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Volume 270: Conference on Robot Learning, 6-9 November 2024, Munich, Germany
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Editors: Pulkit Agrawal, Oliver Kroemer, Wolfram Burgard
Oral
Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1-24
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:25-47
Equivariant Diffusion Policy
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:48-69
RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:70-96
SELFI: Autonomous Self-Improvement with RL for Vision-Based Navigation around People
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:97-116
Differentiable Robot Rendering
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:117-129
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:130-144
ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:145-164
Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:165-184
Reinforcement Learning with Foundation Priors: Let Embodied Agent Efficiently Learn on Its Own
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:185-208
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:209-233
Visual Whole-Body Control for Legged Loco-Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:234-257
Learning Quadruped Locomotion Using Differentiable Simulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:258-271
D3Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:272-298
OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:299-317
TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:318-339
Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:340-363
Uncertainty-Aware Decision Transformer for Stochastic Driving Environments
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:364-386
Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:387-407
PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:408-432
Environment Curriculum Generation via Large Language Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:433-454
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:455-472
Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:473-495
Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:496-512
Physically Embodied Gaussian Splatting: A Visually Learnt and Physically Grounded 3D Representation for Robotics
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:513-530
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:531-546
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:547-565
FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:566-586
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:587-603
One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:604-630
Poster
Gentle Manipulation of Tree Branches: A Contact-Aware Policy Learning Approach
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:631-648
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:649-665
LeLaN: Learning A Language-Conditioned Navigation Policy from In-the-Wild Video
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:666-688
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:689-723
Theia: Distilling Diverse Vision Foundation Models for Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:724-748
Language-guided Manipulator Motion Planning with Bounded Task Space
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:749-779
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:780-793
Robust Manipulation Primitive Learning via Domain Contraction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:794-809
MILES: Making Imitation Learning Easy with Self-Supervision
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:810-829
Discovering Robotic Interaction Modes with Discrete Representation Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:830-863
Adaptive Diffusion Terrain Generator for Autonomous Uneven Terrain Navigation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:864-884
Sparsh: Self-supervised touch representations for vision-based tactile sensing
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:885-915
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:916-932
HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:933-946
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:947-962
Bi-Level Motion Imitation for Humanoid Robots
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:963-981
Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:982-993
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:994-1020
Learning Decentralized Multi-Biped Control for Payload Transport
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1021-1034
Lifelong Autonomous Improvement of Navigation Foundation Models in the Wild
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1035-1047
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1048-1068
Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1069-1093
Learning H-Infinity Locomotion Control
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1094-1108
Real-to-Sim Grasp: Rethinking the Gap between Simulation and Real World in Grasp Detection
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1109-1124
A Dual Approach to Imitation Learning from Observations with Offline Datasets
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1125-1147
EXTRACT: Efficient Policy Learning by Extracting Transferable Robot Skills from Offline Data
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1148-1172
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1173-1193
PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1194-1215
Exploring Under Constraints with Model-Based Actor-Critic and Safety Filters
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1216-1230
Generalizing End-To-End Autonomous Driving In Real-World Environments Using Zero-Shot LLMs
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1231-1249
Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1250-1267
Non-rigid Relative Placement through 3D Dense Diffusion
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1268-1289
DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1290-1309
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1310-1339
Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1340-1361
Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1362-1383
Control with Patterns: A D-learning Method
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1384-1401
Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1402-1426
Modeling the Real World with High-Density Visual Particle Dynamics
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1427-1442
GraspSplats: Efficient Manipulation with 3D Feature Splatting
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1443-1460
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1461-1472
SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1473-1500
Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1501-1515
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1516-1540
General Flow as Foundation Affordance for Scalable Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1541-1566
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1567-1589
APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1590-1642
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1643-1674
A3VLM: Actionable Articulation-Aware Vision Language Model
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1675-1690
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1691-1729
InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1730-1743
Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1744-1762
Q-SLAM: Quadric Representations for Monocular SLAM
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1763-1781
ClutterGen: A Cluttered Scene Generator for Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1782-1796
Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1797-1814
Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1815-1833
Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1834-1850
Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1851-1862
I Can Tell What I am Doing: Toward Real-World Natural Language Grounding of Robot Experiences
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1863-1890
Task-Oriented Hierarchical Object Decomposition for Visuomotor Control
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1891-1909
ALOHA Unleashed: A Simple Recipe for Robot Dexterity
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1910-1924
Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1925-1948
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1949-1974
Humanoid Parkour Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1975-1991
Learning Compositional Behaviors from Demonstration and Language
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:1992-2028
VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2029-2048
InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2049-2060
Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2061-2079
Shelf-Supervised Cross-Modal Pre-Training for 3D Object Detection
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2080-2103
Large Scale Mapping of Indoor Magnetic Field by Local and Sparse Gaussian Processes
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2104-2119
Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2120-2146
Solving Offline Reinforcement Learning with Decision Tree Regression
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2147-2163
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2164-2182
TLDR: Unsupervised Goal-Conditioned RL via Temporal Distance-Aware Representations
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2183-2204
Contrast Sets for Evaluating Language-Guided Robot Policies
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2205-2219
MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2220-2294
Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2295-2346
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2347-2371
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2372-2395
Pre-emptive Action Revision by Environmental Feedback for Embodied Instruction Following Agents
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2396-2428
Generative Image as Action Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2429-2455
OrbitGrasp: SE(3)-Equivariant Grasp Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2456-2474
Flow as the Cross-domain Manipulation Interface
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2475-2499
Learning Visual Parkour from Generated Images
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2500-2516
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2517-2541
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2542-2556
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2557-2578
Rate-Informed Discovery via Bayesian Adaptive Multifidelity Sampling
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2579-2598
Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racing
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2599-2628
Conformal Prediction for Semantically-Aware Autonomous Perception in Urban Environments
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2629-2654
Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2655-2678
OpenVLA: An Open-Source Vision-Language-Action Model
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2679-2713
Scaling Manipulation Learning with Visual Kinematic Chain Prediction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2714-2728
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2729-2749
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2750-2790
So You Think You Can Scale Up Autonomous Robot Data Collection?
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2791-2810
Multi-Transmotion: Pre-trained Model for Human Motion Prediction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2811-2827
HumanPlus: Humanoid Shadowing and Imitation from Humans
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2828-2844
Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2845-2865
Continuous Control with Coarse-to-fine Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2866-2894
Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2895-2912
Learning to Open and Traverse Doors with a Legged Manipulator
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2913-2927
Legolas: Deep Leg-Inertial Odometry
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2928-2947
Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2948-2964
DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2965-2981
Sim-to-Real Transfer via 3D Feature Fields for Vision-and-Language Navigation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2982-2995
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:2996-3014
Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3015-3026
RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3027-3052
FetchBench: A Simulation Benchmark for Robot Fetching
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3053-3071
Structured Bayesian Meta-Learning for Data-Efficient Visual-Tactile Model Estimation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3072-3093
An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3094-3106
JA-TN: Pick-and-Place Towel Shaping from Crumpled States based on TransporterNet with Joint-Probability Action Inference
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3107-3123
Lessons from Learning to Spin “Pens”
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3124-3138
Autonomous Interactive Correction MLLM for Robust Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3139-3156
Robotic Control via Embodied Chain-of-Thought Reasoning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3157-3181
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3182-3211
SLR: Learning Quadruped Locomotion without Privileged Information
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3212-3224
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3225-3241
Task Success Prediction for Open-Vocabulary Manipulation Based on Multi-Level Aligned Representations
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3242-3263
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3264-3284
Progressive Multi-Modal Fusion for Robust 3D Object Detection
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3285-3303
Towards Open-World Grasping with Large Vision-Language Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3304-3332
LLARVA: Vision-Action Instruction Tuning Enhances Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3333-3355
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3356-3378
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3379-3394
JointMotion: Joint Self-Supervision for Joint Motion Prediction
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3395-3406
Body Transformer: Leveraging Robot Embodiment for Policy Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3407-3424
Adaptive Language-Guided Abstraction from Contrastive Explanations
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3425-3438
Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3439-3453
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3454-3473
RoboKoop: Efficient Control Conditioned Representations from Visual Input in Robotics using Koopman Operator
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3474-3499
Learning a Distributed Hierarchical Locomotion Controller for Embodied Cooperation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3500-3515
Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3516-3535
SHADOW: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3536-3550
Modeling Drivers’ Situational Awareness from Eye Gaze for Driving Assistance
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3551-3567
ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3568-3586
LiDARGrid: Self-supervised 3D Opacity Grid from LiDAR for Scene Forecasting
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3587-3599
CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3600-3621
T2SQNet: A Recognition Model for Manipulating Partially Observed Transparent Tableware Objects
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3622-3655
Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3656-3673
A Planar-Symmetric SO(3) Representation for Learning Grasp Detection
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3674-3687
MBC: Multi-Brain Collaborative Control for Quadruped Robots
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3688-3704
Evaluating Real-World Robot Manipulation Policies in Simulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3705-3728
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3729-3741
Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3742-3765
Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3766-3779
CoViS-Net: A Cooperative Visual Spatial Foundation Model for Multi-Robot Applications
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3780-3808
Reasoning Grasping via Multimodal Large Language Model
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3809-3827
Object-Centric Dexterous Manipulation from Human Motion Data
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3828-3846
KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3847-3865
Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3866-3887
MaIL: Improving Imitation Learning with Selective State Space Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3888-3907
Multi-Strategy Deployment-Time Learning and Adaptation for Navigation under Uncertainty
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3908-3923
ANAVI: Audio Noise Awareness using Visual of Indoor environments for NAVIgation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3924-3942
Dreamitate: Real-World Visuomotor Policy Learning via Video Generation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3943-3960
VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3961-3985
Detect Everything with Few Examples
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:3986-4004
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4005-4020
Action Space Design in Reinforcement Learning for Robot Motor Skills
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4021-4032
Teaching Robots with Show and Tell: Using Foundation Models to Synthesize Robot Policies from Language and Visual Demonstration
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4033-4050
Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4051-4065
Mobile ALOHA: Learning Bimanual Mobile Manipulation using Low-Cost Whole-Body Teleoperation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4066-4083
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4084-4099
Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4100-4118
TaMMa: Target-driven Multi-subscene Mobile Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4119-4140
What Matters in Range View 3D Object Detection
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4141-4157
Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4158-4187
ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4188-4200
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4201-4217
Visual Manipulation with Legs
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4218-4234
Learning Long-Horizon Action Dependencies in Sampling-Based Bilevel Planning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4235-4252
Context-Aware Replanning with Pre-Explored Semantic Map for Object Navigation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4253-4267
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4268-4285
Multi-Task Interactive Robot Fleet Learning with Visual World Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4286-4313
Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4314-4331
SonicSense: Object Perception from In-Hand Acoustic Vibration
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4332-4353
VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4354-4370
Neural Inverse Source Problem
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4371-4391
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4392-4409
ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4410-4424
Learning to Look: Seeking Information for Decision Making via Policy Factorization
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4425-4445
Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4446-4462
Simple Masked Training Strategies Yield Control Policies That Are Robust to Sensor Failure
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4463-4482
Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4483-4494
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4495-4508
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4509-4524
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4525-4545
Leveraging Mutual Information for Asymmetric Learning under Partial Observability
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4546-4572
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4573-4602
Fleet Supervisor Allocation: A Submodular Maximization Approach
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4603-4630
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4631-4650
Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4651-4669
Handling Long-Term Safety and Uncertainty in Safe Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4670-4697
DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4698-4726
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4727-4747
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4748-4770
Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4771-4792
Learning Performance-oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4793-4804
Autonomous Improvement of Instruction Following Skills via Foundation Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4805-4825
Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4826-4843
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4844-4865
GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4866-4878
UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4879-4894
ACE: A Cross-platform and visual-Exoskeletons System for Low-Cost Dexterous Teleoperation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4895-4911
Automated Creation of Digital Cousins for Robust Policy Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4912-4943
D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4944-4966
Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detection
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4967-4980
Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4981-4995
Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:4996-5013
In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5014-5029
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5030-5066
EquiGraspFlow: SE(3)-Equivariant 6-DoF Grasp Pose Generative Flows
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5067-5086
Promptable Closed-loop Traffic Simulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5087-5105
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5106-5133
Learning Differentiable Tensegrity Dynamics using Graph Neural Networks
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5134-5149
IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5150-5165
Bimanual Dexterity for Complex Tasks
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5166-5183
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5184-5203
Continuously Improving Mobile Manipulation with Autonomous Real-World RL
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5204-5219
Twisting Lids Off with Two Hands
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5220-5235
PointPatchRL - Masked Reconstruction Improves Reinforcement Learning on Point Clouds
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5236-5253
UMI-on-Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5254-5270
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5271-5293
Accelerating Visual Sparse-Reward Learning with Latent Nearest-Demonstration-Guided Explorations
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5294-5311
Learning Transparent Reward Models via Unsupervised Feature Selection
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5312-5325
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5326-5350
Genetic Algorithm for Curriculum Design in Multi-Agent Reinforcement Learning
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5351-5372
Multi-agent Reinforcement Learning with Hybrid Action Space for Free Gait Motion Planning of Hexapod Robots
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5373-5388
Trajectory Improvement and Reward Learning from Comparative Language Feedback
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5389-5404
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5405-5433
Learning Robotic Locomotion Affordances and Photorealistic Simulators from Human-Captured Data
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5434-5445
EscIRL: Evolving Self-Contrastive IRL for Trajectory Prediction in Autonomous Driving
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5446-5465
Provably Safe Online Multi-Agent Navigation in Unknown Environments
; Proceedings of The 8th Conference on Robot Learning, PMLR 270:5466-5486
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