sotahi/corl2024_paper_list huggingface dataset:
Equivariant Diffusion Policy
Authors: Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt
Affiliations: Northeastern University, Boston Dynamics AI Institute
Presentation: Oral
Keywords: Equivariance, Diffusion Model, Robotic Manipulation
Robot type: Arm
Simulation environment: Robomimic
Real robot: Franka Panda
Real sensor: realsense D455
D³Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement
Authors: Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Rose Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li
Affiliations: Columbia University, University of Illinois Urbana-Champaign, National University of Singapore, Boston Dynamics AI Institute, Stanford University
Presentation: Oral
Keywords: Implicit 3D Representation, Visual Foundational Model, Zero-Shot Generalization, Robotic Manipulation
Robot type: Arm
Simulation environment: OmniGibson, BEHAVIOR-1K
Real robot: Kinova Gen3
Real sensor: -
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation
Authors: Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang
Affiliations: University of Southern California, Peking University, Stanford University
Presentation: Oral
Keywords: Hierarchical Retrieval, Affordance Transfer, Zero-Shot Robotic Manipulation, Visual Foundation Models
Robot type: Arm
Simulation environment: IsaacGym
Real robot: Franka Panda
Real sensor: realsense D415
Visual Whole-Body Control for Legged Loco-Manipulation
Authors: Minghuan Liu∗, Zixuan Chen∗ Xuxin Cheng, Yandong Ji, Rizhao Qiu, Ruihan Yang, Xiaolong Wang
Affiliations: UC San Diego,Shanghai Jiao Tong University,Fudan University
Presentation: Oral
Keywords: Robot Learning, Whole-Body Control, Legged Loco-Manipulation
Robot type: quadruped
Simulation environment: IsaacGym 
Real robot: Unitree B1, Unitree H1
Real sensor: realsense D435
Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective
Authors: Haoran He, Peilin Wu, Chenjia Bai, Hang Lai, Lingxiao Wang, Ling Pan, Xiaolin Hu, Weinan Zhang
Affiliations: Shanghai Jiao Tong University,Hong Kong University of Science and Technology,Institute of Artificial Intelligence (TeleAI), China Telecom,Northwestern University,Tsinghua University
Presentation: Oral
Keywords: Sim-to-Real, Information Bottleneck, Reinforcement Learning, Locomotion
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: Unitree A1
Real sensor: -
Environment Curriculum Generation via Large Language Models
Authors: William Liang, Sam Wang, Hung-Ju Wang, Osbert Bastani, Dinesh Jayaraman, Yecheng Jason Ma
Affiliations: University of Pennsylvania
Presentation: Oral
Keywords:  Large Language Models, Environment Curriculum, Quadrupeds, Sim-To-Real Reinforcement Learning
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: Unitree Go1
Real sensor: realsense D435
Learning Quadruped Locomotion Using Differentiable Simulation
Authors: Yunlong Song, Sang bae Kim, Davide Scaramuzza
Affiliations: University of Zurich, MIT
Presentation: Oral
Keywords: Differentiable Simulation, Legged Locomotion, Reinforcement Learning
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: Mini Cheetah
Real sensor: -
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation
Authors: Jean Pierre Sleiman, Mayank Mittal, Marco Hutter
Affiliations: ETH Zurich, NVIDIA
Presentation: Oral
Keywords: Whole-body Loco-Manipulation, Reinforcement Learning, Legged Mobile Manipulators
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: Anymal
Real sensor: -
Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination
Authors: Duy Phuong Nguyen, Kai-Chieh Hsu, Wenhao Yu, Jie Tan, Jaime Fernández Fisac
Affiliations: Princeton University, Google DeepMind
Presentation: Oral
Keywords: Robust Safety, Adversarial Reinforcement Learning, Game Theory
Robot type: quadruped
Simulation environment: Pybullet
Real robot: Ghost Robotics Spirit S40,Unitree go2
Real sensor: -
Differentiable Robot Rendering
Authors: Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick
Affiliations: Columbia University, Stanford University
Presentation: Oral
Keywords: Robot Representation, Visual Foundation Model
Robot type: Humanoid, Arm, quadruped
Simulation environment: MuJoCo
Real robot: Franka Panda
Real sensor: realsense, Kinect 360, azure kinect DK
Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning
Authors: Dhruva Tirumala, Markus Wulfmeier, Ben Moran, Sandy Huang, Jan Humplik, Guy Lever, Tuomas Haarnoja, Leonard Hasenclever, Arunkumar Byravan, Nathan Batchelor, Neil sreendra, Kushal Patel, Marlon Gwira, Francesco Nori, Martin Riedmiller, Nicolas Heess
Affiliations: Google DeepMind, University College London
Presentation: Oral
Keywords: robotics, deep reinforcement learning
Robot type: Humanoid
Simulation environment: MuJoCo
Real robot: Robotis OP3
Real sensor: Logitech C920
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
Authors: Chong Zhang, Wenli Xiao, Tairan He, Guanya Shi
Affiliations: Carnegie Mellon University, Google DeepMind
Presentation: Oral
Keywords: Whole-Body Humanoid Control, Multi-Contact Control, Reinforcement Learning
Robot type: Humanoid
Simulation environment: IsaacGym
Real robot: Unitree H1
Real sensor: -
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models
Authors: Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor
Affiliations: University of Pennsylvania
Presentation: Oral
Keywords: Controller Adaptation, Robot Model Learning, Meta-Learning
Robot type: race car, quadrotor, quadruped
Simulation environment: OpenAI gym, RotorPy
Real robot: Crazyflie quadrotor
Real sensor: -
Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration
Authors: Jennifer Grannen, Siddharth Karamcheti, Suvir Mirchandani, Percy Liang, Dorsa Sadigh
Affiliations: Stanford University
Presentation: Oral
Keywords: Continual Learning, Multimodal Teaching, Human-Robot Interaction
Robot type: Arm
Simulation environment: MuJoCo
Real robot: Franka Panda
Real sensor: ZED 2
OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
Authors: Jinhan Li, Yifeng Zhu, Yuqi Xie, Zhenyu Jiang, Mingyo Seo, Georgios Pavlakos, Yuke Zhu
Affiliations: The University of Texas at Austin, Nvidia Research
Presentation: Oral
Keywords: Humanoid Manipulation, Imitation From Videos, Motion Retargeting
Robot type: Humanoid
Simulation environment: RoboSuite
Real robot: Fourier GR1 
Real sensor: realsense D435i
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning
Authors: Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg
Affiliations: University of California, UC Berkeley, Toyota Research Institute, Physical Intelligence
Presentation: Oral
Keywords: Cross-Embodiment Learning, Viewpoint Robust, Data Augmentation
Robot type: Arm
Simulation environment: RoboSuite
Real robot: Franka Panda, UR5, Sawyer, Kinova Jaco
Real sensor: ZED 2
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction
Authors: Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa
Affiliations: UC Berkeley
Presentation: Oral
Keywords: Feature Fields, Visual Imitation, Grasping, Articulated Objects
Robot type: Bimanual Arm
Simulation environment: -
Real robot: ABB YuMi
Real sensor: ZED 2
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks
Authors: Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger
Affiliations: Johns Hopkins University, Stanford University
Presentation: Oral
Keywords: Imitation Learning, Manipulation, Medical Robotics
Robot type: Bimanual Arm
Simulation environment: -
Real robot: da Vinci Research Kit (dVRK) system
Real sensor: stereo camera
FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality
Authors: Keyu Chen, Yuheng Lei, Hao Cheng, Haoran Wu, Wenchao Sun, Sifa Zheng
Affiliations: Tsinghua University, The University of Hong Kong
Presentation: Oral
Keywords: Feasibility, Scenario Generation, Autonomous Driving
Robot type: autonomus vehicle
Simulation environment: Carla
Real robot: -
Real sensor: -
One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits
Authors: Franck Djeumou, Thomas Jonathan Lew, NAN DING, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits
Affiliations: Toyota Research Institute,Rensselaer Polytechnic Institute
Presentation: Oral
Keywords: Diffusion Models, Learning for Control, Autonomous Drifting, Model Predictive Control
Robot type: autonomus vehicle
Simulation environment: -
Real robot: Toyota Supra, Lexus LC500
Real sensor: -
Uncertainty-Aware Decision Transformer for Stochastic Driving Environments
Authors: Zenan Li, Fan Nie, Qiao Sun, Fang Da, Hang Zhao
Affiliations: Tsinghua university, Shanghai Qi Zhi Institute, Stanford university, QCraft
Presentation: Oral
Keywords: Self-Driving, Decision Transformer, Uncertainty-Aware Planning
Robot type: autonomus vehicle
Simulation environment: CARLA
Real robot: -
Real sensor: -
PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators
Authors: Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, Luca Weihs
Affiliations: Allen Institute for Artifical Intelligence
Presentation: Oral
Keywords: Embodied Navigation, On-Policy RL, Transformer Policy
Robot type: Mobile Manipulator
Simulation environment: AI2-THOR
Real robot: LoCoBot, Stretch RE-1
Real sensor: -
SELFI: Autonomous Self-Improvement with RL for Vision-Based Navigation around People
Authors: Noriaki Hirose, Dhruv Shah, Kyle Stachowicz, Ajay Sridhar, Sergey Levine
Affiliations: University of California, UC Berkeley,  Toyota Motor North America
Presentation: Oral
Keywords: online reinforcement learning, vision-based navigation
Robot type: mobile
Simulation environment: -
Real robot: Self Created
Real sensor: Ricoh Theta S
Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation
Authors: Ria Doshi, Homer Rich Walke, Oier Mees, Sudeep Dasari, Sergey Levine
Affiliations: UC Berkeley, Carnegie Mellon University
Presentation: Oral
Keywords: Imitation Learning, Cross-Embodiment
Robot type: Arm
Simulation environment: -
Real robot: WindowX 250, ALOHA, LoCoBot, unitree Go1, TELLO
Real sensor: -
Reinforcement Learning with Foundation Priors: Let Embodied Agent Efficiently Learn on Its Own
Authors: Weirui Ye, Yunsheng Zhang, Haoyang Weng, Xianfan Gu, Shengjie Wang, Tong Zhang, Mengchen Wang, Pieter Abbeel, Yang Gao
Affiliations: Tsinghua University, Shanghai Qi Zhi Institute, Shanghai Artificial Intelligence Laboratory, UC Berkeley
Presentation: Oral
Keywords: Reinforcement Learning, Foundation Models, Robotics, VLMs
Robot type: Arm
Simulation environment: MetaWorld
Real robot: Franka Panda
Real sensor: -
Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation
Authors: Ruoxuan Feng, Di Hu, Wenke Ma, Xuelong Li
Affiliations: Gaoling School of Artificial Intelligence, Renmin University of China, Shenzhen Taobotics Co., Ltd. Institute of Artificial Intelligence (TeleAI), China Telecom
Presentation: Oral
Keywords: Multi-Sensory, Robotic Manipulation, Multi-Stage
Robot type: Arm
Simulation environment: -
Real robot: xArm 6, Robotiq 2F-140
Real sensor: realsense D435i, GelSight
TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach
Authors: Weikun Peng, Jun Lv, Yuwei Zeng, Haonan Chen, Siheng Zhao, Jichen Sun, Cewu Lu, Lin Shao
Affiliations: National University of Singapore, Shanghai Jiao Tong University, Nanjing University
Presentation: Oral
Keywords: cloth manipulation, learning from demonstration, robot learning
Robot type: dual arm
Simulation environment: DiffClothAI
Real robot: Flexiv Rizon, Kinova MOVO
Real sensor: realsense D435, Kinect
Physically Embodied Gaussian Splatting: A Visually Learnt and Physically Grounded 3D Representation for Robotics
Authors: Jad Abou-Chakra, Krishan Rana, Feras Dayoub, Niko Suenderhauf
Affiliations: QUT Centre for Robotics, University of Adelaide
Presentation: Oral
Keywords: 3D Representation, Gaussian Splatting, Robotics, Tracking, Physics
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: realsense D435
RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches
Authors: Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, Stefan Schaal
Affiliations: Stanford University, Google DeepMind, Intrinsic
Presentation: Oral
Keywords: Visual Imitation Learning, Goal-Conditioned Manipulation
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: RT-1 robot
Real sensor: -
ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning
Authors: Joey Hejna, Chethan Anand Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh
Affiliations: Stanford university, UC Berkeley
Presentation: Oral
Keywords: Data Curation, Data Quality, Robot Imitation Learning
Robot type: dual arm
Simulation environment: Robomimic
Real robot: WindowX 250, Franka Panda
Real sensor: -
HumanPlus: Humanoid Shadowing and Imitation from Humans
Authors: Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn
Affiliations: Stanford university
Presentation: Poster
Keywords: Humanoids, Learning from Human Data, Whole-Body Control
Robot type: Humanoid
Simulation environment: -
Real robot: Unitree H1
Real sensor: -
Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning
Authors: Zhecheng Yuan, Tianming Wei, Shuiqi Cheng, Gu Zhang, Yuanpei Chen, Huazhe Xu
Affiliations: Tsinghua University IIIS, Shanghai Jiao Tong University, The University of Hong Kong, Peking University, Shanghai Qi Zhi Institute, Shanghai AI Lab
Presentation: Poster
Keywords: Visual Generalization, Sim2real, Reinforcement Learning
Robot type: Arm
Simulation environment: MuJoCo
Real robot: UR5, Franka Panda, XArm
Real sensor: realsense L515
ACE: A Cross-platform and visual-Exoskeletons System for Low-Cost Dexterous Teleoperation
Authors: Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang
Affiliations: UC San Diego
Presentation: Poster
Keywords: Teleopration System; Hardware; Imitation Learning; Robot Learning; Exoskeletons
Robot type: Bimanual Arm
Simulation environment: IsaacGym
Real robot: Unitree H1, xArm7
Real sensor: -
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer
Authors: Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron Ames, Mac Schwager, Jeannette Bohg
Affiliations: Stanford University, California Institute of Technology
Presentation: Poster
Keywords: Multi-Fingered Grasping, Large-Scale Grasp Dataset, Sim-to-Real
Robot type: Arm
Simulation environment: IsaacGym,Pybullet
Real robot: Allegro hand, Franka Research 3
Real sensor: ZED 2i
LLARVA: Vision-Action Instruction Tuning Enhances Robot Learning
Authors: Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, Roei Herzig
Affiliations: Berkeley AI Research, UC Berkeley
Presentation: Poster
Keywords: LMMs, Vision Action Instruction Tuning, Robot Learning
Robot type: Arm
Simulation environment: CoppeliaSim, RLBench
Real robot: Franka Panda
Real sensor: Logitech BRIO 4K
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping
Authors: Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang, Jeannette Bohg, Yixin Zhu, Leonidas Guibas
Affiliations: Stanford University, Peking University
Presentation: Poster
Robot type: Arm
Simulation environment: -
Real robot: Shadow Dexterous Hand, UR10e
Real sensor: Femto Bolt
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
Authors: Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna
Affiliations: University of Washington, NVIDIA, Allen Institute for Artifical Intelligence, Universidad Católica San Pablo
Presentation: Poster
Keywords: Robot Learning; Multimodal Large Language Model; Data Generation; Imitation Learning; Behavior Cloning
Robot type: Arm
Simulation environment: CoppeliaSim, RLBench
Real robot: Franka Panda
Real sensor: Kinect 2
Detect Everything with Few Examples
Authors: Xinyu Zhang, Yuhan Liu, Yuting Wang, Abdeslam Boularias
Affiliations: Rutgers University
Presentation: Poster
Keywords: Robot Vision, Object Detection and Recognition, Few-shot Learning
Robot type: Arm
Simulation environment: -
Real robot: Kuka LBR iiwa
Real sensor: realsense
Autonomous Interactive Correction MLLM for Robust Robotic Manipulation
Authors: Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, Hao Dong
Affiliations: Peking University, Chinese Academy of Sciences
Presentation: Poster
Keywords: large language model, robotics
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: realsense D415
Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping
Authors: Pinhao Song, Pengteng Li, Renaud Detry
Affiliations: KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images, HKUST (GZ), AI Thrust
Presentation: Poster
Keywords: Grasping, Implicit Neural Representations, Diffusion Models
Robot type: Arm
Simulation environment: Pybullet
Real robot: Franka Research 3
Real sensor: -
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation
Authors: Chongkai Gao, Zhengrong Xue, Shuying Deng, Tianhai Liang, Siqi Yang, Lin Shao, Huazhe Xu
Affiliations: National Unversity of Singapore, Tsinghua University, Shanghai AI Lab , Shanghai Qi zhi Institute
Presentation: Poster
Keywords: SE(3)-Equivariance, Manipulation, Imitation Learning
Robot type: Arm
Simulation environment: SAPIEN
Real robot: Franka Panda
Real sensor: realsense D435i
Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion
Authors: Tianyi Xiong, Jiayi Wu, Botao He, Cornelia Fermuller, Yiannis Aloimonos, Heng Huang, Christopher Metzler
Affiliations: University of Maryland, College Park
Presentation: Poster
Keywords: Event-based 3D Reconstruction, Gaussian Splatting, High-speed Robot Egomotion
Robot type: quadrotor
Simulation environment: -
Real robot: quadrotor
Real sensor: Iphone 13 pro max
Generative Image as Action Models
Authors: Mohit Shridhar, Yat Long Lo, Stephen James
Affiliations: Dyson Robot Learning Lab
Presentation: Poster
Keywords: Diffusion Models, Image Generation, Behavior Cloning, Visuomotor
Robot type: Arm
Simulation environment: CoppeliaSim, RLBench
Real robot: Franka Panda
Real sensor: realsense D415
Continuous Control with Coarse-to-fine Reinforcement Learning
Authors: Younggyo Seo, Jafar Uruç, Stephen James
Affiliations: Dyson Robot Learning Lab
Presentation: Poster
Keywords: Reinforcement Learning, Sample-Efficient, Action Discretization
Robot type: Arm
Simulation environment: CoppeliaSim, RLBench
Real robot: UR5e, Robotiq 2F-140
Real sensor: realsense D435i
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics
Authors: Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox
Affiliations: University of Washington, NVIDIA, Allen Institute for Artifical Intelligence, Universidad Católica San Pablo
Presentation: Poster
Keywords: Foundation Model, Affordance Prediction, Open-world Manipulation
Robot type: Arm, Mobile
Simulation environment: CoppeliaSim
Real robot: Franka Panda
Real sensor: -
Twisting Lids Off with Two Hands
Authors: Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, Jitendra Malik
Affiliations: UC Berkeley
Presentation: Poster
Keywords: Bimanual Manipulation, Sim-to-Real, Reinforcement Learning
Robot type: Bimanual Arm
Simulation environment: IsaacGym
Real robot: UR5e, Allegro Hands
Real sensor: realsense D435
General Flow as Foundation Affordance for Scalable Robot Learning
Authors: Chengbo Yuan, Chuan Wen, Tong Zhang, Yang Gao
Affiliations: institute for Interdisciplinary Information Sciences, Tsinghua University, Shanghai Artificial Intelligence Laboratory, Shanghai Qi Zhi Institute
Presentation: Poster
Keywords: Flow, Transferable Affordance, Scalability
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: realsense D455
TaMMa: Target-driven Multi-subscene Mobile Manipulation
Authors: Jiawei Hou, Tianyu Wang, Tongying Pan, Shouyan Wang, Xiangyang Xue, Yanwei Fu
Affiliations: Fudan University
Presentation: Poster
Keywords: Multi-subscene, 3D Gaussians, Scene Inpainting, Target-driven Mobile Manipulation
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: Franka Panda, SLAMTEC Hermes
Real sensor: realsense D435
Control with Patterns: A D-learning Method
Authors: Quan Quan, Kai-Yuan Cai, Chenyu Wang
Affiliations: Beihang University
Presentation: Poster
Keywords: Lyapunov Methods, Reinforcement Learning, Control with Patterns, D-learning, Visual Servoing
Robot type: multicopter
Simulation environment: RflySim
Real robot: Tello EDU
Real sensor: on-board
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Authors: Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu, Ram Vasudevan
Affiliations: University of Michigan
Presentation: Poster
Keywords: Deformable Linear Objects Modeling, Physics-Informed Learning, Differentiable Simulation
Robot type: Arm
Simulation environment: PyBullet
Real robot: Franka Panda, Kinova gen3
Real sensor: OptiTrack, Azure Kinect DK,
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Authors: Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song
Affiliations: Stanford University, Columbia University, Toyota Research Institute
Presentation: Poster
Keywords: Robot Manipulation, Imitation Learning, Audio
Robot type: Arm
Simulation environment: -
Real robot: UR5
Real sensor: GoPro, Elgato HD60 X
Large Scale Mapping of Indoor Magnetic Field by Local and Sparse Gaussian Processes
Authors: Iad ABDUL-RAOUF, Vincent Gay-Bellile, Cyril JOLY, Steve Bourgeois, Alexis Paljic
Affiliations: Universite Paris-Saclay, Centre de Robotique, MINES ParisTech, Universite PSL
Presentation: Poster
Keywords: Gaussian process regression, magnetic field maps, indoor localization
Robot type: -
Simulation environment: -
Real robot: -
Real sensor: SBG-Ellipse-N rigidly, FLIR Blackfly S cameras
JA-TN: Pick-and-Place Towel Shaping from Crumpled States based on TransporterNet with Joint-Probability Action Inference
Authors: Halid Abdulrahim Kadi, Kasim Terzić
Affiliations: University of St Andrews
Presentation: Poster
Keywords: Cloth Manipulation, Imitation Learning, Sim2Real Transfer
Robot type: Arm
Simulation environment: SoftGym
Real robot: UR3e
Real sensor: realsense D435i
Legolas: Deep Leg-Inertial Odometry
Authors: Justin Wasserman, Ananye Agarwal, Rishabh Jangir, Girish Chowdhary, Deepak Pathak, Abhinav Gupta
Affiliations: University of Illinois at Urbana-Champaign, Carnegie Mellon University
Presentation: Poster
Keywords: State and Odometry Estimation, Quadruped robots, Sim-to-Real
Robot type: quadruped
Simulation environment: IsaacGym
Real robot: Unitree go2, DEEP Robotics Lite3
Real sensor: RTK-GPS
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
Authors: Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh
Affiliations: Stanford University
Presentation: Poster
Keywords: Data Retrieval, Few-shot Learning, Imitation Learning
Robot type: Arm
Simulation environment: robomimic, LIBERO
Real robot: Franka Panda
Real sensor: -