sotahi/corl2024_paper_list huggingface dataset:
Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation
Authors: Teli Ma, Jiaming Zhou, Zifan Wang, Ronghe Qiu, Junwei Liang
Affiliations: The Hong Kong University of Science and Technology, 
Presentation: Poster
Keywords: Contrastive imitation learning, Multi-task learning, Robotic manipulation
Robot type: Arm
Simulation environment: CoppeliaSim
Real robot: UR5
Real sensor: Femto Bolt
Humanoid Parkour Learning
Authors: Ziwen Zhuang, Shenzhe Yao, Hang Zhao
Affiliations: Shanghai Qi Zhi Institute, ShanghaiTech University, Tsinghua University
Presentation: Poster
Keywords: Humanoid Agile Locomotion, Visuomotor Control, Sim-to-Real Transfer
Robot type: Humanoid
Simulation environment: IsaacGym
Real robot: unitree H1
Real sensor: -
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph
Authors: Utkarsh Aashu Mishra, Yongxin Chen, Danfei Xu
Affiliations: Georgia Institute of Technology
Presentation: Poster
Keywords: Task and Motion Planning, Manipulation Planning, Bimanual Manipulation, Generative Models
Robot type: Bimanual Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: -
Multi-agent Reinforcement Learning with Hybrid Action Space for Free Gait Motion Planning of Hexapod Robots
Authors: Huiqiao Fu, Kaiqiang Tang, Peng Li, Guizhou Deng, Chunlin Chen
Affiliations: Department of Control Science and Intelligent Engineering, Nanjing University, Institute of Software, Chinese Academy of Sciences
Presentation: Poster
Keywords: Free Gait, Hexapod Robot, Hybrid Action Space, Multi-agent Reinforcement Learning
Robot type: Hexapod
Simulation environment: PyBullet
Real robot: Self Created
Real sensor: -
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark
Authors: Nikita Chernyadev, Nicholas Backshall, Xiao Ma, Yunfan Lu, Younggyo Seo, Stephen James
Affiliations: Dyson Robot Learning Lab
Presentation: Poster
Keywords: Bi-Manual Manipulation, Mobile Manipulation, Benchmark
Robot type: Bimanual Arm
Simulation environment: MuJoCo
Real robot: -
Real sensor: -
TLDR: Unsupervised Goal-Conditioned RL via Temporal Distance-Aware Representations
Authors: Junik Bae, Kwanyoung Park, Youngwoon Lee
Affiliations: Yonsei University
Presentation: Poster
Keywords: Unsupervised Goal-Conditioned Reinforcement Learning, Temporal Distance-Aware Representations
Robot type: Agent
Simulation environment: OpenAI Gym, DeepMind Control Suite, D4RL
Real robot: -
Real sensor: -
PointPatchRL - Masked Reconstruction Improves Reinforcement Learning on Point Clouds
Authors: Balazs Gyenes, Nikolai Franke, Philipp Becker, Gerhard Neumann
Affiliations: Autonomous Learning Robots (ALR), Karlsruhe Institute of Technology (KIT), HIDSS4Health - Helmholtz Information and Data Science School for Health
Presentation: Poster
Keywords: Point Clouds, Self-Supervised Learning, Reinforcement Learning
Robot type: Arm
Simulation environment: SOFA_ENV, Maniskill2
Real robot: -
Real sensor: -
Bridging the gap between Learning-to-plan, Motion Primitives and Safe Reinforcement Learning
Authors: Piotr Kicki, Davide Tateo, Puze Liu, Jonas Günster, Jan Peters, Krzysztof Walas
Affiliations: IDEAS NCBR, Warsaw, Poland, Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poland, Department of Computer Science, Technische Universitat Darmstadt, Germany
Presentation: Poster
Keywords: safe reinforcement learning, motion planning, motion primitives
Robot type: Arm
Simulation environment: MuJoCo
Real robot: Kuka Iiwa 14, Mitsubishi PA10
Multi-Transmotion: Pre-trained Model for Human Motion Prediction
Authors: Yang Gao, Po-Chien Luan, Alexandre Alahi
Affiliations: Visual Intelligence for Transportation (VITA) laboratory EPFL
Presentation: Poster
Keywords: Human motion prediction, Pre-training, Transformer
Robot type: Humanoid
Simulation environment: Joint Track Auto, Trajnet++, JRDB-Pose, NBA, Human3.6M , AMASS, 3DPW
Real robot: -
Real sensor: -
Robust Manipulation Primitive Learning via Domain Contraction
Authors: Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon
Affiliations: Idiap Research Institute, Ecole Polytechnique F´ed´erale de Lausanne (EPFL)
Presentation: Poster
Keywords: Robust policy learning, Contact-rich manipulation, Sim-to-real
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda 
Real sensor: realsense D435
Teaching Robots with Show and Tell: Using Foundation Models to Synthesize Robot Policies from Language and Visual Demonstration
Authors: Michael Murray, Abhishek Gupta, Maya Cakmak
Affiliations: University of Washington
Presentation: Poster
Keywords: learning from demonstration, language model planning, neuro-symbolic reasoning
Robot type: Mobile Manipulator
Simulation environment: -
Real robot: Stretch RE2
Real sensor: realsense D435i
One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
Authors: Nico Bohlinger, Grzegorz Czechmanowski, Maciej Piotr Krupka, Piotr Kicki, Krzysztof Walas, Jan Peters, Davide Tateo
Affiliations: Department of Computer Science, Technical University of Darmstadt, Germany, Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poland, German Research Center for AI (DFKI), Research Department: Systems AI for Robot Learning, IDEAS NCBR, Warsaw, Poland;Hessian.AI; Centre for Cognitive Science
Presentation: Poster
Keywords: Locomotion, Reinforcement Learning, Multi-embodiment Learning
Robot type: Agent
Simulation environment: MuJoCo
Real robot: unitree a1, MAB silver Badger
Real sensor: -
ResPilot: Teleoperated Finger Gaiting via Gaussian Process Residual Learning
Authors: Patrick Naughton, Jinda Cui, Karankumar Patel, Soshi Iba
Affiliations: UIUC, Honda Research Institute
Presentation: Poster
Keywords: Teleoperation, Dexterous Manipulation, Gaussian Process
Robot type: Hand
Simulation environment: -
Real robot: Allegro Hand
Real sensor: Xela sensors, Manus Quantum Metaglove
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
Authors: Kelin Yu, Yunhai Han, Qixian Wang, Vaibhav Saxena, Danfei Xu, Ye Zhao
Affiliations: Georgia Institute of Technology
Presentation: Poster
Keywords: Tactile Sensing, Learning from Human, Data Collection, Imitation Learning, Reinforcement Learning
Robot type: Arm
Simulation environment: -
Real robot: Franka Panda
Real sensor: realsense, GelSight, HORYUJI TD-11
Handling Long-Term Safety and Uncertainty in Safe Reinforcement Learning
Authors: Jonas Günster, Puze Liu, Jan Peters, Davide Tateo
Affiliations: TU Darmstadt, Germany, German Research Center for AI, Germany
Presentation: Poster
Keywords: Safe Reinforcement Learning, Chance Constraint, Distributional RL
Robot type: Agent
Simulation environment: PyBullet
Real robot: -
Real sensor: -
Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions
Authors: Juan Del Aguila Ferrandis, Joao Moura, Sethu Vijayakumar
Affiliations: The University of Edinburgh,The Alan Turing Institute
Presentation: Poster
Keywords: State Estimation, Reinforcement Learning with Tactile Sensing, Non-prehensile Manipulation
Robot type: Arm
Simulation environment: IsaacSim
Real robot: KUKA iiwa
Real sensor: -
Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
Authors: Mike Zhang, Kaixian Qu, Vaishakh Patil, Cesar Cadena, Marco Hutter
Affiliations: ETH Zurich
Presentation: Poster
Keywords: Scene Understanding, Large Language Models
Robot type: quadruped
Simulation environment: Matterport3D
Real robot: ANYmal
IMAGINATION POLICY: Using Generative Point Cloud Models for Learning Manipulation Policies
Authors: Haojie Huang, Karl Schmeckpeper, Dian Wang, Ondrej Biza, Yaoyao Qian, Haotian Liu, Mingxi Jia, Robert Platt, Robin Walters
Affiliations: Northeastern Univeristy, Boston, MA 02115, Boston Dynamics AI Institute, Worcester Polytechnic Institute, Brown Univeristy
Presentation: Poster
Keywords: Manipulation policy learning, Generative model, Geometric learning
Robot type: Arm
Simulation environment: CoppeliaSim, RLbench 
Real robot: UR5, Robotiq-85
Real sensor: realsense D455
Discovering Robotic Interaction Modes with Discrete Representation Learning
Authors: Liquan Wang, Ankit Goyal, Haoping Xu, Animesh Garg
Affiliations: Georgia Tech, University of Toronto, NVIDIA, Vector Institute
Presentation: Poster
Keywords: Discovering Robotic Interaction Modes with Discrete Representation Learning
Robot type: Arm
Simulation environment: IsaacGym
Real robot: Franka Panda
Real sensor: Azure Kinect DK
Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation
Authors: Zheyu Zhuang, RUIYU WANG, Nils Ingelhag, Ville Kyrki, Danica Kragic
Affiliations: KTH Royal Institute of Technology, Aalto University
Presentation: Poster
Keywords: Behaviour Cloning, Visuomotor Policy, Data Augmentation
Robot type: Arm
Simulation environment: RoboMimic
Real robot: Franka Panda
Real sensor: -
Gentle Manipulation of Tree Branches: A Contact-Aware Policy Learning Approach
Authors: Jay Jacob, Shizhe Cai, Paulo Vinicius Koerich Borges, Tirthankar Bandyopadhyay, Fabio Ramos
Affiliations: The University of Sydney,  Data61,  CSIRO, NVIDIA
Presentation: Poster
Keywords: Reinforcement Learning, Sim-to-Real, Deformable Manipulation
Robot type: Arm
Simulation environment: IsaacGym
Real robot: Kinova Jaco 2
Real sensor: -
GenDP: 3D Semantic Fields for Category-Level Generalizable Diffusion Policy
Authors: Yixuan Wang, Guang Yin, Binghao Huang, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li
Affiliations: Columbia University, University of Illinois Urbana-Champaign, Boston Dynamics AI Institute
Presentation: Poster
Keywords: Semantic Fields, Category-Level Generalization, Imitation Learning, Diffusion Models
Robot type: Bimanual Arm
Simulation environment: -
Real robot: ALOHA
Real sensor: realsense
Learning Decentralized Multi-Biped Control for Payload Transport
Authors: Bikram Pandit, Ashutosh Gupta, Mohitvishnu S. Gadde, Addison Johnson, Aayam Kumar Shrestha, Helei Duan, Jeremy Dao, Alan Fern
Affiliations: Collaborative Robotics and Intelligent Systems (CoRIS) Institute Oregon State University
Presentation: Poster
Keywords: Multi-robot Transport, Bipedal locomotion, Reinforcement Learning
Robot type: Bipedal
Simulation environment: -
Real robot: Cassie
Real sensor: -
InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation
Authors: Andrew Choong-Won Lee, Ian Chuang, Ling-Yuan Chen, Iman Soltani
Affiliations: University of California, Davis, UC Berkeley
Presentation: Poster
Keywords: Robotics, Imitation Learning, Bimanual Manipulation
Robot type: Bimanual Arm
Simulation environment: -
Real robot: ALOHA 2
Real sensor: -
RoboKoop: Efficient Control Conditioned Representations from Visual Input in Robotics using Koopman Operato
Authors: Hemant Kumawat, Biswadeep Chakraborty, Saibal Mukhopadhyay
Affiliations: Georgia Institute of Technology
Presentation: Poster
Keywords: Feature extraction, Task Feedback, Control
Robot type: Agent
Simulation environment: DeepMind Control Suite
Real robot: -
Real sensor: -
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
Authors: Christopher Agia, Rohan Sinha, Jingyun Yang, Ziang Cao, Rika Antonova, Marco Pavone, Jeannette Bohg
Affiliations: Stanford University, NVIDIA Research
Presentation: Poster
Keywords: Failure Detection, Generative Policies, Vision Language Models
Robot type: Mobile manipulator
Simulation environment: Pybullet
Real robot: Kinova Gen3 
Real sensor: ZED 2
DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models
Authors: Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Yang Wang, Zhiyong Zhao, Kun Zhan, Peng Jia, XianPeng Lang, Hang Zhao
Affiliations: IIIS, Tsinghua University, Li Auto
Presentation: Poster
Keywords: Autonomous Driving, Vision Language Model, Dual System
Robot type: autonomus vehicle
Simulation environment: SUP-AD nuScenes
Real robot: -
Real sensor: -
Scaling Robot Policy Learning via Zero-Shot Labeling with Foundation Models
Authors: Nils Blank, Moritz Reuss, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Wenzel, Oier Mees, Rudolf Lioutikov
Affiliations: KIT Intuitive Robots Lab, UC Berkeley
Presentation: Poster
Keywords: Foundation Models, Language-conditioned Imitation Learning, Data Labeling
Robot type: Arm
Simulation environment: BridgeV2, Fractal
Real robot: -
Real sensor: -
D3RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation
Authors: Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Cui Wenbo, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, He Wang
Affiliations: Peking University, University of California, UC Berkeley ,Stanford University,Galbot, Univsersity of Chinese Academy of Sciences, Beijing Academy of Artificial Intelligence
Presentation: Poster
Keywords: Depth Estimation, Diffusion Model, Stereo Vision
Robot type: Arm
Simulation environment: IsaacSim
Real robot: Franka Panda
Real sensor: realsense D435, realsense D415
So You Think You Can Scale Up Autonomous Robot Data Collection?
Authors: Suvir Mirchandani, Suneel Belkhale, Joey Hejna, Evelyn Choi, Md Sazzad Islam, Dorsa Sadigh
Affiliations: Stanford University
Presentation: Poster
Keywords: autonomous data collection, imitation learning
Robot type: Arm
Simulation environment: LIBERO, Robomimic
Real robot: -
Real sensor: -
Lifelong Autonomous Improvement of Navigation Foundation Models in the Wild
Authors: Kyle Stachowicz, Lydia Ignatova, Sergey Levine
Affiliations: UC Berkeley
Presentation: Poster
Keywords: Navigation, Reinforcement Learning, Lifelong Learning
Robot type: mobile
Simulation environment: -
Real robot: iRobot Create
Real sensor: -
ViPER: Visibility-based Pursuit-Evasion via Reinforcement Learning
Authors: Yizhuo Wang, Yuhong Cao, Jimmy Chiun, Subhadeep Koley, Mandy Pham, Guillaume Adrien Sartoretti
Affiliations: National University of Singapore, IIEST Shibpur, UC Berkeley
Presentation: Poster
Keywords: MARL, pursuit-evasion, graph attention, path planning
Robot type: Agent
Simulation environment: -
Real robot: TurtleBot3
Real sensor: -
OpenVLA: An Open-Source Vision-Language-Action Model
Authors: Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan P Foster, Pannag R Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn
Affiliations: Stanford University, UC Berkeley, Toyota Research Institute,Google DeepMind,Physical Intelligence, MIT
Presentation: Poster
Keywords: Vision-Language-Action Models, Generalist Policies, Large-scale Robot Learning, Robotic Manipulation, Robotics, Vision-Language Models
Robot type: Arm
Simulation environment: LIBERO, BridgeV2
Real robot: WindowX 250, RT-1 robot
Real sensor: -
Context-Aware Replanning with Pre-Explored Semantic Map for Object Navigation
Authors: Po-Chen Ko, Hung-Ting Su, CY Chen, Jia-Fong Yeh, Min Sun, Winston H. Hsu
Affiliations: National Taiwan University, National Tsing Hua University, Mobile Drive Technology
Presentation: Poster
Keywords: VLMs, map, navigation, uncertainty, multi-view consistency, robotics
Robot type: Mobile
Simulation environment: Matterport3D, Habitat
Real robot: -
Real sensor: -
Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching
Authors: Eugenio Chisari, Nick Heppert, Max Argus, Tim Welschehold, Thomas Brox, Abhinav Valada
Affiliations: Department of Computer Science, University of Freiburg
Presentation: Poster
Keywords: Imitation Learning, Manipulation, Conditional Flow Matching
Robot type: Arm
Simulation environment: RLBench
Real robot: Franka Panda
Real sensor: realsense
Autonomous Improvement of Instruction Following Skills via Foundation Models
Authors: Zhiyuan Zhou, Pranav Atreya, Abraham Lee, Homer Rich Walke, Oier Mees, Sergey Levine
Affiliations: UC Berkeley
Presentation: Poster
Keywords: Autonomous Improvement, Instruction Following Skills, Scaled Data Collection
Robot type: Arm
Simulation environment: -
Real robot: WindowX 250
Real sensor: -
Learning Transparent Reward Models via Unsupervised Feature Selection
Authors: Daulet Baimukashev, Gokhan Alcan, Kevin Sebastian Luck, Ville Kyrki
Affiliations: Aalto University, Tampere University, Vrije Universiteit Amsterdam
Presentation: Poster
Keywords: Inverse reinforcement learning, Reinforcement learning, Imitation learning, Robots, Reward learning, Robot learning
Robot type: Agent
Simulation environment: MujoCo
Real robot: -
Real sensor: -
Safe Bayesian Optimization for the Control of High-Dimensional Embodied Systems
Authors: Yunyue Wei, Zeji Yi, Hongda Li, Saraswati Soedarmadji, Yanan Sui
Affiliations: Tsinghua University
Presentation: Poster
Keywords: Safe Bayesian Optimization, High-dimensional Embodied System
Robot type: Agent
Simulation environment: -
Real robot: -
Real sensor: -
Towards Open-World Grasping with Large Vision-Language Models
Authors: Georgios Tziafas, Hamidreza Kasaei
Affiliations: Department of Artificial Intelligence, University of Groningen
Presentation: Poster
Keywords: Foundation Models for Robotics, Open-World Grasping, Open-Ended23 Visual Grounding, Robot Planning
Robot type: Dual Arm
Simulation environment: Gazebo
Real robot: UR5e, Robotiq 2F-140
Real sensor: ASUS Xtion