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Editors: Joseph Lim, Shuran Song, Hae-Won Park
Data Retrieval with Importance Weights for Few-Shot Imitation Learning
; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1-16
$\pi_0.5$: a Vision-Language-Action Model with Open-World Generalization
Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Robert Equi, Chelsea Finn, Niccolo Fusai, Manuel Y. Galliker, Dibya Ghosh, Lachy Groom, Karol Hausman, brian ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Devin LeBlanc, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Allen Z. Ren, Lucy Xiaoyang Shi, Laura Smith, Jost Tobias Springenberg, Kyle Stachowicz, James Tanner, Quan Vuong, Homer Walke, Anna Walling, Haohuan Wang, Lili Yu, Ury Zhilinsky; Proceedings of The 9th Conference on Robot Learning, PMLR 305:17-40
Geometric Red-Teaming for Robotic Manipulation
Divyam Goel, Yufei Wang, Tiancheng Wu, Guixiu Qiao, Pavel Piliptchak, David Held, Zackory Erickson; Proceedings of The 9th Conference on Robot Learning, PMLR 305:41-67
Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing
Gokul Puthumanaillam, Aditya Penumarti, Manav Vora, Paulo Padrao, Jose Fuentes, Leonardo Bobadilla, Jane Shin, Melkior Ornik; Proceedings of The 9th Conference on Robot Learning, PMLR 305:68-92
Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance
Neha Sunil, Megha Tippur, Arnau Saumell Portillo, Edward H Adelson, Alberto Rodriguez Garcia; Proceedings of The 9th Conference on Robot Learning, PMLR 305:93-104
Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
Carolina Higuera, Akash Sharma, Taosha Fan, Chaithanya Krishna Bodduluri, Byron Boots, Michael Kaess, Mike Lambeta, Tingfan Wu, Zixi Liu, Francois Robert Hogan, Mustafa Mukadam; Proceedings of The 9th Conference on Robot Learning, PMLR 305:105-123
“Stack It Up!”: 3D Stable Structure Generation from 2D Hand-drawn Sketch
Yiqing Xu, Linfeng Li, Cunjun Yu, David Hsu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:124-151
Cross-Sensor Touch Generation
Samanta Rodriguez, Yiming Dou, Miquel Oller, Andrew Owens, Nima Fazeli; Proceedings of The 9th Conference on Robot Learning, PMLR 305:152-167
One View, Many Worlds: Single-Image to 3D object Meets Generative Domain Randomization for One-Shot 6D Pose Estimation
Zheng Geng, Nan Wang, Shaocong Xu, Chongjie Ye, Bohan Li, Zhaoxi Chen, Sida Peng, Hao Zhao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:168-197
AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons
Hongjie Fang, Chenxi Wang, Yiming Wang, Jingjing Chen, Shangning Xia, Jun Lv, Zihao He, Xiyan Yi, Yunhan Guo, Xinyu Zhan, Lixin Yang, Weiming Wang, Cewu Lu, Hao-Shu Fang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:198-220
Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control
Skand Peri, Akhil Perincherry, Bikram Pandit, Stefan Lee; Proceedings of The 9th Conference on Robot Learning, PMLR 305:221-237
Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories
Sunshine Jiang, Xiaolin Fang, Nicholas Roy, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Siddharth Ancha; Proceedings of The 9th Conference on Robot Learning, PMLR 305:238-257
Steering Your Diffusion Policy with Latent Space Reinforcement Learning
Andrew Wagenmaker, Yunchu Zhang, Mitsuhiko Nakamoto, Seohong Park, Waleed Yagoub, Anusha Nagabandi, Abhishek Gupta, Sergey Levine; Proceedings of The 9th Conference on Robot Learning, PMLR 305:258-282
Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning
Milan Ganai, Rohan Sinha, Christopher Agia, Daniel Morton, Luigi Di Lillo, Marco Pavone; Proceedings of The 9th Conference on Robot Learning, PMLR 305:283-308
ScrewSplat: An End-to-End Method for Articulated Object Recognition
Seungyeon Kim, Junsu HA, Young Hun Kim, Yonghyeon Lee, Frank C. Park; Proceedings of The 9th Conference on Robot Learning, PMLR 305:309-335
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
Pranav Atreya, Karl Pertsch, Tony Lee, Moo Jin Kim, Arhan Jain, Artur Kuramshin, Cyrus Neary, Edward S. Hu, Kanav Arora, Kirsty Ellis, Luca Macesanu, Matthew Leonard, Meedeum Cho, Ozgur Aslan, Shivin Dass, Tony Wang, Xingfang Yuan, Abhishek Gupta, Dinesh Jayaraman, Glen Berseth, Kostas Daniilidis, Roberto Martín-Martín, Youngwoon Lee, Percy Liang, Chelsea Finn, Sergey Levine; Proceedings of The 9th Conference on Robot Learning, PMLR 305:336-364
Training Strategies for Efficient Embodied Reasoning
William Chen, Suneel Belkhale, Suvir Mirchandani, Karl Pertsch, Danny Driess, Oier Mees, Sergey Levine; Proceedings of The 9th Conference on Robot Learning, PMLR 305:365-391
Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation
Chengyang He, Gadiel Mark Sznaier Camps, Xu Liu, Mac Schwager, Guillaume Adrien Sartoretti; Proceedings of The 9th Conference on Robot Learning, PMLR 305:392-405
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
Yunsheng Tian, Joshua Jacob, Yijiang Huang, Jialiang Zhao, Edward Li Gu, Pingchuan Ma, Annan Zhang, Farhad Javid, Branden Romero, Sachin Chitta, Shinjiro Sueda, Hui Li, Wojciech Matusik; Proceedings of The 9th Conference on Robot Learning, PMLR 305:406-419
The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio
Renhao Wang, Haoran Geng, Tingle Li, Philipp Wu, Feishi Wang, Gopala Anumanchipalli, Trevor Darrell, Boyi Li, Pieter Abbeel, Jitendra Malik, Alexei A Efros; Proceedings of The 9th Conference on Robot Learning, PMLR 305:420-436
DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
Mengda Xu, Han Zhang, Yifan Hou, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song; Proceedings of The 9th Conference on Robot Learning, PMLR 305:437-459
ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations
Jiahui Zhang, Yusen Luo, Abrar Anwar, Sumedh Anand Sontakke, Joseph J Lim, Jesse Thomason, Erdem Biyik, Jesse Zhang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:460-488
Planning from Point Clouds over Continuous Actions for Multi-object Rearrangement
Kallol Saha, Amber Li, Angela Rodriguez-Izquierdo, Lifan Yu, Ben Eisner, Maxim Likhachev, David Held; Proceedings of The 9th Conference on Robot Learning, PMLR 305:489-512
SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition
Zhanxin Wu, Bo Ai, Tom Silver, Tapomayukh Bhattacharjee; Proceedings of The 9th Conference on Robot Learning, PMLR 305:513-531
LocoFormer: Generalist Locomotion via Long-context Adaptation
Min Liu, Deepak Pathak, Ananye Agarwal; Proceedings of The 9th Conference on Robot Learning, PMLR 305:532-546
Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware
Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Andrei Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:547-577
Sampling-based System Identification with Active Exploration for Legged Sim2Real Learning
Nikhil Sobanbabu, Guanqi He, Tairan He, Yuxiang Yang, Guanya Shi; Proceedings of The 9th Conference on Robot Learning, PMLR 305:578-598
DemoSpeedup: Accelerating Visuomotor Policies via Entropy-Guided Demonstration Acceleration
Lingxiao Guo, Zhengrong Xue, Zijing Xu, Huazhe Xu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:599-609
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu, Yuxin Chen, Lingfeng Sun, Farzad Niroui, Simon Le Cleac’h, Jiuguang Wang, Kuan Fang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:610-632
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
Uksang Yoo, Jonathan Francis, Jean Oh, Jeffrey Ichnowski; Proceedings of The 9th Conference on Robot Learning, PMLR 305:633-651
Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation
Peiyuan Zhi, Peiyang Li, Jianqin Yin, Baoxiong Jia, Siyuan Huang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:652-669
Omni-Perception: Omnidirectional Collision Avoidance of Legged Robots in Dynamic Environments
Zifan Wang, Teli Ma, Yufei Jia, Xun Yang, Jiaming Zhou, Wenlong OUYANG, Qiang Zhang, Junwei Liang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:670-685
HuB: Learning Extreme Humanoid Balance
Tong Zhang, Boyuan Zheng, Ruiqian Nai, Yingdong Hu, Yen-Jen Wang, Geng Chen, Fanqi Lin, Jiongye Li, Chuye Hong, Koushil Sreenath, Yang Gao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:686-704
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots
Botian Xu, Haoyang Weng, Qingzhou Lu, Yang Gao, Huazhe Xu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:705-720
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Nadun Ranawaka Arachchige, Zhenyang Chen, Wonsuhk Jung, Woo Chul Shin, Rohan Bansal, Pierre Barroso, Yu Hang He, Yingyan Celine Lin, Benjamin Joffe, Shreyas Kousik, Danfei Xu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:721-749
Divide, Discover, Deploy: Factorized Skill Learning with Symmetry and Style Priors
Rafael Cathomen, Mayank Mittal, Marin Vlastelica, Marco Hutter; Proceedings of The 9th Conference on Robot Learning, PMLR 305:750-768
DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation
Suzannah Wistreich, Baiyu Shi, Stephen Tian, Samuel Clarke, Michael Nath, Chengyi Xu, Zhenan Bao, Jiajun Wu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:769-793
Visual Imitation Enables Contextual Humanoid Control
Arthur Allshire, Hongsuk Choi, Junyi Zhang, David McAllister, Anthony Zhang, Chung Min Kim, Trevor Darrell, Pieter Abbeel, Jitendra Malik, Angjoo Kanazawa; Proceedings of The 9th Conference on Robot Learning, PMLR 305:794-815
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real
Prithwish Dan, Kushal Kedia, Angela Chao, Edward Duan, Maximus Adrian Pace, Wei-Chiu Ma, Sanjiban Choudhury; Proceedings of The 9th Conference on Robot Learning, PMLR 305:816-833
ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
Yangcen Liu, Woo Chul Shin, Yunhai Han, Zhenyang Chen, Harish Ravichandar, Danfei Xu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:834-858
FetchBot: Learning Generalizable Object Fetching in Cluttered Scenes via Zero-Shot Sim2Real
Weiheng Liu, Yuxuan Wan, Jilong Wang, Yuxuan Kuang, Xuesong Shi, Haoran Li, Dongbin Zhao, Zhizheng Zhang, He Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:859-884
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
Zeyuan Chen, Qiyang Yan, Yuanpei Chen, Tianhao Wu, Jiyao Zhang, Zihan Ding, Jinzhou Li, Yaodong Yang, Hao Dong; Proceedings of The 9th Conference on Robot Learning, PMLR 305:885-905
Wheeled Lab: Modern Sim2Real for Low-cost, Open-source Wheeled Robotics
Tyler Han, Preet Shah, Sidharth Rajagopal, Yanda Bao, Sanghun Jung, Sidharth Talia, Gabriel Guo, Bryan Xu, Bhaumik Mehta, Emma Romig, Rosario Scalise, Byron Boots; Proceedings of The 9th Conference on Robot Learning, PMLR 305:906-923
FlashBack: Consistency Model-Accelerated Shared Autonomy
Luzhe Sun, Jingtian Ji, Xiangshan Tan, Matthew Walter; Proceedings of The 9th Conference on Robot Learning, PMLR 305:924-940
CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception
Pranav N. Thakkar, Shubhangi Sinha, Karan Baijal, Yuhan (Anjelica) Bian, Leah Lackey, Ben Dodson, Heisen Kong, Jueun Kwon, Amber Li, Yifei Hu, alexios rekoutis, Tom Silver, Tapomayukh Bhattacharjee; Proceedings of The 9th Conference on Robot Learning, PMLR 305:941-960
DEQ-MPC : Deep Equilibrium Model Predictive Control
Swaminathan Gurumurthy, Khai Nguyen, Arun L Bishop, J Zico Kolter, Zachary Manchester; Proceedings of The 9th Conference on Robot Learning, PMLR 305:961-980
Merging and Disentangling Views in Visual Reinforcement Learning for Robotic Manipulation
Abdulaziz Almuzairee, Rohan Prashant Patil, Dwait Bhatt, Henrik I Christensen; Proceedings of The 9th Conference on Robot Learning, PMLR 305:981-1003
GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
Shengliang Deng, Mi Yan, Songlin Wei, Haixin Ma, Yuxin Yang, Jiayi Chen, Zhiqi Zhang, Taoyu Yang, Xuheng Zhang, Heming Cui, Zhizheng Zhang, He Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1004-1029
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion
Shunpeng Yang, Zhen Fu, Zhefeng Cao, Guo Junde, Patrick Wensing, Wei Zhang, Hua Chen; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1030-1048
Ensuring Force Safety in Vision-Guided Robotic Manipulation via Implicit Tactile Calibration
Lai Wei, Jiahua Ma, Yibo Hu, Ruimao Zhang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1049-1062
Learning Long-Horizon Robot Manipulation Skills via Privileged Action
Xiaofeng Mao, Yucheng XU, Zhaole Sun, Elle Miller, Daniel Layeghi, Michael Mistry; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1063-1078
Estimating Value of Assistance for Online POMDP Robotic Agents
Yuval Goshen, Sarah Keren; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1079-1101
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping
Jun Yamada, Alexander Luis Mitchell, Jack Collins, Ingmar Posner; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1102-1119
SocialNav-SUB: Benchmarking VLMs for Scene Understanding in Social Robot Navigation
Michael Joseph Munje, Chen Tang, Shuijing Liu, Zichao Hu, Yifeng Zhu, Jiaxun Cui, Garrett Warnell, Joydeep Biswas, Peter Stone; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1120-1143
AT-Drone: Benchmarking Adaptive Teaming in Multi-Drone Pursuit
Yang Li, Junfan Chen, Feng Xue, Jiabin Qiu, Wenbin Li, Qingrui Zhang, Ying Wen, Wei Pan; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1144-1161
Robot Operating Home Appliances by Reading User Manuals
Jian Zhang, Hanbo Zhang, Anxing Xiao, David Hsu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1162-1209
KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection
Andrea Rosasco, Federico Ceola, Giulia Pasquale, Lorenzo Natale; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1210-1224
ActLoc: Learning to Localize on the Move via Active Viewpoint Selection
Jiajie Li, Boyang Sun, Luca Di Giammarino, Hermann Blum, Marc Pollefeys; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1225-1245
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1246-1281
TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policies
Liquan Wang, Jiangjie Bian, Eric Heiden, Animesh Garg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1282-1310
$\textttSPIN$: distilling $\textttSkill-RRT$ for long-horizon prehensile and non-prehensile manipulation
Haewon Jung, Donguk Lee, Haecheol Park, Kim Jun Hyeop, Beomjoon Kim; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1311-1351
FFHFlow: Diverse and Uncertainty-Aware Dexterous Grasp Generation via Flow Variational Inference
Qian Feng, Jianxiang Feng, Zhaopeng Chen, Rudolph Triebel, Alois Knoll; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1352-1381
CogniPlan: Uncertainty-Guided Path Planning with Conditional Generative Layout Prediction
Yizhuo Wang, Haodong He, Jingsong Liang, Yuhong Cao, Ritabrata Chakraborty, Guillaume Adrien Sartoretti; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1382-1396
ObjectReact: Learning Object-Relative Control for Visual Navigation
Sourav Garg, Dustin Craggs, Vineeth Bhat, Lachlan Mares, Stefan Podgorski, Madhava Krishna, Feras Dayoub, Ian Reid; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1397-1419
CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks
Ce Hao, Anxing Xiao, Zhiwei Xue, Harold Soh; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1420-1451
Residual Neural Terminal Constraint for MPC-based Collision Avoidance in Dynamic Environments
Bojan Derajic, Mohamed-Khalil Bouzidi, Sebastian Bernhard, Wolfgang Hönig; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1452-1469
Multi-critic Learning for Whole-body End-effector Twist Tracking
Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione, Christian Gehring, Marco Hutter; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1470-1485
Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning
Albert Wilcox, Mohamed Ghanem, Masoud Moghani, Pierre Barroso, Benjamin Joffe, Animesh Garg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1486-1514
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
Rishabh Madan, Jiawei Lin, Mahika Goel, Amber Li, Angchen Xie, Xiaoyu Liang, Marcus Lee, Justin Guo, Pranav N. Thakkar, Rohan Banerjee, Jose Barreiros, Kate Tsui, Tom Silver, Tapomayukh Bhattacharjee; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1515-1530
Sequence Modeling for Time-Optimal Quadrotor Trajectory Optimization with Sampling-based Robustness Analysis
Katherine Mao, Hongzhan Yu, Ruipeng Zhang, Igor Spasojevic, Sicun Gao, Vijay Kumar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1531-1540
O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation
Tongxuan Tian, Xuhui Kang, Yen-Ling Kuo; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1541-1561
Multimodal Fused Learning for Solving the Generalized Traveling Salesman Problem in Robotic Task Planning
Jiaqi Cheng, Mingfeng Fan, Xuefeng Zhang, Jingsong Liang, Yuhong Cao, Guohua Wu, Guillaume Adrien Sartoretti; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1562-1575
Capability-Aware Shared Hypernetworks for Flexible Heterogeneous Multi-Robot Coordination
Kevin Fu, Shalin Jain, Pierce Howell, Harish Ravichandar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1576-1597
ReCoDe: Reinforcement Learning-based Dynamic Constraint Design for Multi-Agent Coordination
Michael Amir, Guang Yang, Zhan Gao, Keisuke Okumura, Heedo Woo, Amanda Prorok; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1598-1614
Predictive Red Teaming: Breaking Policies Without Breaking Robots
Anirudha Majumdar, Mohit Sharma, Dmitry Kalashnikov, Sumeet Singh, Pierre Sermanet, Vikas Sindhwani; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1615-1635
Efficient Evaluation of Multi-Task Robot Policies With Active Experiment Selection
Abrar Anwar, Rohan Gupta, Zain Merchant, Sayan Ghosh, Willie Neiswanger, Jesse Thomason; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1636-1653
Learning Smooth State-Dependent Traversability from Dense Point Clouds
Zihao Dong, Alan Papalia, Leonard Jung, Alenna Spiro, Philip R Osteen, Christa S. Robison, Michael Everett; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1654-1671
Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
Kaizhe Hu, Haochen Shi, Yao He, Weizhuo Wang, Karen Liu, Shuran Song; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1672-1689
Steerable Scene Generation with Post Training and Inference-Time Search
Nicholas Ezra Pfaff, Hongkai Dai, Sergey Zakharov, Shun Iwase, Russ Tedrake; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1690-1702
Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation
Tongxuan Tian, Haoyang Li, Bo Ai, Xiaodi Yuan, Zhiao Huang, Hao Su; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1703-1725
LaDi-WM: A Latent Diffusion-Based World Model for Predictive Manipulation
Yuhang Huang, Jiazhao Zhang, Shilong Zou, Xinwang Liu, Ruizhen Hu, Kai Xu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1726-1743
Learning Long-Context Diffusion Policies via Past-Token Prediction
Marcel Torne Villasevil, Andy Tang, Yuejiang Liu, Chelsea Finn; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1744-1755
Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing
Hao Ma, Sabrina Bodmer, Andrea Carron, Melanie Zeilinger, Michael Muehlebach; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1756-1776
QuaDreamer: Controllable Panoramic Video Generation for Quadruped Robots
Sheng Wu, Fei Teng, Hao Shi, Qi Jiang, Kai Luo, Kaiwei Wang, Kailun Yang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1777-1789
Human-like Navigation in a World Built for Humans
Bhargav Chandaka, Gloria Xinyue Wang, Haozhe Chen, Henry Che, Albert J. Zhai, Shenlong Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1790-1808
GC-VLN: Instruction as Graph Constraints for Training-free Vision-and-Language Navigation
Hang Yin, Haoyu Wei, Xiuwei Xu, Wenxuan Guo, Jie Zhou, Jiwen Lu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1809-1824
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
Siddhant Haldar, Lerrel Pinto; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1825-1846
Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees
Yaniv Hassidof, Tom Jurgenson, Kiril Solovey; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1847-1878
SDS – See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration
Maria Stamatopoulou, Jeffrey Li, Dimitrios Kanoulas; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1879-1897
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
Puhao Li, Yingying Wu, Ziheng Xi, Wanlin Li, Yuzhe Huang, Zhiyuan Zhang, Yinghan Chen, Jianan Wang, Song-Chun Zhu, Tengyu Liu, Siyuan Huang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1898-1913
Sample-Efficient Online Control Policy Learning with Real-Time Recursive Model Updates
Zixin Zhang, James Avtges, Todd Murphey; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1914-1939
BranchOut: Capturing Realistic Multimodality in Autonomous Driving Decisions
Hee Jae Kim, Zekai Yin, Lei Lai, Jason Lee, Eshed Ohn-Bar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1940-1952
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation
Zechu Li, Yufeng Jin, Daniel Ordonez-Apraez, Claudio Semini, Puze Liu, Georgia Chalvatzaki; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1953-1974
JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes
Shalin Jain, Jiazhen Liu, Siva Kailas, Harish Ravichandar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1975-1996
AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real World
Zhiyuan Zhou, Pranav Atreya, You Liang Tan, Karl Pertsch, Sergey Levine; Proceedings of The 9th Conference on Robot Learning, PMLR 305:1997-2017
Long-VLA: Unleashing Long-Horizon Capability of Vision Language Action Model for Robot Manipulation
Yiguo Fan, Shuanghao Bai, Xinyang Tong, Pengxiang Ding, Yuyang Zhu, Hongchao Lu, Fengqi Dai, Wei Zhao, Yang Liu, Siteng Huang, Zhaoxin Fan, Badong Chen, Donglin Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2018-2037
Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation
Yunhai Feng, Jiaming Han, Zhuoran Yang, Xiangyu Yue, Sergey Levine, Jianlan Luo; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2038-2062
Learn from What We HAVE: History-Aware VErifier that Reasons about Past Interactions Online
Yishu Li, Xinyi Mao, Ying Yuan, Kyutae Sim, Ben Eisner, David Held; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2063-2092
Search-TTA: A Multi-Modal Test-Time Adaptation Framework for Visual Search in the Wild
Derek Ming Siang Tan, Shailes Shailesh, Boyang Liu, Alok Raj, Qi Xuan Ang, Weiheng Dai, Tanishq Duhan, Jimmy Chiun, Yuhong Cao, Florian Shkurti, Guillaume Adrien Sartoretti; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2093-2120
MEReQ: Max-Ent Residual-Q Inverse RL for Sample-Efficient Alignment from Intervention
Yuxin Chen, Chen Tang, Jianglan Wei, Chenran Li, Thomas Tian, Xiang Zhang, Wei Zhan, Peter Stone, Masayoshi Tomizuka; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2121-2142
TWIST: Teleoperated Whole-Body Imitation System
Yanjie Ze, Zixuan Chen, Joao Pedro Araujo, Zi-ang Cao, Xue Bin Peng, Jiajun Wu, Karen Liu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2143-2154
KoopMotion: Learning Almost Divergence Free Koopman Flow Fields for Motion Planning
Alice Kate Li, Thales C. Silva, Victoria Edwards, Vijay Kumar, M. Ani Hsieh; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2155-2169
Pointing3D: A Benchmark for 3D Object Referral via Pointing Gestures
Mert Arslanoglu, Kadir Yilmaz, Cemhan Kaan Özaltan, Timm Linder, Bastian Leibe; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2170-2183
Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference Scoped Exploration
Sirui Xu, Yu-Wei Chao, Liuyu Bian, Arsalan Mousavian, Yu-Xiong Wang, Liangyan Gui, Wei Yang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2184-2199
Enabling Long(er) Horizon Imitation for Manipulation Tasks by Modeling Subgoal Transitions
Shivam Jain, Sachit Sachdeva, Rohan Paul; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2219-2238
Cost-aware Discovery of Contextual Failures using Bayesian Active Learning
Anjali Parashar, Joseph Zhang, Yingke Li, Chuchu Fan; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2239-2267
ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training
Ge Yan, Jiyue Zhu, Yuquan Deng, Shiqi Yang, Ri-Zhao Qiu, Xuxin Cheng, Marius Memmel, Ranjay Krishna, Ankit Goyal, Xiaolong Wang, Dieter Fox; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2268-2293
Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation
Rachel Luo, Heng Yang, Michael Watson, Apoorva Sharma, Sushant Veer, Edward Schmerling, Marco Pavone; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2294-2310
Self-supervised perception for tactile skin covered dexterous hands
Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri, Zixi Liu, Taosha Fan, Tess Hellebrekers, Mike Lambeta, Byron Boots, Michael Kaess, Tingfan Wu, Francois Robert Hogan, Mustafa Mukadam; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2311-2328
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study
Dongyun Kang, Gijeong Kim, JongHun Choe, Hajun Kim, Hae-Won Park; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2329-2343
3DS-VLA: A 3D Spatial-Aware Vision Language Action Model for Robust Multi-Task Manipulation
Xiaoqi Li, Liang Heng, Jiaming Liu, Yan Shen, Chenyang Gu, Zhuoyang Liu, Hao Chen, Nuowei Han, Renrui Zhang, Hao Tang, Shanghang Zhang, Hao Dong; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2344-2359
CoRI: Communication of Robot Intent for Physical Human-Robot Interaction
Junxiang Wang, Emek Barış Küçüktabak, Rana Soltani Zarrin, Zackory Erickson; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2360-2390
MirrorDuo: Reflection-Consistent Visuomotor Learning from Mirrored Demonstration Pairs
Zheyu Zhuang, Ruiyu Wang, Giovanni Luca Marchetti, Florian T. Pokorny, Danica Kragic; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2391-2408
AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies
Yinpei Dai, Jayjun Lee, Yichi Zhang, Ziqiao Ma, Jianing Yang, Amir Zadeh, Chuan Li, Nima Fazeli, Joyce Chai; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2409-2429
Latent Adaptive Planner for Dynamic Manipulation
Donghun Noh, Deqian Kong, Minglu Zhao, Andrew Lizarraga, Jianwen Xie, Ying Nian Wu, Dennis Hong; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2430-2448
Improving Efficiency of Sampling-based Motion Planning via Message-Passing Monte Carlo
Makram Chahine, T. Konstantin Rusch, Zach J Patterson, Daniela Rus; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2449-2461
CASPER: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models
Huihan Liu, Rutav Shah, Shuijing Liu, Jack Pittenger, Mingyo Seo, Yuchen Cui, Yonatan Bisk, Roberto Martín-Martín, Yuke Zhu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2462-2483
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam, Rowland O’Flaherty, Dieter Fox, Xiaolong Wang, Arsalan Mousavian, Yu-Wei Chao, Yunzhu Li; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2484-2500
Few-Shot Neuro-Symbolic Imitation Learning for Long-Horizon Planning and Acting
Pierrick Lorang, Hong Lu, Johannes Huemer, Patrik Zips, Matthias Scheutz; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2501-2518
From Tabula Rasa to Emergent Abilities: Discovering Robot Skills via Real-World Unsupervised Quality-Diversity
Luca Grillotti, Lisa Coiffard, Oscar Pang, Maxence Faldor, Antoine Cully; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2519-2535
exUMI: Extensible Robot Teaching System with Action-aware Task-agnostic Tactile Representation
Yue Xu, Litao Wei, Pengyu An, Qingyu Zhang, Yong-Lu Li; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2536-2554
IRIS: An Immersive Robot Interaction System
Xinkai Jiang, Qihao Yuan, Enes Ulas Dincer, Hongyi Zhou, Ge Li, Xueyin Li, Xiaogang Jia, Timo Schnizer, Nicolas Schreiber, Weiran Liao, Julius Haag, Kailai Li, Gerhard Neumann, Rudolf Lioutikov; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2555-2582
GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping
René Zurbrügg, Andrei Cramariuc, Marco Hutter; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2583-2602
ATK: Automatic Task-driven Keypoint Selection for Robust Policy Learning
Yunchu Zhang, Shubham Mittal, Zhengyu Zhang, Liyiming Ke, Siddhartha Srinivasa, Abhishek Gupta; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2603-2627
ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
Jiankai Sun, Aidan Curtis, Yang You, Yan Xu, Michael Koehle, Qianzhong Chen, Suning Huang, Leonidas Guibas, Sachin Chitta, Mac Schwager, Hui Li; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2628-2642
Generalist Robot Manipulation beyond Action Labeled Data
Alexander Spiridonov, Jan-Nico Zaech, Nikolay Nikolov, Luc Van Gool, Danda Pani Paudel; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2643-2664
Subteaming and Adaptive Formation Control for Coordinated Multi-Robot Navigation
Zihao Deng, Peng Gao, Williard Joshua Jose, Maggie Wigness, John G. Rogers III, Brian Reily, Christopher M. Reardon, Hao Zhang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2665-2677
Unsupervised Skill Discovery as Exploration for Learning Agile Locomotion
Seungeun Rho, Kartik Garg, Morgan Byrd, Sehoon Ha; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2678-2694
Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use
Haonan Chen, Cheng Zhu, Shuijing Liu, Yunzhu Li, Katherine Rose Driggs-Campbell; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2695-2713
GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering
Saumya Saxena, Blake Buchanan, Chris Paxton, Peiqi Liu, Bingqing Chen, Narunas Vaskevicius, Luigi Palmieri, Jonathan Francis, Oliver Kroemer; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2714-2742
Mechanistic Interpretability for Steering Vision-Language-Action Models
Bear Häon, Kaylene Caswell Stocking, Ian Chuang, Claire Tomlin; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2743-2762
AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
Yizheng Zhang, Zhenjun Yu, JiaXin Lai, Cewu Lu, Lei Han; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2763-2778
LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing
Changyi Lin, Yuxin Ray Song, Boda Huo, Mingyang Yu, Yikai Wang, Shiqi Liu, Yuxiang Yang, Wenhao Yu, Tingnan Zhang, Jie Tan, Yiyue Luo, Ding Zhao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2779-2801
Uncertainty-aware Accurate Elevation Modeling for Off-road Navigation via Neural Processes
Sanghun Jung, Daehoon Gwak, Byron Boots, James Hays; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2802-2822
Generative Visual Foresight Meets Task-Agnostic Pose Estimation in Robotic Table-top Manipulation
Chuye Zhang, Xiaoxiong Zhang, Linfang Zheng, Wei Pan, Wei Zhang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2823-2846
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions
Harrison Field, Max Yang, Yijiong Lin, Efi Psomopoulou, David A.W. Barton, Nathan F. Lepora; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2847-2887
Humanoid Policy Human Policy
Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng, Chaitanya Chawla, Jialong Li, Tairan He, Ge Yan, David J. Yoon, Ryan Hoque, Lars Paulsen, Ge Yang, Jian Zhang, Sha Yi, Guanya Shi, Xiaolong Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2888-2906
CUPID: Curating Data your Robot Loves with Influence Functions
Christopher Agia, Rohan Sinha, Jingyun Yang, Rika Antonova, Marco Pavone, Haruki Nishimura, Masha Itkina, Jeannette Bohg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2907-2932
MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation
Zhenyu Wu, Angyuan Ma, Xiuwei Xu, Hang Yin, Yinan Liang, Ziwei Wang, Jiwen Lu, Haibin Yan; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2933-2948
Constrained Style Learning from Imperfect Demonstrations under Task Optimality
Kehan Wen, Chenhao Li, Junzhe He, Marco Hutter; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2949-2965
SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World RL
Jiaheng Hu, Peter Stone, Roberto Martín-Martín; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2966-2982
GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation
Abhay Deshpande, Yuquan Deng, Jordi Salvador, Arijit Ray, Winson Han, Jiafei Duan, Rose Hendrix, Yuke Zhu, Ranjay Krishna; Proceedings of The 9th Conference on Robot Learning, PMLR 305:2983-3007
Poke and Strike: Learning Task-Informed Exploration Policies
Marina Y. Aoyama, Joao Moura, Juan Del Aguila Ferrandis, Sethu Vijayakumar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3008-3034
Robust Dexterous Grasping of General Objects
Hui Zhang, Zijian wu, Linyi Huang, Sammy Christen, Jie Song; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3035-3050
ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving
Xueyi Liu, Zuodong Zhong, Qichao Zhang, Yuxin Guo, Yupeng Zheng, Junli Wang, Dongbin Zhao, Yun-Fu Liu, Zhiguo Su, Yinfeng Gao, Qiao Lin, Chen Huiyong; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3051-3068
FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset
Zhaxizhuom Zhaxizhuoma, Kehui Liu, Chuyue Guan, Zhongjie Jia, Ziniu Wu, Xin Liu, Tianyu Wang, Shuai Liang, Pengan CHEN, Pingrui Zhang, Haoming Song, Delin Qu, Dong Wang, Zhigang Wang, Nieqing Cao, Yan Ding, Bin Zhao, Xuelong Li; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3069-3093
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
Junjie Wen, Yichen Zhu, Jinming Li, Zhibin Tang, Chaomin Shen, Feifei Feng; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3094-3114
ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning
Rahel Rickenbach, Alan Lahoud, Erik Schaffernicht, Melanie Zeilinger, Johannes A. Stork; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3115-3136
LLM-Guided Probabilistic Program Induction for POMDP Model Estimation
Aidan Curtis, Hao Tang, Thiago Veloso, Kevin Ellis, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3137-3184
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps
Matt Schmittle, Rohan Baijal, Nathan Hatch, Rosario Scalise, Mateo Guaman Castro, Sidharth Talia, Khimya Khetarpal, Byron Boots, Siddhartha Srinivasa; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3185-3199
RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models
Jacky Kwok, Christopher Agia, Rohan Sinha, Matt Foutter, Shulu Li, Ion Stoica, Azalia Mirhoseini, Marco Pavone; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3200-3217
SafeBimanual: Diffusion-based trajectory optimization for safe bimanual manipulation
Haoyuan Deng, Wenkai Guo, Qianzhun Wang, Zhenyu Wu, Ziwei Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3218-3238
Shortcut Learning in Generalist Robot Policies: The Role of Dataset Diversity and Fragmentation
Youguang Xing, Xu Luo, Junlin Xie, Lianli Gao, Heng Tao Shen, Jingkuan Song; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3239-3266
HALO : Human Preference Aligned Offline Reward Learning for Robot Navigation
Gershom Seneviratne, Jianyu An, Sahire Ellahy, Kasun Weerakoon, Mohamed Bashir Elnoor, Jonathan Deepak Kannan, Amogha Thalihalla Sunil, Dinesh Manocha; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3267-3284
Contrastive Forward Prediction Reinforcement Learning for Adaptive Fault-Tolerant Legged Robots
Yangqing Fu, Yang Zhang, Qiyue Yang, Liyun Yan, Zhanxiang Cao, Yue Gao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3285-3303
Self-supervised Learning Of Visual Pose Estimation Without Pose Labels By Classifying LED States
Nicholas Carlotti, Mirko Nava, Alessandro Giusti; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3304-3317
ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models
Minwoo Jung, Lanke Frank Tarimo Fu, Maurice Fallon, Ayoung Kim; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3318-3340
$Door(s)$: Junction State Estimation for Efficient Exploration in Reinforcement Learning
Benjamin Fele, Jan Babic; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3341-3356
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings
Andreas Sochopoulos, Nikolay Malkin, Nikolaos Tsagkas, Joao Moura, Michael Gienger, Sethu Vijayakumar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3357-3377
DiWA: Diffusion Policy Adaptation with World Models
Akshay L Chandra, Iman Nematollahi, Chenguang Huang, Tim Welschehold, Wolfram Burgard, Abhinav Valada; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3378-3400
SimShear: Sim-to-Real Shear-based Tactile Servoing
Kipp Freud, Yijiong Lin, Nathan F. Lepora; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3401-3412
ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation
Enyu Zhao, Vedant Raval, Hejia Zhang, Jiageng Mao, Zeyu Shangguan, Stefanos Nikolaidis, Yue Wang, Daniel Seita; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3413-3462
Distributed Upload and Active Labeling for Resource-Constrained Fleet Learning
Oguzhan Akcin, Harsh Goel, Ruihan Zhao, Sandeep P. Chinchali; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3463-3482
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger, Dichen Li, Tongzhou Mu, Zhanxin Wu, K. Fay, Henrik I Christensen, Jan Peters, Hao Su; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3483-3515
Mobi-$\pi$: Mobilizing Your Robot Learning Policy
Jingyun Yang, Isabella Huang, Brandon Vu, Max Bajracharya, Rika Antonova, Jeannette Bohg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3516-3536
RoboChemist: Long-Horizon and Safety-Compliant Robotic Chemical Experimentation
Zongzheng Zhang, Chenghao Yue, Haobo Xu, Minwen Liao, Xianglin Qi, Huan-ang Gao, Ziwei Wang, Hao Zhao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3537-3568
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
I-Chun Arthur Liu, Jason Chen, Gaurav S. Sukhatme, Daniel Seita; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3569-3588
UnPose: Uncertainty-Guided Diffusion Priors for Zero-Shot Pose Estimation
Zhaodong Jiang, Ashish Sinha, Tongtong Cao, Yuan Ren, Bingbing Liu, Binbin Xu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3589-3604
WoMAP: World Models For Embodied Open-Vocabulary Object Localization
Tenny Yin, Zhiting Mei, Tao Sun, Ola Sho, Anirudha Majumdar, Emily Zhou, Jeremy Bao, Miyu Yamane, Lihan Zha; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3605-3630
Constraint-Preserving Data Generation for One-Shot Visuomotor Policy Generalization
Kevin Lin, Varun Ragunath, Andrew McAlinden, Aaditya Prasad, Jimmy Wu, Yuke Zhu, Jeannette Bohg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3631-3646
Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
Justin Kerr, Kush Hari, Ethan Weber, Chung Min Kim, Brent Yi, tyler bonnen, Ken Goldberg, Angjoo Kanazawa; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3647-3664
Learning Deployable Locomotion Control via Differentiable Simulation
Clemens Schwarke, Victor Klemm, Joshua Bagajo, Jean Pierre Sleiman, Ignat Georgiev, Jesus Tordesillas Torres, Marco Hutter; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3665-3684
Agreement Volatility: A Second-Order Metric for Uncertainty Quantification in Surgical Robot Learning
Jordan Thompson, Britton Jordan, Daniel S. Brown, Alan Kuntz; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3685-3703
CARE: Enhancing Safety of Visual Navigation through Collision Avoidance via Repulsive Estimation
Joonkyung Kim, Joonyeol Sim, Woojun Kim, Katia P. Sycara, Changjoo Nam; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3704-3719
Embrace Contacts: humanoid shadowing with full body ground contacts
Ziwen Zhuang, Hang Zhao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3720-3735
FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Flow Models
Moritz Reuss, Hongyi Zhou, Marcel Rühle, Ömer Erdinç Yağmurlu, Fabian Otto, Rudolf Lioutikov; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3736-3761
Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility
Zewei Zhang, Chenhao Li, Takahiro Miki, Marco Hutter; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3762-3777
VLM-AD: End-to-End Autonomous Driving through Vision-Language Model Supervision
Yi Xu, Yuxin Hu, Zaiwei Zhang, Gregory P. Meyer, Siva Karthik Mustikovela, Siddhartha Srinivasa, Eric M. Wolff, Xin Huang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3778-3803
SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps
Olao Shorinwa, Jiankai Sun, Mac Schwager, Anirudha Majumdar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3804-3827
Articulated Object Estimation in the Wild
Abdelrhman Werby, Martin Büchner, Adrian Röfer, Chenguang Huang, Wolfram Burgard, Abhinav Valada; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3828-3849
Decentralized Aerial Manipulation of a Cable-Suspended Load Using Multi-Agent Reinforcement Learning
Jack Zeng, Andreu Matoses Gimenez, Eugene Vinitsky, Javier Alonso-Mora, Sihao Sun; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3850-3868
Focusing on What Matters: Object-Agent-centric Tokenization for Vision Language Action models
Rokas Bendikas, Daniel Dijkman, Markus Peschl, Sanjay Haresh, Pietro Mazzaglia; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3869-3887
In-Context Iterative Policy Improvement for Dynamic Manipulation
Mark Van der Merwe, Devesh K. Jha; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3888-3901
One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies
Chuer Pan, Litian Liang, Dominik Bauer, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Shuran Song; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3902-3914
Neural Robot Dynamics
Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3915-3935
Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation
Homanga Bharadhwaj, Debidatta Dwibedi, Abhinav Gupta, Shubham Tulsiani, Carl Doersch, Ted Xiao, Dhruv Shah, Fei Xia, Dorsa Sadigh, Sean Kirmani; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3936-3951
FLARE: Robot Learning with Implicit World Modeling
Ruijie Zheng, Jing Wang, Scott Reed, Johan Bjorck, Yu Fang, Fengyuan Hu, Joel Jang, Kaushil Kundalia, Zongyu Lin, Loïc Magne, Avnish Narayan, You Liang Tan, Guanzhi Wang, Qi Wang, Jiannan Xiang, Yinzhen Xu, Seonghyeon Ye, Jan Kautz, Furong Huang, Yuke Zhu, Linxi Fan; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3952-3971
GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulation
Teli Ma, Jia Zheng, Zifan Wang, Ziyao Gao, Jiaming Zhou, Junwei Liang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3972-3994
Extracting Visual Plans from Unlabeled Videos via Symbolic Guidance
Wenyan Yang, Ahmet Tikna, Yi Zhao, Yuying Zhang, Luigi Palopoli, Marco Roveri, Joni Pajarinen; Proceedings of The 9th Conference on Robot Learning, PMLR 305:3995-4018
Elucidating the Design Space of Torque-aware Vision-Language-Action Models
Zongzheng Zhang, Haobo Xu, Zhuo Yang, Chenghao Yue, Zehao Lin, Huan-ang Gao, Ziwei Wang, Hao Zhao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4019-4037
AnyPlace: Learning Generalizable Object Placement for Robot Manipulation
Yuchi Zhao, Miroslav Bogdanovic, Chengyuan Luo, Steven Tohme, Kourosh Darvish, Alan Aspuru-Guzik, Florian Shkurti, Animesh Garg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4038-4057
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
Sirui Chen, Yufei Ye, Zi-ang Cao, Pei Xu, Jennifer Lew, Karen Liu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4058-4073
RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning
Liam Boyle, Nicolas Baumann, Paviththiren Sivasothilingam, Michele Magno, Luca Benini; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4074-4092
Off Policy Lyapunov Stability in Reinforcement Learning
Sarvan Gill, Daniela Constantinescu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4093-4102
From Space to Time: Enabling Adaptive Safety with Learned Value Functions via Disturbance Recasting
Sander Tonkens, Nikhil Uday Shinde, Azra Begzadić, Michael C. Yip, Jorge Cortes, Sylvia Lee Herbert; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4103-4122
KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation
Di Zhang, Chengbo Yuan, Chuan Wen, Hai Zhang, Junqiao Zhao, Yang Gao; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4123-4138
TrackVLA: Embodied Visual Tracking in the Wild
Shaoan Wang, Jiazhao Zhang, Minghan Li, Jiahang Liu, Anqi Li, Kui Wu, Fangwei Zhong, Junzhi Yu, Zhizheng Zhang, He Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4139-4164
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
Haochen Shi, Weizhuo Wang, Shuran Song, Karen Liu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4165-4189
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
Jiahua Ma, Yiran Qin, Yixiong Li, Xuanqi Liao, Yulan Guo, Ruimao Zhang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4190-4205
Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling
Jianpeng Yao, Xiaopan Zhang, Yu Xia, Zejin Wang, Amit Roy-Chowdhury, Jiachen Li; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4206-4225
Robot Learning from Any Images
Siheng Zhao, Jiageng Mao, Wei Chow, Zeyu Shangguan, Tianheng Shi, Rong Xue, Yuxi Zheng, Yijia Weng, Yang You, Daniel Seita, Leonidas Guibas, Sergey Zakharov, Vitor Campagnolo Guizilini, Yue Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4226-4245
ComposableNav: Instruction-Following Navigation in Dynamic Environments via Composable Diffusion
Zichao Hu, Chen Tang, Michael Joseph Munje, Yifeng Zhu, Alex Liu, Shuijing Liu, Garrett Warnell, Peter Stone, Joydeep Biswas; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4246-4268
UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations
Hanjung Kim, Jaehyun Kang, Hyolim Kang, Meedeum Cho, Seon Joo Kim, Youngwoon Lee; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4269-4294
PicoPose: Progressive Pixel-to-Pixel Correspondence Learning for Novel Object Pose Estimation
Lihua Liu, Jiehong Lin, ZhenXin Liu, Kui Jia; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4295-4312
Co-Design of Soft Gripper with Neural Physics
Sha Yi, Xueqian Bai, Adabhav Singh, Jianglong Ye, Michael T. Tolley, Xiaolong Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4313-4327
Joint Model-based Model-free Diffusion for Planning with Constraints
Wonsuhk Jung, Utkarsh Aashu Mishra, Nadun Ranawaka Arachchige, Yongxin Chen, Danfei Xu, Shreyas Kousik; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4328-4350
Action-Free Reasoning for Policy Generalization
Jaden Clark, Suvir Mirchandani, Dorsa Sadigh, Suneel Belkhale; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4351-4366
UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation
Mingdong Wu, Long Yang, Jin Liu, Weiyao Huang, Lehong Wu, Zelin Chen, Daolin Ma, Hao Dong; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4367-4384
OPAL: Visibility-aware LiDAR-to-OpenStreetMap Place Recognition via Adaptive Radial Fusion
Shuhao Kang, Youqi Liao, Yan Xia, Olaf Wysocki, Boris Jutzi, Daniel Cremers; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4385-4400
Uncertainty-Aware Scene Understanding via Efficient Sampling-Free Confidence Estimation
Hanieh Shojaei Miandashti, Qianqian Zou, Claus Brenner; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4401-4417
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
Tyler Ga Wei Lum, Olivia Y. Lee, Karen Liu, Jeannette Bohg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4418-4441
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures
Junwon Seo, Kensuke Nakamura, Andrea Bajcsy; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4442-4472
MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence
Chao Tang, Anxing Xiao, Yuhong Deng, Tianrun Hu, Wenlong Dong, Hanbo Zhang, David Hsu, Hong Zhang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4473-4492
CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
Yixuan Li, Yutang Lin, Jieming Cui, Tengyu Liu, Wei Liang, Yixin Zhu, Siyuan Huang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4493-4505
Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
Yitang Li, Yuanhang Zhang, Wenli Xiao, Chaoyi Pan, Haoyang Weng, Guanqi He, Tairan He, Guanya Shi; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4506-4523
HyperTASR: Hypernetwork-Driven Task-Aware Scene Representations for Robust Manipulation
Li Sun, Jiefeng Wu, Feng Chen, Ruizhe Liu, Yanchao Yang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4524-4544
Phantom: Training Robots Without Robots Using Only Human Videos
Marion Lepert, Jiaying Fang, Jeannette Bohg; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4545-4565
Granular loco-manipulation: Repositioning rocks through strategic sand avalanche
Haodi Hu, Yue Wu, Daniel Seita, Feifei Qian; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4566-4584
Articulate AnyMesh: Open-vocabulary 3D Articulated Objects Modeling
Xiaowen Qiu, Jincheng Yang, Yian Wang, Zhehuan Chen, Yufei Wang, Tsun-Hsuan Wang, Zhou Xian, Chuang Gan; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4585-4606
COLLAGE: Adaptive Fusion-based Retrieval for Augmented Policy Learning
Sateesh Kumar, Shivin Dass, Georgios Pavlakos, Roberto Martín-Martín; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4607-4624
Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristics
Ryoga Oishi, Sho Sakaino, Toshiaki Tsuji; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4625-4640
Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
Chengtian Ma, Yunyue Wei, Chenhui Zuo, Chen Zhang, Yanan Sui; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4641-4656
Do LLM Modules Generalize? A Study on Motion Generation for Autonomous Driving
Mingyi Wang, Jingke Wang, Tengju Ye, Kaicheng Yu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4657-4683
Diffusion-Guided Multi-Arm Motion Planning
Viraj Parimi, Brian C. Williams; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4684-4696
See, Point, Fly: A Learning-Free VLM Framework for Universal Unmanned Aerial Navigation
Chih Yao Hu, Yang-Sen Lin, Yuna Lee, Chih-Hai Su, Jie-Ying Lee, Shr-Ruei Tsai, Chin-Yang Lin, Kuan-Wen Chen, Tsung-Wei Ke, Yu-Lun Liu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4697-4708
Pseudo-Simulation for Autonomous Driving
Wei Cao, Marcel Hallgarten, Tianyu Li, Daniel Dauner, Xunjiang Gu, Caojun Wang, Yakov Miron, Marco Aiello, Hongyang Li, Igor Gilitschenski, Boris Ivanovic, Marco Pavone, Andreas Geiger, Kashyap Chitta; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4709-4722
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
Zhi Su, Yuman Gao, Emily Lukas, Yunfei Li, Jiaze Cai, Faris Talubah, Fei Gao, Chao Yu, Zhongyu Li, Yi Wu, Koushil Sreenath; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4723-4742
CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation
Sung-Wook Lee, Xuhui Kang, Brandon Y. Yang, Yen-Ling Kuo; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4743-4766
Generating Robot Constitutions & Benchmarks for Semantic Safety
Pierre Sermanet, Anirudha Majumdar, Alex Irpan, Dmitry Kalashnikov, Vikas Sindhwani; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4767-4823
BEVCalib: LiDAR-Camera Calibration via Geometry-Guided Bird’s-Eye View Representation
Weiduo Yuan, Jerry Li, Justin Yue, Divyank Shah, Konstantinos Karydis, Hang Qiu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4824-4836
Imagine, Verify, Execute: Memory-guided Agentic Exploration with Vision-Language Models
Seungjae Lee, Daniel Ekpo, Haowen Liu, Furong Huang, Abhinav Shrivastava, Jia-Bin Huang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4837-4858
Distilling On-device Language Models for Robot Planning with Minimal Human Intervention
Zachary Ravichandran, Ignacio Hounie, Fernando Cladera, Alejandro Ribeiro, George J. Pappas, Vijay Kumar; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4859-4884
Beyond Constant Parameters: Hyper Prediction Models and HyperMPC
Jan Węgrzynowski, Piotr Kicki, Grzegorz Czechmanowski, Maciej Piotr Krupka, Krzysztof Walas; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4885-4907
Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation
Anuj Pasricha, Joewie J. Koh, Jay Vakil, Alessandro Roncone; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4908-4925
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
Toru Lin, Kartik Sachdev, Linxi Fan, Jitendra Malik, Yuke Zhu; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4926-4940
ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation
Suning Huang, Qianzhong Chen, Xiaohan Zhang, Jiankai Sun, Mac Schwager; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4941-4957
EndoVLA: Dual-Phase Vision-Language-Action for Precise Autonomous Tracking in Endoscopy
NG CHI KIT, Long Bai, Guankun Wang, Yupeng Wang, Huxin Gao, Kun yuan, Chenhan Jin, Tieyong Zeng, Hongliang Ren; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4958-4974
TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
Yuhao Lin, Yi-Lin Wei, Haoran Liao, Mu Lin, Chengyi Xing, Hao Li, Dandan Zhang, Mark Cutkosky, Wei-Shi Zheng; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4975-4993
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
Weikang Wan, Jiawei Fu, Xiaodi Yuan, Yifeng Zhu, Hao Su; Proceedings of The 9th Conference on Robot Learning, PMLR 305:4994-5021
RICL: Adding In-Context Adaptability to Pre-Trained Vision-Language-Action Models
Kaustubh Sridhar, Souradeep Dutta, Dinesh Jayaraman, Insup Lee; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5022-5038
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
Jun Yamada, Shaohong Zhong, Jack Collins, Ingmar Posner; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5039-5055
Deep Reactive Policy: Learning Reactive Manipulator Motion Planning for Dynamic Environments
Jiahui Yang, Jason Jingzhou Liu, Yulong Li, Youssef Khaky, Kenneth Shaw, Deepak Pathak; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5056-5071
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering
Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng, Andrzej Marek Reinke, Bandi Jai Krishna, Navid Kayhani, Oriana Peltzer, David Fan, Amirreza Shaban, Sung-Kyun Kim, Mykel Kochenderfer, Ali-akbar Agha-mohammadi, Shayegan Omidshafiei; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5072-5106
Motion Blender Gaussian Splatting for Dynamic Reconstruction
Xinyu Zhang, Haonan Chang, Yuhan Liu, Abdeslam Boularias; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5107-5128
TReF-6: Inferring Task-Relevant Frames from a Single Demonstration for One-Shot Skill Generalization
Yuxuan Ding, Shuangge Wang, Tesca Fitzgerald; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5129-5150
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu, Kai McClennen, Gio Huh, Kevin Yang, Zhutian Yang, Qinxi Yu, Xiaolong Wang, Phillip Isola, Ge Yang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5151-5169
DreamGen: Unlocking Generalization in Robot Learning through Video World Models
Joel Jang, Seonghyeon Ye, Zongyu Lin, Jiannan Xiang, Johan Bjorck, Yu Fang, Fengyuan Hu, Spencer Huang, Kaushil Kundalia, Yen-Chen Lin, Loïc Magne, Ajay Mandlekar, Avnish Narayan, You Liang Tan, Guanzhi Wang, Jing Wang, Qi Wang, Yinzhen Xu, Xiaohui Zeng, Kaiyuan Zheng, Ruijie Zheng, Ming-Yu Liu, Luke Zettlemoyer, Dieter Fox, Jan Kautz, Scott Reed, Yuke Zhu, Linxi Fan; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5170-5194
GENNAV: Polygon Mask Generation for Generalized Referring Navigable Regions
Kei Katsumata, Yui Iioka, Naoki Hosomi, Teruhisa Misu, Kentaro Yamada, Komei Sugiura; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5195-5217
NeuralSVCD for Efficient Swept Volume Collision Detection
Hojin Jung, Dongwon Son, Beomjoon Kim; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5218-5233
First Order Model-Based RL through Decoupled Backpropagation
Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane, Nicolas Mansard, Ludovic Righetti; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5234-5255
Rapid Mismatch Estimation via Neural Network Informed Variational Inference
Mateusz Jaszczuk, Nadia Figueroa; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5256-5277
Mastering Multi-Drone Volleyball through Hierarchical Co-Self-Play Reinforcement Learning
Ruize Zhang, Sirui Xiang, Zelai Xu, Feng Gao, Shilong Ji, Wenhao Tang, Wenbo Ding, Chao Yu, Yu Wang; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5278-5300
CaRL: Learning Scalable Planning Policies with Simple Rewards
Bernhard Jaeger, Daniel Dauner, Jens Beißwenger, Simon Gerstenecker, Kashyap Chitta, Andreas Geiger; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5301-5338
Meta-Optimization and Program Search using Language Models for Task and Motion Planning
Denis Shcherba, Eckart Cobo-Briesewitz, Cornelius V. Braun, Marc Toussaint; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5339-5361
From Real World to Logic and Back: Learning Generalizable Relational Concepts For Long Horizon Robot Planning
Naman Shah, Jayesh Nagpal, Siddharth Srivastava; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5362-5434
Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence
Pranay Gupta, Henny Admoni, Andrea Bajcsy; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5435-5449
Vision in Action: Learning Active Perception from Human Demonstrations
Haoyu Xiong, Xiaomeng Xu, Jimmy Wu, Yifan Hou, Jeannette Bohg, Shuran Song; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5450-5463
Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames
Krishan Rana, Jad Abou-Chakra, Sourav Garg, Robert Lee, Ian Reid, Niko Suenderhauf; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5464-5482
Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions
Alexis Yihong Hao, Yufei Wang, Navin Sriram Ravie, Bharath Hegde, David Held, Zackory Erickson; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5483-5505
LaVA-Man: Learning Visual Action Representations for Robot Manipulation
Chaoran Zhu, Hengyi Wang, Yik Lung Pang, Changjae Oh; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5506-5525
FOMO-3D: Using Vision Foundation Models for Long-Tailed 3D Object Detection
Anqi Joyce Yang, James Tu, Nikita Dvornik, Enxu Li, Raquel Urtasun; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5526-5556
Disentangled Multi-Context Meta-Learning: Unlocking Robust and Generalized Task Learning
Seonsoo Kim, Jun-Gill Kang, Taehong Kim, Seongil Hong; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5557-5580
Fail2Progress: Learning from Real-World Robot Failures with Stein Variational Inference
Yixuan Huang, Novella Alvina, Mohanraj Devendran Shanthi, Tucker Hermans; Proceedings of The 9th Conference on Robot Learning, PMLR 305:5581-5605
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