sotahi/corl2024_paper_list huggingface dataset:
JointMotion: Joint Self-Supervision for Joint Motion Prediction
Authors: Royden Wagner, Omer Sahin Tas, Marvin Klemp, Carlos Fernandez
Affiliations: Karlsruhe Institute of Technology, FZI Research Center for Information Technology
Presentation: Poster
Keywords: Self-supervised learning, representation learning, multimodal pre-training, motion prediction, data-efficient learning
Robot type: autonomus vehicle
Simulation environment: -
Real robot: -
Real sensor: -
Provably Safe Online Multi-Agent Navigation in Unknown Environments
Authors: Zhan Gao, Guang Yang, Jasmine Bayrooti, Amanda Prorok
Affiliations: University of Cambridge
Presentation: Poster
Keywords: Decentralized Multi-Agent Navigation, Unknown Environment, Support Vector Machine, Graph Attention Learning, Control Barrier Function
Robot type: Multi-agent systems
Simulation environment: -
Real robot: -
Real sensor: -
Modeling the Real World with High-Density Visual Particle Dynamics
Authors: William F Whitney, Jake Varley, Deepali Jain, Krzysztof Marcin Choromanski, Sumeet Singh, Vikas Sindhwani
Affiliations: Google DeepMind
Presentation: Poster
Keywords: point clouds, particle dynamics, world models for control, Performers
Robot type: Bimanual Arm
Simulation environment: -
Real robot: Kuka iiwa
Real sensor: realsense D415, realsense D405
Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detection
Authors: Huang-Yu Chen, Jia-Fong Yeh, Jiawei, Pin-Hsuan Peng, Winston H. Hsu
Affiliations: National Taiwan University, MobileDrive
Presentation: Poster
Keywords: Active Learning, LiDAR 3D Object Detection, Autonomous Driving
Robot type: autonomus vehicle
Simulation environment: -
Real robot: -
Real sensor: -
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
Authors: Jan Bruedigam, Ali Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Georg Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h
Affiliations: TU Munich, Boston Dynamics AI Institute
Presentation: Poster
Keywords: Dexterous Manipulation Planning, Learning with Demonstrations
Robot type: quadruped
Simulation environment: -
Real robot: spot
Real sensor: OptiTrack
Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving
Authors: Thomas Tian, Boyi Li, Xinshuo Weng, Yuxiao Chen, Edward Schmerling, Yue Wang, Boris Ivanovic, Marco Pavone
Affiliations: NVIDIA, University of California, UC Berkeley, University of Southern California, Stanford University
Presentation: Poster
Keywords: Multi-modal LLM, Autonomous Driving, Representation Alignment
Robot type: autonomus vehicle
Simulation environment: -
Real robot: -
Real sensor: -
Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework
Authors: Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin
Affiliations: Munich Institute of Robotics and Machine Intelligence, Technical University of Munich
Presentation: Poster
Keywords: Learning from Demonstration, Online Adaptation, Tactile Skill, Teleoperation, Autonomy Allocation
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: -
ANAVI: Audio Noise Awareness using Visual of Indoor environments for NAVIgation
Authors: Vidhi Jain, Rishi Veerapaneni, Yonatan Bisk
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: Robots, Acoustic Noise, Vision, Learning
Robot type: quadruped, Mobile Manipulator
Simulation environment: Habitat 2.0
Real robot: Hello Robot Stretch, Unitree Go2
Real sensor: -
Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation
Authors: Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, David Fan, Wenshan Wang, Sebastian Scherer
Affiliations: Carnegie Mellon University Robotics Institute, Field AI
Presentation: Poster
Keywords: Field Robotics, Self-Supervised Learning, Visual Foundation Models
Robot type: autonomus vehicle
Simulation environment: -
Real robot: -
Real sensor: -
Adaptive Language-Guided Abstraction from Contrastive Explanations
Authors: Andi Peng, Belinda Z. Li, Ilia Sucholutsky, Nishanth Kumar, Julie Shah, Jacob Andreas, Andreea Bobu
Affiliations: MIT, Princeton, The AI Institute
Presentation: Poster
Keywords: reward learning, language-guided abstraction, reward features
Robot type: quadruped
Simulation environment: PyBullet
Real robot: spot
Real sensor: -
Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision
Authors: Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, Jens Lundell, Jeffrey Ichnowski, Mårten Björkman, Danica Kragic
Affiliations: KTH Royal Institute of Technology, Carnegie Mellon University
Presentation: Poster
Keywords: 3D State Representations, Gaussian Splatting, Deformable Objects, Vision-based Tracking
Robot type: Arm
Simulation environment: NVIDIA Flex
Real robot: Franka Panda
Real sensor: realsense D435
OrbitGrasp: SE(3)-Equivariant Grasp Learning
Authors: Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt
Affiliations: Northeastern University, Boston Dynamics AI Institute
Presentation: Poster
Keywords: Grasp Detection, Equivariance, Symmetry, Grasp Learning
Robot type: Arm
Simulation environment: PyBullet
Real robot: UR5, Robotiq 85
Real sensor: realsense D455
Learning Long-Horizon Action Dependencies in Sampling-Based Bilevel Planning
Authors: Bartłomiej Cieślar, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Jorge Mendez-Mendez
Affiliations: CSAIL MIT, Stony Brook University
Presentation: Poster
Keywords:  task and motion planning, long-horizon, learning for planning
Robot type: Arm
Simulation environment: PyBullet
Real robot: -
Real sensor: -
Reasoning Grasping via Multimodal Large Language Model
Authors: Shiyu Jin, JINXUAN XU, Yutian Lei, Liangjun Zhang
Affiliations: Baidu Research, Rutgers University
Presentation: Poster
Keywords: Robotics Grasping, Multimodal Large Language Model
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: Azure Kinect
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
Authors: Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: Diffusion models, 3D representations, manipulation, imitation learning
Robot type: Arm
Simulation environment: CoppeliaSim, RLBench
Real robot: Franka Panda
Real sensor: Azure Kinect
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
Authors: Jingyun Yang, Ziang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg
Affiliations: Stanford University
Presentation: Poster
Keywords: Imitation Learning, Equivariance, Data Efficiency
Robot type: Mobile Manipulator
Simulation environment: PyBullet
Real robot: Kinova Gen3
Real sensor: ZED 2
Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures
Authors: Kensuke Nakamura, Thomas Tian, Andrea Bajcsy
Affiliations: Carnegie Mellon University, UC Berkeley
Presentation: Poster
Keywords: Human-Robot Interaction, Trajectory Prediction, Failure Detection
Robot type: mobile
Simulation environment: BITS
Real robot: LoCoBot
Real sensor: realsense D455, RPLIDAR A2
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
Authors: Yixiao Wang, Yifei Zhang, Mingxiao Huo, Thomas Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka
Affiliations: University of California, UC Berkeley, Carnegie Mellon University
Presentation: Poster
Keywords: Robot Policy, Multitask, Continual learning, Mixture of Experts
Robot type: Arm
Simulation environment: MimicGen
Real robot: FANUC LRMate 200iD/7L
Real sensor: -
Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications
Authors: Joe Eappen, Zikang Xiong, Dipam Patel, Aniket Bera, Suresh Jagannathan
Affiliations: Purdue University
Presentation: Poster
Keywords: Multi-Robot Systems, Path Planning for Multiple Mobile Robots or Agents, Collision Avoidance, Hybrid Logical/Dynamical Planning and Verification, Deep Learning Methods
Robot type: multicopter
Simulation environment: -
Real robot: DJI Tello
Real sensor: -
Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions
Authors: Zhenyu Jiang, Yuqi Xie, Jinhan Li, Ye Yuan, Yifeng Zhu, Yuke Zhu
Affiliations: The University of Texas at Austin, NVIDIA Research  
Presentation: Poster
Keywords: Humanoid Robot, Whole-Body Motion Generation
Robot type: Humanoid
Simulation environment: IsaacSim
Real robot: Fourier GR1
Real sensor: -
Learning Differentiable Tensegrity Dynamics using Graph Neural Networks
Authors: Nelson Chen, Kun Wang, William R. Johson III, Rebecca Kramer-Bottiglio, Kostas Bekris, Mridul Aanjaneya
Affiliations: Rutgers University, Amazon Robotics, Yale University
Presentation: Poster
Keywords: graph neural networks, differentiable simulation, tensegrity robots
Robot type: Tensegrity
Simulation environment: MuJoCo
Real robot: -
Real sensor: -
DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
Authors: William Xie, Maria Valentini, Jensen Lavering, Nikolaus Correll
Affiliations: University of Colorado at Boulder
Presentation: Poster
Keywords: contact-rich manipulation, adaptive grasping, force control, produce manipulation
Robot type: Gripper
Simulation environment: -
Real robot: Dynamixel AX-12
Real sensor: realsense D405
SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning
Authors: Mohammadreza Kasaei, Hamidreza Kasaei, Mohsen Khadem
Affiliations: University of Edinburgh, University of Groningen, 
Presentation: Poster
Keywords: Simulation Framework, Soft Robotics, Mathematical Modelling, Robot Learning
Robot type: Continuum Manipulator
Simulation environment: PyBullet
Real robot: Self Created
Real sensor: -
Learning to Look: Seeking Information for Decision Making via Policy Factorization
Authors: Shivin Dass, Jiaheng Hu, Ben Abbatematteo, Peter Stone, Roberto Martín-Martín
Affiliations: The University of Texas at Austin, Sony AI
Presentation: Poster
Keywords: Active Vision, Manipulation, Interactive Perception
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: TIAGo
Real sensor: -
VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning
Authors: Lei Huang, Weijia Cai, Zihan Zhu, Chen Feng, Helge Rhodin, Zhengbo Zou
Affiliations: Columbia University, Brown University,New York University, University of British Columbia
Presentation: Poster
Keywords: Inverse Reinforcement Learning, Learning from Video, Graph Network
Robot type: Arm
Simulation environment: MimicGen
Real robot: xArm 6
Real sensor: realsense D435
Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction
Authors: Jakob Thumm, Christopher Agia, Marco Pavone, Matthias Althoff
Affiliations: Technical University of Munich, Stanford University
Presentation: Poster
Keywords: Human-Robot Interaction, Human Preference Learning, Task and Motion Planning, Safe Control
Robot type: Arm
Simulation environment: -
Real robot: Franka Research 3
Real sensor: -
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
Authors: Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn, Karol Hausman
Affiliations: Stanford University, Google DeepMind
Presentation: Poster
Keywords: representation learning, manipulation, visual features
Robot type: Arm
Simulation environment: franka kitchen, MetaWorld
Real robot: -
Real sensor: -
Simple Masked Training Strategies Yield Control Policies That Are Robust to Sensor Failure
Authors: Skand Skand, Bikram Pandit, Chanho Kim, Li Fuxin, Stefan Lee
Affiliations: Oregon State University
Presentation: Poster
Keywords: Reinforcement Learning, Robustness, Sensorimotor Learning
Robot type: bipedal
Simulation environment: ManiSkill2
Real robot: Cassie
Real sensor: -
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation
Authors: Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao
Affiliations: Tsinghua University, Shanghai Qi Zhi Institute, Shanghai Artificial Intelligence Laboratory
Presentation: Poster
Keywords: Robotic Manipulation, Sample Efficiency
Robot type: Arm
Simulation environment: CoppeliaSim
Real robot: Franka Panda
Real sensor: realsense L515
Bimanual Dexterity for Complex Tasks
Authors: Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, Deepak Pathak
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: Dexterous Manipulation, Bimanual, Behavior Cloning
Robot type: Bimanual Arm
Simulation environment: -
Real robot: XArm 6, LEAP Hand
Real sensor: Apple Vision Pro
Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance
Authors: Mitsuhiko Nakamoto, Oier Mees, Aviral Kumar, Sergey Levine
Affiliations: UC Berkeley, Carnegie Mellon University, Google DeepMind
Presentation: Poster
Keywords: generalist policies, value functions, robot reinforcement learning
Robot type: Arm
Simulation environment: SIMPLER
Real robot: WindowX 250
Real sensor: -
MBC: Multi-Brain Collaborative Control for Quadruped Robots
Authors: Hang Liu, Yi Cheng, Rankun Li, Xiaowen Hu, Linqi Ye, Houde Liu
Affiliations: Tsinghua University, University of Michigan, Shanghai University
Presentation: Poster
Keywords: Quadruped Robots, Perception Fails, Multi-Brain Collaborative
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: Unitree go2
Real sensor: -
Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation
Authors: Vivek Myers, Chunyuan Zheng, Oier Mees, Kuan Fang, Sergey Levine
Affiliations: University of California, UC Berkeley
Presentation: Poster
Keywords: Reinforcement Learning, Vision-Language Models, Manipulation
Robot type: Arm
Simulation environment: -
Real robot: WindowX 250
Real sensor: -
Trajectory Improvement and Reward Learning from Comparative Language Feedback
Authors: Zhaojing Yang, Miru Jun, Jeremy Tien, Stuart Russell, Anca Dragan, Erdem Biyik
Affiliations: University of Southern California, University of California, UC Berkeley
Presentation: Poster
Keywords: Learning from Human Language Feedback, Reward Learning, Human-Robot Interaction
Robot type: Arm
Simulation environment: Robosuite, MetaWorld
Real robot: WindowX 250
Real sensor: -
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
Authors: Yi Zhao, Le Chen, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler
Affiliations: Max Planck Institute for Intelligent Systems, Aalto University , University of Southern California , University of Oulu
Presentation: Poster
Keywords: Bi-manual dexterous robot hands, dataset for robot piano playing, imitation learning, robot learning at scale
Robot type: Bimanual Arm
Simulation environment: robopianist
Real robot: -
Real sensor: -
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior
Authors: Ruihan Yang, Zhuoqun Chen, Jianhan Ma, Chongyi Zheng, Yiyu Chen, Quan Nguyen, Xiaolong Wang
Affiliations: UC San Diego, Carnegie Mellon University, USC
Presentation: Poster
Keywords: Legged Robots, Imitation Learning, Agile Locomotion
Robot type: quadruped
Simulation environment: WASABI(Isaac Gym)
Real robot: unitree a1
Real sensor: -
Visual Manipulation with Legs
Authors: Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang
Affiliations: University of Illinois Urbana-Champaign, UC San Diego, Carnegie Mellon University
Presentation: Poster
Keywords: Legged robots, Non-prehensile manipulation, Reinforcement Learning
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: unitree a1
Real sensor: -
Learning Visual Parkour from Generated Images
Authors: Alan Yu, Ge Yang, Ran Choi, Yajvan Ravan, John Leonard, Phillip Isola
Affiliations: MIT CSAIL, Institute of AI and Fundamental Interactions (IAIFI)
Presentation: Poster
Keywords: Generative AI, Simulation, Legged Locomotion, Sensory Motor-learning
Robot type: quadruped
Simulation environment: MuJoCo
Real robot: unitree go1
Real sensor: -
Q-SLAM: Quadric Representations for Monocular SLAM
Authors: Chensheng Peng, Chenfeng Xu, Yue Wang, Mingyu Ding, Heng Yang, Masayoshi Tomizuka, Kurt Keutzer, Marco Pavone, Wei Zhan
Affiliations: UC Berkeley, NVIDIA
Presentation: Poster
Keywords: Neural Radiance Fields, Simultaneous Localization and Mapping
Robot type: Mobile
Simulation environment: Replica,ScanNet,TUM RGB-D
Real robot: -
Real sensor: -
Pre-emptive Action Revision by Environmental Feedback for Embodied Instruction Following Agents
Authors: Jinyeon Kim, Cheolhong Min, Byeonghwi Kim, Jonghyun Choi
Affiliations: Seoul National University, Yonsei University
Presentation: Poster
Keywords: Replanning, Environmental Feedback, Brain plasticity, Embodied AI
Robot type: Arm
Simulation environment: ALFRED, TEACh
Real robot: UR5, on-robot gripper
Real sensor: -
Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving
Authors: Kairui Ding, Boyuan Chen, Yuchen Su, Huan-ang Gao, Bu Jin, Chonghao Sima, Xiaohui Li, Wuqiang Zhang, Paul Barsch, Hongyang Li, Hao Zhao
Affiliations: Institute for AI Industry Research (AIR), Tsinghua University, Mercedes-Benz Group China Ltd. Xingjian College, Tsinghua University, OpenDriveLab, Shanghai AI Lab
Presentation: Poster
Keywords: Interpretability, Language alignment, Autonomous driving
Robot type: autonomus vehicle
Simulation environment: nuScenes
Real robot: -
Real sensor: -
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation
Authors: Junli Ren, Yikai Liu, Yingru Dai, Junfeng Long, Guijin Wang
Affiliations: Department of Electronic Engineering,Tsinghua University,ShanghaiTech University
Presentation: Poster
Keywords: Navigation, Task Planning, Reinforcement Learning
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: unitree go1,unitree go2
Real sensor: realsense D435i
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation
Authors: Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto
Affiliations: New York University, Meta
Presentation: Poster
Keywords: Teleoperation, Robot Learning, Robotic Manipulation
Robot type: Bimanual Arm
Simulation environment: IsaacGym, LIBERO, Allegro Sim
Real robot: Franka Panda, Allegro Hand, Kinova Jaco,xArm7, Hello Stretch
Real sensor: -
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope
Authors: Haodi Hu, Feifei Qian, Daniel Seita
Affiliations: University of Southern California
Presentation: Poster
Keywords: Granular media, Avalanche dynamics, Legged robots.
Robot type: quadruped
Simulation environment: -
Real robot: Self Created
Real sensor: -
Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks
Authors: Jialiang Zhao, Yuxiang Ma, Lirui Wang, Edward Adelson
Affiliations: MIT CSAIL
Presentation: Poster
Keywords: Tactile Sensing, Representation Learning, Heterogeneous Learning, Robot Manipulation, Robot Learning
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda, 3-axis CNC mill
Real sensor: GelSight, Digit
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
Authors: Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, Yunzhu Li
Affiliations: Columbia University, University of Illinois Urbana-Champaign, University of Washington
Presentation: Poster
Keywords: Contact-Rich Manipulation, Multi-Modal Perception, Tactile Sensing, Imitation Learning
Robot type: dual arm
Simulation environment: -
Real robot: ALOHA
Real sensor: realsense D455, realsense D435
Theia: Distilling Diverse Vision Foundation Models for Robot Learning
Authors: Jinghuan Shang, Karl Schmeckpeper, Brandon B. May, Maria Vittoria Minniti, Tarik Kelestemur, David Watkins, Laura Herlant
Affiliations: The AI Institute,Stony Brook University
Presentation: Poster
Keywords: visual representation, robot learning, distillation, foundation model
Robot type: Arm, quadruped
Simulation environment: CortexBench,Adroit,DeepMind Control Suite,MetaWorld ,Habitat,ImageNav,ObjectNav, MobilePick ,Trifinger
Real robot: WindowX 250, spot
Real sensor: -
CoViS-Net: A Cooperative Visual Spatial Foundation Model for Multi-Robot Applications
Authors: Jan Blumenkamp, Steven Morad, Jennifer Gielis, Amanda Prorok
Affiliations: Department of Computer Science and Technology, University of Cambridge
Presentation: Poster
Keywords: Multi-Robot Systems, Robot Perception, Foundation Models
Robot type: mobile
Simulation environment: HM3D
Real robot: Cambridge RoboMasters, unitree go1
Real sensor: -
RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
Authors: Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li
Affiliations: Columbia University, University of Illinois Urbana-Champaign, Amazon, Peking University, National University of Singapore
Presentation: Poster
Keywords: Action-Conditioned Scene Graph, Foundation Models for Robotics, Scene Exploration, Robotic Manipulation
Robot type: Arm
Simulation environment: -
Real robot: xArm 7
Real sensor: realsense D455
Task Success Prediction for Open-Vocabulary Manipulation Based on Multi-Level Aligned Representations
Authors: Miyu Goko, Motonari Kambara, Daichi Saito, Seitaro Otsuki, Komei Sugiura
Affiliations: Keio University
Presentation: Poster
Keywords: Task Success Prediction, Open-Vocabulary Manipulation, Multi-Level Aligned Visual Representation
Robot type: Mobile Manipulator
Simulation environment: RT-1 dataset
Real robot: Toyota HSR
Real sensor: -
A3VLM: Actionable Articulation-Aware Vision Language Model
Authors: Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong, Abdeslam Boularias, Peng Gao, Hongsheng Li
Affiliations: Shanghai Jiao Tong University, Shanghai AI Laboratory, Rutgers University, Yuandao AI, Peking University, CUHK MMLab
Presentation: Poster
Keywords: LLM, VLM, Manipulation, Articulation
Robot type: Arm
Simulation environment: PartNet-Mobility
Real robot: Kuka,Robotiq three-finger gripper
Real sensor: RealSense D415
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Authors: Alexander Luis Mitchell, Wolfgang Merkt, Aristotelis Papatheodorou, Ioannis Havoutis, Ingmar Posner
Affiliations: Applied AI Lab, Dynamic Robot Systems Control University of Oxford
Presentation: Poster
Keywords: Representation Learning, Learning for Control, Quadruped Control
Robot type: quadruped
Simulation environment: -
Real robot: ANYmal C platform
Real sensor: -
Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation
Authors: Hanjiang Hu, Yujie Yang, Tianhao Wei, Changliu Liu
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: Learning for control, control barrier function, formal verification
Simulation environment: Point Robot, Dubins Car, Quadrotor
Real robot: -
Real sensor: -
Leveraging Mutual Information for Asymmetric Learning under Partial Observability
Authors: Hai Huu Nguyen, Long Dinh Van The, Christopher Amato, Robert Platt
Affiliations: Khoury College of Computer Sciences, Northeastern University
Presentation: Poster
Keywords: Partial Observability, Mutual Information, Reinforcement Learning
Robot type: Arm
Simulation environment: PyBullet
Real robot: UR5, robotiq gripper
Real sensor: RealSense D455
Multi-Strategy Deployment-Time Learning and Adaptation for Navigation under Uncertainty
Authors: Abhishek Paudel, Xuesu Xiao, Gregory J. Stein
Affiliations: Department of Computer Science George Mason University
Presentation: Poster
Keywords: policy selection, domain adaptation, navigation under uncertainty
Robot type: Agent
Simulation environment: -
Real robot: -
Real sensor: -
Structured Bayesian Meta-Learning for Data-Efficient Visual-Tactile Model Estimation
Authors: Shaoxiong Yao, Yifan Zhu, Kris Hauser
Affiliations: University of Illinois at Urbana-Champaign, Yale University
Presentation: Poster
Keywords: Multimodal perception, tactile sensing, few-shot learning
Robot type: Arm
Simulation environment: -
Real robot: Kinova Gen3
Real sensor: Kinect Azure