference on Robot Learning, PMLR 164:491-500

Single-Shot Scene Reconstruction

Sergey Zakharov, Rares Andrei Ambrus, Vitor Campagnolo Guizilini, Dennis Park, Wadim Kehl, Fredo Durand, Joshua B. Tenenbaum, Vincent Sitzmann, Jiajun Wu, Adrien Gaidon; Proceedings of the 5th Conference on Robot Learning, PMLR 164:501-512

Learning Backchanneling Behaviors for a Social Robot via Data Augmentation from Human-Human Conversations

Michael Murray, Nick Walker, Amal Nanavati, Patricia Alves-Oliveira, Nikita Filippov, Allison Sauppe, Bilge Mutlu, Maya Cakmak; Proceedings of the 5th Conference on Robot Learning, PMLR 164:513-525

Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects

Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:526-536

XIRL: Cross-embodiment Inverse Reinforcement Learning

Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi; Proceedings of the 5th Conference on Robot Learning, PMLR 164:537-546

Evaluations of the Gap between Supervised and Reinforcement Lifelong Learning on Robotic Manipulation Tasks

Fan Yang, Chao Yang, Huaping Liu, Fuchun Sun; Proceedings of the 5th Conference on Robot Learning, PMLR 164:547-556

Scaling Up Multi-Task Robotic Reinforcement Learning

Dmitry Kalashnikov, Jake Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, Karol Hausman; Proceedings of the 5th Conference on Robot Learning, PMLR 164:557-575

Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning

Sumeet Batra, Zhehui Huang, Aleksei Petrenko, Tushar Kumar, Artem Molchanov, Gaurav S. Sukhatme; Proceedings of the 5th Conference on Robot Learning, PMLR 164:576-586

ReSkin: versatile, replaceable, lasting tactile skins

Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, Abhinav Gupta; Proceedings of the 5th Conference on Robot Learning, PMLR 164:587-597

ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning

Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:598-608

Anytime Depth Estimation with Limited Sensing and Computation Capabilities on Mobile Devices

Yuedong Yang, Zihui Xue, Radu Marculescu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:609-618

Semantic Terrain Classification for Off-Road Autonomous Driving

Amirreza Shaban, Xiangyun Meng, JoonHo Lee, Byron Boots, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:619-629

Guided Imitation of Task and Motion Planning

Michael James McDonald, Dylan Hadfield-Menell; Proceedings of the 5th Conference on Robot Learning, PMLR 164:630-640

Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation

I-Chun Arthur Liu, Shagun Uppal, Gaurav S. Sukhatme, Joseph J Lim, Peter Englert, Youngwoon Lee; Proceedings of the 5th Conference on Robot Learning, PMLR 164:641-650

DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video

Priyanka Mandikal, Kristen Grauman; Proceedings of the 5th Conference on Robot Learning, PMLR 164:651-661

DiffImpact: Differentiable Rendering and Identification of Impact Sounds

Samuel Clarke, Negin Heravi, Mark Rau, Ruohan Gao, Jiajun Wu, Doug James, Jeannette Bohg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:662-673

Rapid Exploration for Open-World Navigation with Latent Goal Models

Dhruv Shah, Benjamin Eysenbach, Nicholas Rhinehart, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:674-684

Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR

Ziyue Feng, Longlong Jing, Peng Yin, Yingli Tian, Bing Li; Proceedings of the 5th Conference on Robot Learning, PMLR 164:685-694

Visually-Grounded Library of Behaviors for Manipulating Diverse Objects across Diverse Configurations and Views

Jingyun Yang, Hsiao-Yu Tung, Yunchu Zhang, Gaurav Pathak, Ashwini Pokle, Christopher G Atkeson, Katerina Fragkiadaki; Proceedings of the 5th Conference on Robot Learning, PMLR 164:695-705

A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution

Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, Yoav Artzi; Proceedings of the 5th Conference on Robot Learning, PMLR 164:706-717

Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradients

Oliver Scheel, Luca Bergamini, Maciej Wolczyk, Błażej Osiński, Peter Ondruska; Proceedings of the 5th Conference on Robot Learning, PMLR 164:718-728

Demonstration-Guided Reinforcement Learning with Learned Skills

Karl Pertsch, Youngwoon Lee, Yue Wu, Joseph J Lim; Proceedings of the 5th Conference on Robot Learning, PMLR 164:729-739

My House, My Rules: Learning Tidying Preferences with Graph Neural Networks

Ivan Kapelyukh, Edward Johns; Proceedings of the 5th Conference on Robot Learning, PMLR 164:740-749

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation

Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots; Proceedings of the 5th Conference on Robot Learning, PMLR 164:750-759

Structure from Silence: Learning Scene Structure from Ambient Sound

Ziyang Chen, Xixi Hu, Andrew Owens; Proceedings of the 5th Conference on Robot Learning, PMLR 164:760-772

Fast and Efficient Locomotion via Learned Gait Transitions

Yuxiang Yang, Tingnan Zhang, Erwin Coumans, Jie Tan, Byron Boots; Proceedings of the 5th Conference on Robot Learning, PMLR 164:773-783

Model-free Safe Control for Zero-Violation Reinforcement Learning

Weiye Zhao, Tairan He, Changliu Liu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:784-793

Geometry-aware Bayesian Optimization in Robotics using Riemannian Matérn Kernels

Noémie Jaquier, Viacheslav Borovitskiy, Andrei Smolensky, Alexander Terenin, Tamim Asfour, Leonel Rozo; Proceedings of the 5th Conference on Robot Learning, PMLR 164:794-805

Predicting Stable Configurations for Semantic Placement of Novel Objects

Chris Paxton, Chris Xie, Tucker Hermans, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:806-815

Just Label What You Need: Fine-Grained Active Selection for P&P through Partially Labeled Scenes

Sean Segal, Nishanth Kumar, Sergio Casas, Wenyuan Zeng, Mengye Ren, Jingkang Wang, Raquel Urtasun; Proceedings of the 5th Conference on Robot Learning, PMLR 164:816-826

Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects

Haoping Xu, Yi Ru Wang, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti, Animesh Garg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:827-838

Motivating Physical Activity via Competitive Human-Robot Interaction

Boling Yang, Golnaz Habibi, Patrick Lancaster, Byron Boots, Joshua Smith; Proceedings of the 5th Conference on Robot Learning, PMLR 164:839-849

RoCUS: Robot Controller Understanding via Sampling

Yilun Zhou, Serena Booth, Nadia Figueroa, Julie Shah; Proceedings of the 5th Conference on Robot Learning, PMLR 164:850-860

IMU-Assisted Learning of Single-View Rolling Shutter Correction

Jiawei Mo, Md Jahidul Islam, Junaed Sattar; Proceedings of the 5th Conference on Robot Learning, PMLR 164:861-870

Group-based Motion Prediction for Navigation in Crowded Environments

Allan Wang, Christoforos Mavrogiannis, Aaron Steinfeld; Proceedings of the 5th Conference on Robot Learning, PMLR 164:871-882

A Constrained Multi-Objective Reinforcement Learning Framework

Sandy Huang, Abbas Abdolmaleki, Giulia Vezzani, Philemon Brakel, Daniel J. Mankowitz, Michael Neunert, Steven Bohez, Yuval Tassa, Nicolas Heess, Martin Riedmiller, Raia Hadsell; Proceedings of the 5th Conference on Robot Learning, PMLR 164:883-893

CLIPort: What and Where Pathways for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:894-906

S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning in Robotics

Samarth Sinha, Ajay Mandlekar, Animesh Garg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:907-917

Aligning an optical interferometer with beam divergence control and continuous action space

Stepan Makarenko, Dmitry Igorevich Sorokin, Alexander Ulanov, Alexander Lvovsky; Proceedings of the 5th Conference on Robot Learning, PMLR 164:918-927

Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots

Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak; Proceedings of the 5th Conference on Robot Learning, PMLR 164:928-937

SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo

Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland; Proceedings of the 5th Conference on Robot Learning, PMLR 164:938-948

Social Interactions as Recursive MDPs

Ravi Tejwani, Yen-Ling Kuo, Tianmin Shu, Boris Katz, Andrei Barbu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:949-958

LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks

Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:959-969

Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning

Alec Farid, Sushant Veer, Anirudha Majumdar; Proceedings of the 5th Conference on Robot Learning, PMLR 164:970-980

Redundancy Resolution as Action Bias in Policy Search for Robotic Manipulation

Firas Al-Hafez, Jochen J. Steil; Proceedings of the 5th Conference on Robot Learning, PMLR 164:981-990

BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning

Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, Chelsea Finn; Proceedings of the 5th Conference on Robot Learning, PMLR 164:991-1002

Motion Forecasting with Unlikelihood Training in Continuous Space

Deyao Zhu, Mohamed Zahran, Li Erran Li, Mohamed Elhoseiny; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1003-1012

Exploring Adversarial Robustness of Multi-sensor Perception Systems in Self Driving

James Tu, Huichen Li, Xinchen Yan, Mengye Ren, Yun Chen, Ming Liang, Eilyan Bitar, Ersin Yumer, Raquel Urtasun; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1013-1024

Learning to Jump from Pixels

Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sang bae Kim, Pulkit Agrawal; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1025-1034

Learning to Predict Vehicle Trajectories with Model-based Planning

Haoran Song, Di Luan, Wenchao Ding, Michael Y Wang, Qifeng Chen; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1035-1045

LanguageRefer: Spatial-Language Model for 3D Visual Grounding

Junha Roh, Karthik Desingh, Ali Farhadi, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1046-1056

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1057-1066

The Boombox: Visual Reconstruction from Acoustic Vibrations

Boyuan Chen, Mia Chiquier, Hod Lipson, Carl Vondrick; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1067-1077

AW-Opt: Learning Robotic Skills with Imitation andReinforcement at Scale

Yao Lu, Karol Hausman, Yevgen Chebotar, Mengyuan Yan, Eric Jang, Alexander Herzog, Ted Xiao, Alex Irpan, Mohi Khansari, Dmitry Kalashnikov, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1078-1088

Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes

Alex X. Lee, Coline Manon Devin, Yuxiang Zhou, Thomas Lampe, Konstantinos Bousmalis, Jost Tobias Springenberg, Arunkumar Byravan, Abbas Abdolmaleki, Nimrod Gileadi, David Khosid, Claudio Fantacci, Jose Enrique Chen, Akhil Raju, Rae Jeong, Michael Neunert, Antoine Laurens, Stefano Saliceti, Federico Casarini, Martin Riedmiller, raia hadsell, Francesco Nori; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1089-1131

Influencing Towards Stable Multi-Agent Interactions

Woodrow Zhouyuan Wang, Andy Shih, Annie Xie, Dorsa Sadigh; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1132-1143

Strength Through Diversity: Robust Behavior Learning via Mixture Policies

Tim Seyde, Wilko Schwarting, Igor Gilitschenski, Markus Wulfmeier, Daniela Rus; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1144-1155

Learning to Plan Optimistically: Uncertainty-Guided Deep Exploration via Latent Model Ensembles

Tim Seyde, Wilko Schwarting, Sertac Karaman, Daniela Rus; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1156-1167

Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes

Jongseok Lee, Jianxiang Feng, Matthias Humt, Marcus Gerhard Müller, Rudolph Triebel; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1168-1179

Learning Multi-Stage Tasks with One Demonstration via Self-Replay

Norman Di Palo, Edward Johns; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1180-1189

Learning Behaviors through Physics-driven Latent Imagination

Antoine Richard, Stéphanie Aravecchia, Matthieu Geist, Cédric Pradalier; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1190-1199

Enhancing Consistent Ground Maneuverability by Robot Adaptation to Complex Off-Road Terrains

Sriram Siva, Maggie Wigness, John Rogers, Hao Zhang; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1200-1210

Self-Improving Semantic Perception for Indoor Localisation

Hermann Blum, Francesco Milano, René Zurbrügg, Roland Siegwart, Cesar Cadena, Abel Gawel; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1211-1222

Anomaly Detection in Multi-Agent Trajectories for Automated Driving

Julian Wiederer, Arij Bouazizi, Marco Troina, Ulrich Kressel, Vasileios Belagiannis; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1223-1233

Assisted Robust Reward Design

Jerry Zhi-Yang He, Anca D. Dragan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1234-1246

Generating Scenarios with Diverse Pedestrian Behaviors for Autonomous Vehicle Testing

Maria Priisalu, Aleksis Pirinen, Ciprian Paduraru, Cristian Sminchisescu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1247-1258

Skill Preferences: Learning to Extract and Execute Robotic Skills from Human Feedback

Xiaofei Wang, Kimin Lee, Kourosh Hakhamaneshi, Pieter Abbeel, Michael Laskin; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1259-1268

Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness

Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, Chaoyang Song; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1269-1278

Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration

Chen Wang, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-Fei, Karen Liu, Silvio Savarese; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1279-1290

Visual-Locomotion: Learning to Walk on Complex Terrains with Vision

Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, Tingnan Zhang; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1291-1302

Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation

Suraj Nair, Eric Mitchell, Kevin Chen, brian ichter, Silvio Savarese, Chelsea Finn; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1303-1315

Hierarchically Integrated Models: Learning to Navigate from Heterogeneous Robots

Katie Kang, Gregory Kahn, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1316-1325

Learning A Risk-Aware Trajectory Planner From Demonstrations Using Logic Monitor

Xiao Li, Jonathan DeCastro, Cristian Ioan Vasile, Sertac Karaman, Daniela Rus; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1326-1335

Learning Eye-in-Hand Camera Calibration from a Single Image

Eugene Valassakis, Kamil Dreczkowski, Edward Johns; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1336-1346

LENS: Localization enhanced by NeRF synthesis

Arthur Moreau, Nathan Piasco, Dzmitry Tsishkou, Bogdan Stanciulescu, Arnaud de La Fortelle; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1347-1356

Robot Reinforcement Learning on the Constraint Manifold

Puze Liu, Davide Tateo, Haitham Bou Ammar, Jan Peters; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1357-1366

Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation

Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Roberto Martín-Martín; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1367-1378

LILA: Language-Informed Latent Actions

Siddharth Karamcheti, Megha Srivastava, Percy Liang, Dorsa Sadigh; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1379-1390

CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact

Brad Saund, Dmitry Berenson; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1391-1400

Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction

Niklas Funk, Georgia Chalvatzaki, Boris Belousov, Jan Peters; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1401-1411

Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations

Minghan Zhu, Maani Ghaffari, Huei Peng; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1412-1422

Specializing Versatile Skill Libraries using Local Mixture of Experts

Onur Celik, Dongzhuoran Zhou, Ge Li, Philipp Becker, Gerhard Neumann; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1423-1433

Multi-Agent Trajectory Prediction by Combining Egocentric and Allocentric Views

Xiaosong Jia, Liting Sun, Hang Zhao, Masayoshi Tomizuka, Wei Zhan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1434-1443

Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks

Benedikt Mersch, Xieyuanli Chen, Jens Behley, Cyrill Stachniss; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1444-1454

Dealing with the Unknown: Pessimistic Offline Reinforcement Learning

Jinning Li, Chen Tang, Masayoshi Tomizuka, Wei Zhan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1455-1464

Stochastic Policy Optimization with Heuristic Information for Robot Learning

Seonghyun Kim, Ingook Jang, Samyeul Noh, Hyunseok Kim; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1465-1474

Probabilistic and Geometric Depth: Detecting Objects in Perspective

Tai Wang, Xinge ZHU, Jiangmiao Pang, Dahua Lin; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1475-1485

Guiding Multi-Step Rearrangement Tasks with Natural Language Instructions

Elias Stengel-Eskin, Andrew Hundt, Zhuohong He, Aditya Murali, Nakul Gopalan, Matthew Gombolay, Gregory Hager; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1486-1501

Towards Real Robot Learning in the Wild: A Case Study in Bipedal Locomotion

Michael Bloesch, Jan Humplik, Viorica Patraucean, Roland Hafner, Tuomas Haarnoja, Arunkumar Byravan, Noah Yamamoto Siegel, Saran Tunyasuvunakool, Federico Casarini, Nathan Batchelor, Francesco Romano, Stefano Saliceti, Martin Riedmiller, S. M. Ali Eslami, Nicolas Heess; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1502-1511

SCAPE: Learning Stiffness Control from Augmented Position Control Experiences

Mincheol Kim, Scott Niekum, Ashish D. Deshpande; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1512-1521

Fully Self-Supervised Class Awareness in Dense Object Descriptors

Denis Hadjivelichkov, Dimitrios Kanoulas; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1522-1531

Neural Posterior Domain Randomization

Fabio Muratore, Theo Gruner, Florian Wiese, Boris Belousov, Michael Gienger, Jan Peters; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1532-1542

You Only Evaluate Once: a Simple Baseline Algorithm for Offline RL

Wonjoon Goo, Scott Niekum; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1543-1553

Safe Driving via Expert Guided Policy Optimization

Zhenghao Peng, Quanyi Li, Chunxiao Liu, Bolei Zhou; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1554-1563

"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer

Andrew Hundt, Aditya Murali, Priyanka Hubli, Ran Liu, Nakul Gopalan, Matthew Gombolay, Gregory D. Hager; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1564-1574

Learning Inertial Odometry for Dynamic Legged Robot State Estimation

Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice Fallon; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1575-1584

Embodied Semantic Scene Graph Generation

Xinghang Li, Di Guo, Huaping Liu, Fuchun Sun; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1585-1594

Generalised Task Planning with First-Order Function Approximation

Jun Hao Alvin Ng, Ronald P.A. Petrick; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1595-1610

Distributional Depth-Based Estimation of Object Articulation Models

Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov, Scott Niekum; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1611-1621

Learning Off-Policy with Online Planning

Harshit Sikchi, Wenxuan Zhou, David Held; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1622-1633

Smooth Exploration for Robotic Reinforcement Learning

Antonin Raffin, Jens Kober, Freek Stulp; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1634-1644

Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation

Alex Church, John Lloyd, raia hadsell, Nathan F. Lepora; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1645-1654

RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks

Chris Xie, Arsalan Mousavian, Yu Xiang, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1655-1665

O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning

Kaichun Mo, Yuzhe Qin, Fanbo Xiang, Hao Su, Leonidas Guibas; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1666-1677

What Matters in Learning from Offline Human Demonstrations for Robot Manipulation

Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1678-1690

Language Grounding with 3D Objects

Jesse Thomason, Mohit Shridhar, Yonatan Bisk, Chris Paxton, Luke Zettlemoyer; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1691-1701

Offline-to-Online Reinforcement Learning via Balanced Replay and Pessimistic Q-Ensemble

Seunghyun Lee, Younggyo Seo, Kimin Lee, Pieter Abbeel, Jinwoo Shin; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1702-1712

Equivariant $Q$ Learning in Spatial Action Spaces

Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1713-1723

Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions

Charles Dawson, Zengyi Qin, Sicun Gao, Chuchu Fan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1724-1735

Blue Sky Papers

Collect & Infer - a fresh look at data-efficient Reinforcement Learning

Martin Riedmiller, Jost Tobias Springenberg, Roland Hafner, Nicolas Heess; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1736-1744

The Task Specification Problem

Pulkit Agrawal; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1745-1751

Understanding the World Through Action

Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1752-1757

Continuous then discrete: A recommendation for building robotic brains

Chris Eliasmith, P. Michael Furlong; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1758-1763

Back to Reality for Imitation Learning

Edward Johns; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1764-1768

Robots on Demand: A Democratized Robotics Research Cloud

Victoria Dean, Yonadav G Shavit, Abhinav Gupta; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1769-1775

From Robot Learning To Robot Understanding: Leveraging Causal Graphical Models For Robotics

Kaylene Caswell Stocking, Alison Gopnik, Claire Tomlin; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1776-1781

Learning to be Multimodal : Co-evolving Sensory Modalities and Sensor Properties

Rika Antonova, Jeannette Bohg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1782-1788

RoboFlow: a Data-centric Workflow Management System for Developing AI-enhanced Robots

Qinjie Lin, Guo Ye, Jiayi Wang, Han Liu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1789-1794

Decentralized Sharing and Valuation of Fleet Robotic Data

Yuchong Geng, Dongyue Zhang, Po-han Li, Oguzhan Akcin, Ao Tang, Sandeep P. Chinchali; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1795-1800

Auditing Robot Learning for Safety and Compliance during Deployment

Homanga Bharadhwaj; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1801-1806

Toward robots that learn to summarize their actions in natural language: a set of tasks

Chad DeChant, Daniel Bauer; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1807-1813

Dual-Arm Adversarial Robot Learning

Elie Aljalbout; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1814-1819

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