sotahi/corl2024_paper_list huggingface dataset:
Flow as the Cross-domain Manipulation Interface
Authors: Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song
Affiliations: Stanford University, Columbia University, JP Morgan AI Research, Carnegie Mellon University
Presentation: Poster
Keywords: Robots, Learning, cross-domain, cross-embodiment
Robot type: Arm
Simulation environment: MujoCo
Real robot: Ur5e,WSG50
Real sensor: realsense D415
Generalizing End-To-End Autonomous Driving In Real-World Environments Using Zero-Shot LLMs
Authors: Zeyu Dong, Yimin Zhu, Yansong Li, Kevin Mahon, Yu Sun
Affiliations: Stony Brook University, University of Illinois Chicago, Sunrise Technology Inc.
Presentation: Poster
Keywords: End-to-end Autonomous Driving, Large Vision-Language Model, Generalization
Robot type: autonomus vehicle
Simulation environment: -
Real robot: OpenBot
Real sensor: -
InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment
Authors: Yuxing Long, Wenzhe Cai, Hongcheng Wang, Guanqi Zhan, Hao Dong
Affiliations: CFCS, School of Computer Science, Peking University,PKU-Agibot Lab, School of Computer Science, Peking University,National Key Laboratory for Multimedia Information Processing, School of Computer Science, Peking University,School of Automation, Southeast University,University of Oxford
Presentation: Poster
Keywords: Generic Instruction Navigation, Zero-shot, Unexplored Environment
Robot type: Mobile
Simulation environment: Habitat
Real robot: Turtlebot 4
Real sensor: ORBBEC Astra Pro Plus
Conformal Prediction for Semantically-Aware Autonomous Perception in Urban Environments
Authors: Achref Doula, Tobias Güdelhöfer, Max Mühlhäuser, Alejandro Sanchez Guinea
Affiliations: Technical University of Darmstadt
Presentation: Poster
Keywords: Uncertainty in Robotics, Robot Perception, Semantics for Robotics
Robot type: autonomus vehicle
Simulation environment: ROAD, Waymo/ROAD++
Real robot: -
Real sensor: -
Learning H-Infinity Locomotion Control
Authors: Junfeng Long, Wenye Yu, Quanyi Li, ZiRui Wang, Dahua Lin, Jiangmiao Pang
Affiliations: OpenRobotLab, Shanghai AI Laboratory, Shanghai Jiao Tong University, Zhejiang University, The Chinese University of Hong Kong
Presentation: Poster
Keywords: Robot Learning, Quadrupedal Robot, Robust Locomotion
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: unitree A1
Real sensor: -
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
Authors: Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris M. Kitani, Changliu Liu, Guanya Shi
Affiliations: Carnegie Mellon University, Shanghai Jiao Tong University
Presentation: Poster
Keywords: Humanoid Teleoperation, Humanoid Loco-Manipulation, RL
Robot type: Humanoid
Simulation environment: IsaacGym
Real robot: unitree H1
Real sensor: -
Bi-Level Motion Imitation for Humanoid Robots
Authors: Wenshuai Zhao, Yi Zhao, Joni Pajarinen, Michael Muehlebach
Affiliations: Aalto University, Max Planck Institute for Intelligent Systems
Presentation: Poster
Keywords: Humanoid Robots, Imitation Learning, Latent Dynamics Model
Robot type: Humanoid
Simulation environment: IsaacGym
Real robot: MIT Humanoid Robot
Real sensor: -
Multi-Task Interactive Robot Fleet Learning with Visual World Models
Authors: Huihan Liu, Yu Zhang, Vaarij Betala, Evan Zhang, James Liu, Crystal Ding, Yuke Zhu
Affiliations: The University of Texas at Austin
Presentation: Poster
Keywords: Robot Manipulation, Interactive Imitation Learning, Fleet Learning
Robot type: Arm
Simulation environment: RoboCasa
Real robot: Franka Panda
Real sensor: -
Solving Offline Reinforcement Learning with Decision Tree Regression
Authors: Prajwal Koirala, Cody Fleming
Affiliations: Iowa State University
Presentation: Poster
Keywords: Offline Reinforcement Learning, Decision Trees
Robot type: Agent
Simulation environment: Gym-Mujoco, Adroit, Franka Kitchen, Pybullet
Real robot: -
Real sensor: -
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning
Authors: Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg
Affiliations: Princeton University, Stanford University, Dexterity
Presentation: Poster
Keywords: mobile manipulation, imitation learning, holonomic drive
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: Self Created
Real sensor: -
PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations
Authors: Cheng Qian, Julen Urain, Kevin Zakka, Jan Peters
Affiliations: Technical University of Munich, Technical University of Darmstadt,UC Berkeley
Presentation: Poster
Keywords: Reinforcement Learning, Imitation Learning, Robotics, Dexterous Manipulation
Robot type: Hand
Simulation environment: RoboPianist
Real robot: -
Real sensor: -
Rate-Informed Discovery via Bayesian Adaptive Multifidelity Sampling
Authors: Aman Sinha, Payam Nikdel, Supratik Paul, Shimon Whiteson
Affiliations: Waymo
Presentation: Poster
Keywords: Autonomous Driving, Rare-event Simulation, Adaptive Sampling
Robot type: autonomus vehicle
Simulation environment: Waymo Open Sim Agent Challenge
Real robot: -
Real sensor: -
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
Authors: Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox
Affiliations: UC Berkeley, NVIDIA
Presentation: Poster
Keywords: Robot Motion Planning, Diffusion Model
Robot type: Arm
Simulation environment: MπNet 
Real robot: Franka Panda
Real sensor: realsense D435
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
Authors: Shuo Cheng, Caelan Reed Garrett, Ajay Mandlekar, Danfei Xu
Affiliations: Georgia Institute of Technology, NVIDIA
Presentation: Poster
Keywords: Robot Learning, Robot Planning, Manipulation
Robot type: Arm
Simulation environment: LIBERO
Real robot: Franka Panda
Real sensor: Azure Kinect
Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs
Authors: Zhuo Xu, Hao-Tien Lewis Chiang, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada, Chelsea Finn, Peng Xu
Affiliations: Google DeepMind
Presentation: Poster
Keywords: vision-language navigation, multimodal foundation models, long-context reasoning
Robot type: Mobile Manipulator
Simulation environment: ZipNeRF
Real robot: RT-1 Robot
Real sensor: -
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
Authors: Hongyi Chen, ABULIKEMU ABUDUWEILI, Aviral Agrawal, Yunhai Han, Harish Ravichandar, Changliu Liu, Jeffrey Ichnowski
Affiliations: Carnegie Mellon University, Georgia Institute of Technology
Presentation: Poster
Keywords: Manipulation, Koopman Operator, Visual Representation Learning
Robot type: Hand
Simulation environment: ADROIT Hand
Real robot: Kinova robot
Real sensor: -
ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter
Authors: Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao, Haojie Huang, Yu Qi, Robert Platt
Affiliations: Northeastern Univeristy,Boston Dynamics AI Institute
Presentation: Poster
Keywords: Robotic Grasping, Vision-Language Models, Language Conditioned Grasping
Robot type: Arm
Simulation environment: PyBullet
Real robot: UR5,Robotiq 85 gripper
Real sensor: RealSense D455
MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking
Authors: Huaxiaoyue Wang, Kushal Kedia, Juntao Ren, Rahma Abdullah, Atiksh Bhardwaj, Angela Chao, Kelly Y Chen, Nathaniel Chin, Prithwish Dan, Xinyi Fan, Gonzalo Gonzalez-Pumariega, Aditya Kompella, Maximus Adrian Pace, Yash Sharma, Xiangwan Sun, Neha Sunkara, Sanjiban Choudhury
Affiliations: Cornell University
Presentation: Poster
Keywords: Foundation Models, Human-Robot Interaction, Model Learning
Robot type: Arm
Simulation environment: -
Real robot: franka research 3, Stretch RE1
Real sensor: realsense D435i
Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priors
Authors: Ziwei Liao, Binbin Xu, Steven L. Waslander
Affiliations: Institute for Aerospace Studies & Robotics Institute University of Toronto
Presentation: Poster
Keywords: Mapping, Objects Reconstruction, Pose Estimation, Diffusion
Robot type: Mapping
Simulation environment: ScanNet, CO3D
Real robot: -
Real sensor: -
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
Authors: Stephen Tian, Blake Wulfe, Kyle Sargent, Katherine Liu, Sergey Zakharov, Vitor Campagnolo Guizilini, Jiajun Wu
Affiliations: Stanford University, Toyota Research Institute
Presentation: Poster
Keywords: generalization, visual imitation learning, view synthesis
Robot type: Arm
Simulation environment: robomimic, MimicGen
Real robot: Franka Research 3
Real sensor: ZED 2
Contrast Sets for Evaluating Language-Guided Robot Policies
Authors: Abrar Anwar, Rohan Gupta, Jesse Thomason
Affiliations: University of Southern California
Presentation: Poster
Keywords: Evaluation, Language-guided robots
Robot type: mobile
Simulation environment: Language-Table
Real robot: Locobot
Real sensor: -
T2SQNet: A Recognition Model for Manipulating Partially Observed Transparent Tableware Objects
Authors: Young Hun Kim, Seungyeon Kim, Yonghyeon Lee, Frank C. Park
Affiliations: Seoul National University, Korea Institute For Advanced Study
Presentation: Poster
Keywords: Transparent objects, Shape recognition, Object manipulation
Robot type: Arm
Simulation environment: TRansPose
Real robot: Franka Panda
Real sensor: realsense D435
Task-Oriented Hierarchical Object Decomposition for Visuomotor Control
Authors: Jianing Qian, Yunshuang Li, Bernadette Bucher, Dinesh Jayaraman
Affiliations: University of Pennsylvania
Presentation: Poster
Keywords: Visual Representations, Entities, Imitation, Manipulation
Robot type: Arm
Simulation environment: Franka Kitchen
Real robot: Franka Panda
Real sensor: -
Accelerating Visual Sparse-Reward Learning with Latent Nearest-Demonstration-Guided Explorations
Authors: Ruihan Zhao, ufuk topcu, Sandeep P. Chinchali, Mariano Phielipp
Affiliations: The University of Texas at Austin,Intel AI Lab
Presentation: Poster
Keywords: Computer Vision, Sparse Reward, RL from Demonstrations
Robot type: Arm
Simulation environment: Robosuite
Real robot: Franka Panda
Real sensor: -
APRICOT: Active Preference Learning and Constraint-Aware Task Planning with LLMs
Authors: Huaxiaoyue Wang, Nathaniel Chin, Gonzalo Gonzalez-Pumariega, Xiangwan Sun, Neha Sunkara, Maximus Adrian Pace, Jeannette Bohg, Sanjiban Choudhury
Affiliations: Cornell University, Stanford University
Presentation: Poster
Keywords: Active Preference Learning, Task Planning, Large Language Models
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: Stretch Robot RE1
Real sensor: ZED 2i
I Can Tell What I am Doing: Toward Real-World Natural Language Grounding of Robot Experiences
Authors: Zihan Wang, Brian Liang, Varad Dhat, Zander Brumbaugh, Nick Walker, Ranjay Krishna, Maya Cakmak
Affiliations: University of Washington
Presentation: Poster
Keywords: Large Language Model, Explainable AI, Failure Analysis
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: Stretch Robot RE1
Real sensor: -
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation
Authors: Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, Ajay Mandlekar
Affiliations: NVIDIA, University of Toronto, Vector Institute, Georgia Institute of Technology
Presentation: Poster
Keywords: Reinforcement Learning, Manipulation Planning, Imitation Learning
Robot type: Arm
Simulation environment: robomimic
Real robot: -
Real sensor: -
Progressive Multi-Modal Fusion for Robust 3D Object Detection
Authors: Rohit Mohan, Daniele Cattaneo, Florian Drews, Abhinav Valada
Affiliations: University of Freiburg, Bosch Research
Presentation: Poster
Keywords: 3D Object Detection, Multimodal Learning, Self-Supervised Learning
Robot type: autonomus vehicle
Simulation environment: NuScenes
Real robot: -
Real sensor: Ouster 128
HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers
Authors: Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen
Affiliations: Tsinghua University, UC Berkeley, Shanghai Qizhi Institute
Presentation: Poster
Keywords: Imitation Learning, Robots, Vision Language Models
Robot type: Arm
Simulation environment: Metaworld, franka kitchen
Real robot: Franka Panda
Real sensor: -
LiDARGrid: Self-supervised 3D Opacity Grid from LiDAR for Scene Forecasting
Authors: Chuanyu Pan, Aolin Xu
Affiliations: Honda Research Institute
Presentation: Poster
Keywords: 3D perception, lidar, opacity grid, occupancy grid, neural rendering, self-supervised learning, mobile robot, autonomous driving
Robot type: autonomus vehicle
Simulation environment: NuScenes
Real robot: -
Real sensor: -
Learning Robotic Locomotion Affordances and Photorealistic Simulators from Human-Captured Data
Authors: Alejandro Escontrela, Justin Kerr, Kyle Stachowicz, Pieter Abbeel
Affiliations: University of California, Berkeley
Presentation: Poster
Keywords: Navigation, Dataset, Real2Sim
Robot type: quadruped
Simulation environment: IsaacSim
Real robot: -
Real sensor: ZedX Mini, Zed Mini
DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenes
Authors: Jialiang Zhang, Haoran Liu, Danshi Li, XinQiang Yu, Haoran Geng, Yufei Ding, Jiayi Chen, He Wang
Affiliations: CFCS, School of Computer Science, Peking University, Galbot, UC Berkeley, Beijing Academy of Artificial Intelligence
Presentation: Poster
Keywords: Dexterous Grasping, Synthetic Data, Generative Models
Robot type: Hand
Simulation environment: IsaacGym
Real robot: UR5, LEAP Hand
Real sensor: realsense D435
Adapting Humanoid Locomotion over Challenging Terrain via Two-Phase Training
Authors: Wenhao Cui, Shengtao Li, Huaxing Huang, Bangyu Qin, Tianchu Zhang, hanjinchao, Liang Zheng, Ziyang Tang, Chenxu Hu, NING Yan, Jiahao Chen, Zheyuan Jiang
Affiliations: Noetix Robotics
Presentation: Poster
Keywords: humanoid robots, locomotion, reinforcement learning, curriculum, sim-to-real
Robot type: Humanoid
Simulation environment: IsaacGym, MuJoCo, PyBullet,Gazebo
Real robot: Self Created
Real sensor: -
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
Authors: Jiaxu Xing, Angel Romero, Leonard Bauersfeld, Davide Scaramuzza
Affiliations: University of Zurich
Presentation: Poster
Keywords: Quadrotor, Visuomotor Control, Reinforcement Learning
Robot type: quadrotor
Simulation environment: -
Real robot: Agilicious
Real sensor: -
MaIL: Improving Imitation Learning with Selective State Space Models
Authors: Xiaogang Jia, Qian Wang, Atalay Donat, Bowen Xing, Ge Li, Hongyi Zhou, Onur Celik, Denis Blessing, Rudolf Lioutikov, Gerhard Neumann
Affiliations: Karlsruhe Institute of Technology
Presentation: Poster
Keywords: Imitation Learning, Sequence Models, Denoising Diffusion Policies
Robot type: Arm
Simulation environment: LIBERO
Real robot: Franka Panda
Real sensor: Azure Kinect DK
VLM-Grounder: A VLM Agent for Zero-Shot 3D Visual Grounding
Authors: Runsen Xu, Zhiwei Huang, Tai Wang, Yilun Chen, Jiangmiao Pang, Dahua Lin
Affiliations: The Chinese University of Hong Kong, Shanghai AI Laboratory, Zhejiang University
Presentation: Poster
Keywords: 3D Visual Grounding, VLM Agent, Zero-Shot
Robot type: Detection
Simulation environment: ScanRefer, Nr3D
Real robot: -
Real sensor: -
Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics Models
Authors: Jacob Levy, Tyler Westenbroek, David Fridovich-Keil
Affiliations: the university of Texas at Austin, University of Washington
Presentation: Poster
Keywords: Model-Based Reinforcement Learning, Physics-Based Models
Robot type: quadruped
Simulation environment: MuJoCo
Real robot: unitree go1
Real sensor: -
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
Authors: Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang, He Wang
Affiliations: CFCS, School of Computer Science, Peking University, Galbot IIIS, Tsinghua University
Presentation: Poster
Keywords: Deformable Object Manipulation, Imitation Learning, Sim-to-Real
Robot type: Arm
Simulation environment: -
Real robot: Realman robot 
Real sensor: Azure Kinect DK
Evaluating Real-World Robot Manipulation Policies in Simulation
Authors: Xuanlin Li, Kyle Hsu, Jiayuan Gu, Oier Mees, Karl Pertsch, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, Ted Xiao
Affiliations: UC San Diego, Stanford University, UC Berkeley, Google DeepMind
Presentation: Poster
Keywords: real-to-sim, policy evaluation, robot manipulation
Robot type: Arm
Simulation environment: ManiSkill2
Real robot: RT-1 Robot, windowX 250
Real sensor: -
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
Authors: Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D. Ratliff, Karl Van Wyk
Affiliations: Stanford University, University of Utah, NVIDIA, UC Berkeley
Presentation: Poster
Keywords: Dexterous Grasping, Geometric Fabrics, Reinforcement Learning, Teacher-Student Distillation, Sim-to-Real Transfer
Robot type: Arm
Simulation environment: IsaacGym
Real robot: Kuka LBR iiwa, Allegro hand
Real sensor: realsense D415
Real-to-Sim Grasp: Rethinking the Gap between Simulation and Real World in Grasp Detection
Authors: Jia-Feng Cai, Zibo Chen, Xiao-Ming Wu, Jian-Jian Jiang, Yi-Lin Wei, Wei-Shi Zheng
Affiliations: School of Computer Science and Engineering, Sun Yat-sen University, Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education
Presentation: Poster
Keywords: Grasp pose detection, simulated datasets, sim-to-real
Robot type: Arm
Simulation environment: GraspNet-1Biilion
Real robot: Franka Panda
Real sensor: realsense D455
Let Occ Flow: Self-Supervised 3D Occupancy Flow Prediction
Authors: Yili Liu, Linzhan Mou, Xuan Yu, Chenrui Han, Sitong Mao, Rong Xiong, Yue Wang
Affiliations: Zhejiang University, Huawei Cloud Computing Technologies
Presentation: Poster
Keywords: 3D occupancy prediction, occupancy flow, Neural Radiance Field
Robot type: autonomus vehicle
Simulation environment: nuScenes, KITTI
Real robot: -
Real sensor: -
FetchBench: A Simulation Benchmark for Robot Fetching
Authors: Beining Han, Meenal Parakh, Derek Geng, Jack A Defay, Gan Luyang, Jia Deng
Affiliations: Princeton University
Presentation: Poster
Keywords: Grasping, Benchmark, Imitation Learning
Robot type: Arm
Simulation environment: IssacGym
Real robot: Franka Research 3
Real sensor: realsense L515
SonicSense: Object Perception from In-Hand Acoustic Vibration
Authors: Jiaxun Liu, Boyuan Chen
Affiliations: Duke University
Presentation: Poster
Keywords: Tactile Perception, Object State Estimation, Audio, Acoustic Vibration Sensing
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: -
Automated Creation of Digital Cousins for Robust Policy Learning
Authors: Tianyuan Dai, Josiah Wong, Yunfan Jiang, Chen Wang, Cem Gokmen, Ruohan Zhang, Jiajun Wu, Li Fei-Fei
Affiliations: Stanford University
Presentation: Poster
Keywords: Real-to-Sim, Digital Twin, Sim-to-Real Transfer
Robot type: Arm
Simulation environment: BEHAVIOR-1K
Real robot: Franka Panda
Real sensor: -
Promptable Closed-loop Traffic Simulation
Authors: Shuhan Tan, Boris Ivanovic, Yuxiao Chen, Boyi Li, Xinshuo Weng, Yulong Cao, Philipp Kraehenbuehl, Marco Pavone
Affiliations: the university of texas at austin, NVIDIA
Presentation: Poster
Keywords: Autonomous Driving, Scenario Generation, Traffic Simulation
Robot type: autonomus vehicle
Simulation environment: Self created
Real robot: -
Real sensor: -
Sim-to-Real Transfer via 3D Feature Fields for Vision-and-Language Navigation
Authors: Zihan Wang, Xiangyang Li, Jiahao Yang, Yeqi Liu, Shuqiang Jiang
Affiliations: Institute of Computing Technology, Chinese Academy of Sciences, University of Chinese Academy of Sciences, Institute of Intelligent Computing Technology, CAS, Suzhou Peng Cheng Laboratory, Shenzhen
Presentation: Poster
Keywords: Vision-and-Language Navigation, 3D Feature Fields, Semantic Traversable Map
Robot type: mobile
Simulation environment: R2R-CE, RxR-CE
Real robot: LoCoBot
Real sensor: realsense D435
A Planar-Symmetric SO(3) Representation for Learning Grasp Detection
Authors: Tianyi Ko, Takuya Ikeda, Hiroya Sato, Koichi Nishiwaki
Affiliations: Woven by Toyota, The University of Tokyo
Presentation: Poster
Keywords: Grasp Detection, Rotation Representation, Parallel Gripper
Robot type: Gripper
Simulation environment: Drake
Real robot: Robotiq 2F-85
Real sensor: -
Adaptive Diffusion Terrain Generator for Autonomous Uneven Terrain Navigation
Authors: Youwei Yu, Junhong Xu, Lantao Liu
Affiliations: Indiana University, Bloomington
Presentation: Poster
Keywords: Curriculum Reinforcement Learning, Diffusion Model, Field Robotics
Robot type: mobile
Simulation environment: IsaacGym
Real robot: Jackal robot
Real sensor: realsense D435i
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Authors: Olaolu Shorinwa, Johnathan Tucker, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe David Kennedy, Mac Schwager
Affiliations: Stanford University
Presentation: Poster
Keywords: Gaussian Splatting, Robotic Grasping, Robotic Manipulation, Scene Editing
Robot type: Arm
Simulation environment: -
Real robot: Kinova Gen3, Robotiq parallel-jaw gripper
Real sensor: -
Non-rigid Relative Placement through 3D Dense Diffusion
Authors: Eric Cai, Octavian Donca, Ben Eisner, David Held
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: Deformable, Non-rigid, Manipulation, Relative Placement
Robot type: Arm
Simulation environment: PyBullet
Real robot: Franka Panda
Real sensor: Azure Kinect DK
Language-guided Manipulator Motion Planning with Bounded Task Space
Authors: Thies Oelerich, Christian Hartl-Nesic, Andreas Kugi
Affiliations: TU Wien, AIT Austrian Institute of Technology GmbH
Presentation: Poster
Keywords: Vision Language Models, Manipulation Planning, Path-following MPC
Robot type: Arm
Simulation environment: Gazebo
Real robot: Kuka LBM iiwa 
Real sensor: Azure Kinect DK
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation
Authors: Yishu Li, Wen Hui Leng, Yiming Fang, Ben Eisner, David Held
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: Ambiguity, Multi-modality, Occlusion, Articulated Objects, Diffusion
Robot type: Arm
Simulation environment: PyBullet
Real robot: Franka Panda
Real sensor: Azure Kinect DK
Modeling Drivers’ Situational Awareness from Eye Gaze for Driving Assistance
Authors: Abhijat Biswas, Pranay Gupta, Shreeya Khurana, David Held, Henny Admoni
Affiliations: Carnegie Mellon University
Presentation: Poster
Keywords: driver awareness, driving assistance, situational awareness
Robot type: autonomus vehicle
Simulation environment: -
Real robot: -
Real sensor: -
Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction
Authors: Aidan Curtis, Nishanth Kumar, Jing Cao, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Affiliations: MIT CSAIL
Presentation: Poster
Keywords: LLMs for planning, task and motion planning, constraint satisfaction
Robot type: Arm
Simulation environment: Pybullet
Real robot: Franka Panda
Real sensor: -
VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation
Authors: I-Chun Arthur Liu, Sicheng He, Daniel Seita, Gaurav S. Sukhatme
Affiliations: University of Southern California
Presentation: Poster
Keywords: bimanual manipulation, voxel representation, vision language models
Robot type: Bimanual Arm
Simulation environment: CoppeliaSim
Real robot: UR5s
Real sensor: realsense D415