sotahi/corl2024_paper_list huggingface dataset:
Object-Centric Dexterous Manipulation from Human Motion Data
Authors: Yuanpei Chen, Chen Wang, Yaodong Yang, Karen Liu
Affiliations: Stanford University, Peking University
Presentation: Poster
Keywords: Dexterous Manipulation, Reinforcement Learning, Learning from Human
Robot type: dual arm
Simulation environment: IsaacGym
Real robot: UR10e, Shadow Hands
Real sensor: Femto Bolt
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
Authors: Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox
Affiliations: NVIDIA
Presentation: Poster
Keywords: Imitation Learning, Manipulation, Planning
Robot type: Arm
Simulation environment: MimicGen
Real robot: Franka Panda
Real sensor: realsense D415, realsense D435
DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands
Authors: Fengbo Lan, Shengjie Wang, Yunzhe Zhang, Haotian Xu, Oluwatosin OluwaPelumi Oseni, Ziye Zhang, Yang Gao, Tao Zhang
Affiliations: Tsinghua University, Shanghai Artificial Intelligence Laboratory, Shanghai Qi Zhi Institute, Colorado School of Mines
Presentation: Poster
Keywords: Reinforcement Learning, Dexterous Manipulation, System Stability
Robot type: Hand
Simulation environment: Pybullet
Real robot: FAIRINO ROBOT 3
Real sensor: realsense D435
Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance
Authors: RenMing Huang, Shaochong Liu, Yunqiang Pei, Peng Wang, Guoqing Wang, Yang Yang, Heng Tao Shen
Affiliations: University of Electronic Science and Technology of China, School of Computer Science and Technology, Tongji University
Presentation: Poster
Keywords: Goal-Reaching, Long-Horizon, Non-Expert Observation Data
Robot type: Arm, mobile manipulator
Simulation environment: OpenAI Gym, CALVIN
Real robot: -
Real sensor: -
Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning
Authors: Adam Fishman, Aaron Walsman, Mohak Bhardwaj, Wentao Yuan, Balakumar Sundaralingam, Byron Boots, Dieter Fox
Affiliations: University of Washington, NVIDIA
Presentation: Poster
Keywords: Imitation Learning, Robotics, Collision Avoidance, Fine Tuning, Motion Planning
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: Kinect V2
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
Authors: Max Yang, chenghua lu, Alex Church, Yijiong Lin, Christopher J. Ford, Haoran Li, Efi Psomopoulou, David A.W. Barton, Nathan F. Lepora
Affiliations: University of Bristol
Presentation: Poster
Keywords: Tactile Sensing, In-hand Object Rotation, Reinforcement Learning
Robot type: Hand
Simulation environment: IsaacGym
Real robot: UR5, allegro hand
Real sensor: Self created
KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance
Authors: Jingxian Lu, Wenke Xia, Dong Wang, Zhigang Wang, Bin Zhao, Di Hu, Xuelong Li
Affiliations: Gaoling School of Artificial Intelligence, Renmin University of China, Shanghai Artificial Intelligence Laboratory, Northwestern Polytechnical University, Institute of Artificial Intelligence, China Telecom Corp Ltd
Presentation: Poster
Keywords: Online Imitation Learning; Robotic Manipulation
Robot type: Arm
Simulation environment: LIBERO, MetaWorld
Real robot: XArm, robotiq gripper
Real sensor: -
Learning to Open and Traverse Doors with a Legged Manipulator
Authors: Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter
Affiliations: Robotic Systems Lab, ETH Zurich
Presentation: Poster
Keywords: Mobile Manipulation, Legged Manipulator, Reinforcement Learning, Door Opening
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: Anymal
Real sensor: -
In-Flight Attitude Control of a Quadruped using Deep Reinforcement Learning
Authors: Tarek El-Agroudi, Finn Gross Maurer, Jørgen Anker Olsen, Kostas Alexis
Affiliations: Norwegian University of Science and Technology 
Presentation: Poster
Keywords: Deep Reinforcement Learning, Legged Robotics
Robot type: quadruped
Simulation environment: IsaacSim
Real robot: Eurepus
Real sensor: -
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Authors: Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Sophia Shao, Borivoje Nikolic, Koushil Sreenath
Affiliations: UC Berkeley, Simon Fraser University
Presentation: Poster
Keywords: Offline Learning, Bipedal Walking, Imitation Learning
Robot type: quadruped, bipedal
Simulation environment: IsaacGym, MuJoCo
Real robot: unitree go1
Real sensor: -
ClutterGen: A Cluttered Scene Generator for Robot Learning
Authors: Yinsen Jia, Boyuan Chen
Affiliations: Duke University
Presentation: Poster
Keywords: Simulation Scene Generation, Manipulation, Robot Learning
Robot type: Arm
Simulation environment: PartNet-Mobility, Objaverse, YCB
Real robot: Franka Panda
Real sensor: realsense
HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulation
Authors: Jin Wang, Rui Dai, Weijie Wang, Luca Rossini, Francesco Ruscelli, Nikos Tsagarakis
Affiliations: Istituto Italiano di Tecnologia
Presentation: Poster
Keywords: Loco-manipulation, Large Language Models, Humanoid Robot Learning
Robot type: quadruped, dual arm
Simulation environment: IsaacGym
Real robot: Self Created
Real sensor: realsense D435i
SoloParkour: Constrained Reinforcement Learning for Visual Locomotion from Privileged Experience
Authors: Elliot Chane-Sane, Joseph Amigo, Thomas Flayols, Ludovic Righetti, Nicolas Mansard
Affiliations: LAAS-CNRS, New York University, ANITI
Presentation: Poster
Keywords: Reinforcement Learning, Agile Locomotion, Visuomotor Control
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: SOLO 12
Real sensor: RealSense D405
Learning Performance-oriented Control Barrier Functions Under Complex Safety Constraints and Limited Actuation
Authors: Lakshmideepakreddy Manda, Shaoru Chen, Mahyar Fazlyab
Affiliations: Johns Hopkins University, Microsoft Research
Presentation: Poster
Keywords: Control Barrier Functions, Safety, Hamilton-Jacobi Partial Differential Equation
Robot type: Aircraft
Simulation environment: -
Real robot: -
Real sensor: -
Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills
Authors: Tianhao Wei, Liqian Ma, Rui Chen, Weiye Zhao, Changliu Liu
Affiliations: Carnegie Mellon University, Tsinghua University
Presentation: Poster
Keywords: embodied agent, model-based control, LLM, manipulation
Robot type: Arm
Simulation environment: Drake
Real robot: Kinova Gen3
Real sensor: -
Dreaming to Assist: Learning to Align with Human Objectives for Shared Control in High-Speed Racing
Authors: Jonathan DeCastro, Andrew Silva, Deepak Gopinath, Emily Sumner, Thomas Matrai Balch, Laporsha Dees, Guy Rosman
Affiliations: Toyota Research Institute
Presentation: Poster
Keywords: Recurrent State-Space Models, Human-Robot Interactions, Shared-Control
Robot type: autonomus vehicle
Simulation environment: CARLA
Real robot: -
Real sensor: -
Neural Inverse Source Problem
Authors: Youngsun Wi, Jayjun Lee, Miquel Oller, Nima Fazeli
Affiliations: University of Michigan
Presentation: Poster
Keywords: Inverse source problem, Physics informed neural network
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: ATI Gamma
Region-aware Grasp Framework with Normalized Grasp Space for Efficient 6-DoF Grasping
Authors: Siang Chen, Pengwei Xie, Wei Tang, Dingchang Hu, Yixiang Dai, Guijin Wang
Affiliations: Tsinghua University, Shanghai AI Laboratory
Presentation: Poster
Keywords: 6-DoF Grasping, RGBD Perception, Normalized Space, Heatmap
Robot type: Arm
Simulation environment: -
Real robot: UR5e,Robotiq gripper
Real sensor: realsense, azure kinect
ALOHA Unleashed: A Simple Recipe for Robot Dexterity
Authors: Tony Z. Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour, Chelsea Finn, Ayzaan Wahid
Affiliations: Google DeepMind
Presentation: Poster
Keywords: Imitation Learning, Manipulation
Robot type: Bimanual Arm
Simulation environment: MuJoCo
Real robot: ALOHA 2
Real sensor: -
UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments
Authors: Chunru Lin, Jugang Fan, Yian Wang, Zeyuan Yang, Zhehuan Chen, Lixing Fang, Tsun-Hsuan Wang, Zhou Xian, Chuang Gan
Affiliations: University of Massachusetts Amherst, Massachusetts Institute of Technology, Carnegie Mellon University,MIT-IBM Watson AI Lab
Presentation: Poster
Keywords: Soft-Body Manipulation, Locomotion, Physics Simulation
Robot type: Arm
Simulation environment: Taichi
Real robot: XArm
Real sensor: -
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception
Authors: Anushri Dixit, Zhiting Mei, Meghan Booker, Mariko Storey-Matsutani, Allen Z. Ren, Anirudha Majumdar
Affiliations: Princeton University
Presentation: Poster
Keywords: Uncertainty quantification, occupancy prediction, robot navigation
Robot type: quadruped
Simulation environment: Pybullet
Real robot: unitree go1
Real sensor: ZED 2i,ZED
What Matters in Range View 3D Object Detection
Authors: Benjamin Wilson, Nicholas Autio Mitchell, Jhony Kaesemodel Pontes, James Hays
Affiliations: Georgia Institute of Technology, University of Freiburg, Latitude AI
Presentation: Poster
Keywords: 3D Object Detection, 3D Perception, Autonomous Driving
Robot type: autonomus vehicle
Simulation environment: Argoverse 2, Waymo open dataset
Real robot: -
Real sensor: -
Sparsh: Self-supervised touch representations for vision-based tactile sensing
Authors: Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam
Affiliations: FAIR at Meta, University of Washington, Carnegie Mellon University
Presentation: Poster
Keywords: Tactile sensing, Pre-trained representations, Self-supervised learning
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda, Allegro hand
Real sensor: Digit, GelSight
SHADOW: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer
Authors: Marion Lepert, Ria Doshi, Jeannette Bohg
Affiliations: Stanford University, UC Berkeley
Presentation: Poster
Keywords: Cross-embodiment learning, Imitation Learning, Manipulation
Robot type: Arm
Simulation environment: MimicGen,  Robomimic
Real robot: Franka Panda, Robotiq gripper, UR5e
Learning a Distributed Hierarchical Locomotion Controller for Embodied Cooperation
Authors: Chuye Hong, Kangyao Huang, Huaping Liu
Affiliations: Tsinghua University
Presentation: Poster
Keywords: Cooperation, Locomotion, Hierarchical reinforcement learning
Robot type: Agent
Simulation environment: IsaacSim
Real robot: -
Real sensor: -
Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor
Authors: Anish Bhattacharya, Marco Cannici, Nishanth Rao, Yuezhan Tao, Vijay Kumar, Nikolai Matni, Davide Scaramuzza
Affiliations: University of Pennsylvania, University of Zurich
Presentation: Poster
Keywords: event-based vision, learning for control, simulation-to-real transfer, aerial robotics
Robot type: quadrotor
Simulation environment: -
Real robot: -
Real sensor: realsense D435, Prophesee Gen3.1 VGA
Genetic Algorithm for Curriculum Design in Multi-Agent Reinforcement Learning
Authors: Yeeho Song, Jeff Schneider
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: Reinforcement Learning, Multiagent Learning, Curricular Learning
Robot type: Agent
Simulation environment: OpenAI Gym
Real robot: -
Real sensor: -
EquiGraspFlow: SE(3)-Equivariant 6-DoF Grasp Pose Generative Flows
Authors: Byeongdo Lim, Jongmin Kim, Jihwan Kim, Yonghyeon Lee, Frank C. Park
Affiliations: Seoul National University, Korea Institute For Advanced Study, SAIGE
Presentation: Poster
Keywords: 6-DoF grasp pose generation, equivariance, generative models, continuous normalizing flows
Robot type: Arm
Simulation environment: IsaacGym
Real robot: Franka Panda
Real sensor: realsense D435
Continuously Improving Mobile Manipulation with Autonomous Real-World RL
Authors: Russell Mendonca, Emmanuel Panov, Bernadette Bucher, Jiuguang Wang, Deepak Pathak
Affiliations: Carnegie Mellon University,Boston Dynamics AI Institute 
Presentation: Poster
Keywords: Continual Learning, Mobile Manipulation, Reinforcement Learning
Robot type: quadruped
Simulation environment: -
Real robot: spot
Real sensor: -
Fleet Supervisor Allocation: A Submodular Maximization Approach
Authors: Oguzhan Akcin, Ahmet Ege Tanriverdi, Kaan Kale, Sandeep P. Chinchali
Affiliations: The University of Texas at Austin
Presentation: Poster
Keywords: Imitation Learning, Submodular Maximization, Fleet Learning
Robot type: Agent
Simulation environment: IsaacGym
Real robot: -
Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling
Authors: Mingtong Zhang, Kaifeng Zhang, Yunzhu Li
Affiliations: University of Illinois Urbana-Champaign, Columbia University
Presentation: Poster
Keywords: Dynamics Model, 3D Gaussian Splatting, Action-Conditioned Video Prediction, Model-Based Planning
Robot type: Arm
Simulation environment: -
Real robot: XArm
Real sensor: -
Exploring Under Constraints with Model-Based Actor-Critic and Safety Filters
Authors: Ahmed Agha, Baris Kayalibay, Atanas Mirchev, Patrick van der Smagt, Justin Bayer
Affiliations: Volkswagen Group
Presentation: Poster
Keywords: Model-based RL, Safe RL, Safety Filter, Exploration
Robot type: Agent
Simulation environment: Omnisafe
Real robot: -
Real sensor: -
Action Space Design in Reinforcement Learning for Robot Motor Skills
Authors: Julian Eßer, Gabriel B. Margolis, Oliver Urbann, Sören Kerner, Pulkit Agrawal
Affiliations: Fraunhofer Institute for Material Flow and Logistics IML, Massachusetts Institute of Technology
Presentation: Poster
Keywords: Reinforcement Learning, Action Spaces, Sim-to-Real
Robot type: quadruped, hybrid robot
Simulation environment: IsaacGym
Real robot: unitree go1, evoBot
Real sensor: -
Robotic Control via Embodied Chain-of-Thought Reasoning
Authors: Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, Sergey Levine
Affiliations: UC Berkeley, University of Warsaw, Stanford University
Presentation: Poster
Keywords: Vision-Language-Action Models, Embodied Chain-of-Thought Reasoning
Robot type: Arm
Simulation environment: -
Real robot: WindowX 250
Real sensor: -
LeLaN: Learning A Language-Conditioned Navigation Policy from In-the-Wild Video
Authors: Noriaki Hirose, Catherine Glossop, Ajay Sridhar, Oier Mees, Sergey Levine
Affiliations: UC Berkeley, Toyota Motor North America
Presentation: Poster
Keywords: Language-conditioned navigation policy, data augmentation
Simulation environment: -
Real robot: Self Created
Real sensor: RICOH Theta S, realsense D435i
An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild
Authors: Erik Bauer, Marc Blöchlinger, Pascal Strauch, Arman Raayatsanati, Cavelti Curdin, Robert K. Katzschmann
Affiliations: Soft Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich
Presentation: Poster
Keywords: Aerial Manipulation, Learning-Based Grasping, Autonomous Flight, Robotic Systems, Soft Grasping
Robot type: quadrotor
Simulation environment: -
Real robot: Self Created
Real sensor: -
Mobile ALOHA: Learning Bimanual Mobile Manipulation using Low-Cost Whole-Body Teleoperation
Authors: Zipeng Fu, Tony Z. Zhao, Chelsea Finn
Affiliations: stanford university
Presentation: Poster
Keywords: Mobile Manipulation, Imitation Learning
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: ALOHA
Real sensor: -
Body Transformer: Leveraging Robot Embodiment for Policy Learning
Authors: Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel
Affiliations: UC Berkeley
Presentation: Poster
Keywords: Robot Learning, Graph Neural Networks, Imitation Learning, Reinforcement Learning
Robot type: Agent
Simulation environment: IsaacGym
Real robot: unitree a1
Real sensor: -
GraspSplats: Efficient Manipulation with 3D Feature Splatting
Authors: Mazeyu Ji, Ri-Zhao Qiu, Xueyan Zou, Xiaolong Wang
Affiliations: UC San Diego
Presentation: Poster
Keywords: Zero-shot manipulation, Gaussian Splatting, Keypoint Tracking
Robot type: Arm
Simulation environment: -
Real robot: Franka Research 3, UMI gripper
Real sensor: realsense D435
CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learning
Authors: Luke Rowe, Roger Girgis, Anthony Gosselin, Bruno Carrez, Florian Golemo, Felix Heide, Liam Paull, Christopher Pal
Affiliations: Mila, Universite de Montr, Polytechnique Montreal, Princeton University,CIFAR AI Chair, Torc Robotics
Presentation: Poster
Keywords: offline reinforcement learning, autonomous driving, simulation
Robot type: Agent
Simulation environment: Waymo Open Motion Dataset
Real robot: -
Real sensor: -
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
Authors: Xuxin Cheng, Jialong Li, Shiqi Yang, Ge Yang, Xiaolong Wang
Affiliations: UC San Diego, MIT
Presentation: Poster
Keywords: Teleoperation, VR/AR, Imitation Learning
Robot type: Bimanual Arm
Simulation environment: -
Real robot: unitree H1
Real sensor: Zed mini
Dreamitate: Real-World Visuomotor Policy Learning via Video Generation
Authors: Junbang Liang, Ruoshi Liu, Ege Ozguroglu, Sruthi Sudhakar, Achal Dave, Pavel Tokmakov, Shuran Song, Carl Vondrick
Affiliations: Columbia University, Toyota Research Institute, Stanford University
Presentation: Poster
Keywords: Imitation Learning, Visuomotor Policy, Video Generation
Robot type: Arm
Simulation environment: -
Real robot: xArm 7, UR5
Real sensor: realsense D435i
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
Authors: Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, Li Fei-Fei
Affiliations: Stanford University
Presentation: Poster
Keywords: Sim-to-Real Transfer, Human-in-the-Loop, Robot Manipulation
Robot type: Arm
Simulation environment: IsaacGym
Real robot: Franka research 3
Real sensor: realsense D415, realsense D435
Scaling Manipulation Learning with Visual Kinematic Chain Prediction
Authors: Xinyu Zhang, Yuhan Liu, Haonan Chang, Abdeslam Boularias
Affiliations: Rutgers University
Presentation: Poster
Keywords: Multi-Task Robot Learning, Manipulation
Robot type: Arm
Simulation environment: Calvin, RLBench, ALOHA
Real robot: Kuka LBR iiwa
Real sensor: -
MILES: Making Imitation Learning Easy with Self-Supervision
Authors: Georgios Papagiannis, Edward Johns
Affiliations: Imperial College London
Presentation: Poster
Keywords: Imitation Learning, Robotic Manipulation, Self-Supervised Data Collection
Robot type: Arm
Simulation environment: RLBench
Real robot: Franka Panda
Real sensor: FLIR
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
Authors: Pu Hua, Minghuan Liu, Annabella Macaluso, Yunfeng Lin, Weinan Zhang, Huazhe Xu, Lirui Wang
Affiliations: Tsinghua University, UCSD, Shanghai Jiao Tong University, MIT CSAIL
Presentation: Poster
Keywords: Generative Simulation; Robotics; Learning
Robot type: Arm
Simulation environment: Self created
Real robot: Franka Research 3
Real sensor: realsense D435
Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design
Authors: Xiaomeng Xu, Huy Ha, Shuran Song
Affiliations: Stanford University, Columbia University
Presentation: Poster
Keywords: manipulator design, hardware optimization, diffusion model
Robot type: Gripper
Simulation environment: MujoCo
Real robot: WSG50
Real sensor: -
Shelf-Supervised Cross-Modal Pre-Training for 3D Object Detection
Authors: Mehar Khurana, Neehar Peri, James Hays, Deva Ramanan
Affiliations: IIIT Delhi , Carnegie Mellon University, Georgia Institute of Technology
Presentation: Poster
Keywords: Shelf-Supervised 3D Object Detection, Vision-Language Models, Autonomous Vehicles
Robot type: autonomus vehicle
Simulation environment: Waymo Open Dataset
Real robot: - 
Real sensor: -
EXTRACT: Efficient Policy Learning by Extracting Transferable Robot Skills from Offline Data
Authors: Jesse Zhang, Minho Heo, Zuxin Liu, Erdem Biyik, Joseph J Lim, Yao Liu, Rasool Fakoor
Affiliations: University of Southern California, KAIST, Carnegie Mellon University, Amazon Web Services
Presentation: Poster
Keywords: reinforcement learning, skill-based reinformement learning, skill learning, transfer learning, foundation models for robotics, robot learning
Robot type: Arm
Simulation environment: franka kitchen, LIBERO
Real robot: Franka Panda
Real sensor: realsense D435
Lessons from Learning to Spin “Pens”
Authors: Jun Wang, Ying Yuan, Haichuan Che, Haozhi Qi, Yi Ma, Jitendra Malik, Xiaolong Wang
Affiliations: UC San Diego, Carnegie Mellon University, UC Berkeley
Presentation: Poster
Keywords: Dexterous In-Hand Manipulation, Reinforcement Learning
Robot type: Hand
Simulation environment: IsaacGym
Real robot: Allegro Hand
Real sensor: -
RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards
Authors: Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, Stelian Coros
Affiliations: ETH Zurich, Disney Research|Studios
Presentation: Poster
Keywords: Legged robots, Multi-Critic Reinforcement Learning, Motion Imitation
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: unitree go2
Real sensor: -
Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks
Authors: Alex Quach, Makram Chahine, Alexander Amini, Ramin Hasani, Daniela Rus
Affiliations: MIT CSAIL
Presentation: Poster
Keywords: End-to-end learning, Gaussian Splatting, Sim-to-real transfer
Robot type: quadrotor
Simulation environment: Pybullet
Real robot: DJI M300
Real sensor: iPhone 12 Pro
Learning Compositional Behaviors from Demonstration and Language
Authors: Weiyu Liu, Neil Nie, Ruohan Zhang, Jiayuan Mao, Jiajun Wu
Affiliations: Stanford University, MIT
Presentation: Poster
Keywords: Manipulation, Planning Abstractions, Learning from Language
Robot type: Arm
Simulation environment: CALVIN
Real robot: Franka panda
Real sensor: realsense
A Dual Approach to Imitation Learning from Observations with Offline Datasets
Authors: Harshit Sikchi, Caleb Chuck, Amy Zhang, Scott Niekum
Affiliations: the university of texas at austin, Meta AI,UMass Amherst
Presentation: Poster
Keywords: Learning from Observations, Imitation Learning
Robot type: Arm
Simulation environment: Robomimic
Real robot: UR5e, robotiq gripper
Real sensor: Sony Playstation Eye
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Authors: Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, Li Fei-Fei
Affiliations: Stanford University, Columbia University
Presentation: Poster
Keywords: Structural Representation, Model-Based Planning, Foundation Models
Robot type: dual arm
Simulation environment: OmniGibson
Real robot: Franka Panda
Real sensor: Femto Bolt
EscIRL: Evolving Self-Contrastive IRL for Trajectory Prediction in Autonomous Driving
Authors: Siyue Wang, Zhaorun Chen, Zhuokai Zhao, Chaoli Mao, Yiyang Zhou, Jiayu He, Albert Sibo Hu
Affiliations: CIDI Lab, University of Chicago, UNC-Chapel Hill
Presentation: Poster
Keywords: Reinforcement Learning, Trajectory Prediction, Autonomous Driving
Robot type: autonomus vehicle
Simulation environment: INTERACTION, CitySim
Real robot: -
Real sensor: -
SLR: Learning Quadruped Locomotion without Privileged Information
Authors: Shiyi Chen, Zeyu Wan, Shiyang Yan, Chun Zhang, Weiyi Zhang, Qiang Li, Debing Zhang, Fasih Ud Din Farrukh
Affiliations: Tsinghua University, Shenzhen Technology University
Presentation: Poster
Keywords: Locomotion, Reinforcement Learning, Privileged Learning
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: unitree go2
Real sensor: -
UMI-on-Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Authors: Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, Shuran Song
Affiliations: Stanford University, Columbia University, Google DeepMind
Presentation: Poster
Keywords: Manipulation, Visuo-motor Policy, Whole-body Controller
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: unitree go2
Real sensor: -