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Editors: Aleksandra Faust, David Hsu, Gerhard Neumann
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear
Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora; Proceedings of the 5th Conference on Robot Learning, PMLR 164:14-23
TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo
Lukas Koestler, Nan Yang, Niclas Zeller, Daniel Cremers; Proceedings of the 5th Conference on Robot Learning, PMLR 164:34-45
Taskography: Evaluating robot task planning over large 3D scene graphs
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti; Proceedings of the 5th Conference on Robot Learning, PMLR 164:46-58
Broadly-Exploring, Local-Policy Trees for Long-Horizon Task Planning
brian ichter, Pierre Sermanet, Corey Lynch; Proceedings of the 5th Conference on Robot Learning, PMLR 164:59-69
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:70-80
Parallelised Diffeomorphic Sampling-based Motion Planning
Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos; Proceedings of the 5th Conference on Robot Learning, PMLR 164:81-90
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter; Proceedings of the 5th Conference on Robot Learning, PMLR 164:91-100
Using Physics Knowledge for Learning Rigid-body Forward Dynamics with Gaussian Process Force Priors
Lucas Rath, Andreas René Geist, Sebastian Trimpe; Proceedings of the 5th Conference on Robot Learning, PMLR 164:101-111
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3D Neural Scene Representations for Visuomotor Control
Yunzhu Li, Shuang Li, Vincent Sitzmann, Pulkit Agrawal, Antonio Torralba; Proceedings of the 5th Conference on Robot Learning, PMLR 164:112-123
Learning Density Distribution of Reachable States for Autonomous Systems
Yue Meng, Dawei Sun, Zeng Qiu, Md Tawhid Bin Waez, Chuchu Fan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:124-136
A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation
Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam; Proceedings of the 5th Conference on Robot Learning, PMLR 164:137-147
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SORNet: Spatial Object-Centric Representations for Sequential Manipulation
Wentao Yuan, Chris Paxton, Karthik Desingh, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:148-157
Implicit Behavioral Cloning
Pete Florence, Corey Lynch, Andy Zeng, Oscar A Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson; Proceedings of the 5th Conference on Robot Learning, PMLR 164:158-168
Influencing Behavioral Attributions to Robot Motion During Task Execution
Nick Walker, Christoforos Mavrogiannis, Siddhartha Srinivasa, Maya Cakmak; Proceedings of the 5th Conference on Robot Learning, PMLR 164:169-179
DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries
Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, Justin Solomon; Proceedings of the 5th Conference on Robot Learning, PMLR 164:180-191
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FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy
Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, David Held; Proceedings of the 5th Conference on Robot Learning, PMLR 164:192-202
Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals
Nachiket Deo, Eric Wolff, Oscar Beijbom; Proceedings of the 5th Conference on Robot Learning, PMLR 164:203-212
Structured deep generative models for sampling on constraint manifolds in sequential manipulation
Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Marc Toussaint; Proceedings of the 5th Conference on Robot Learning, PMLR 164:213-223
Rough Terrain Navigation Using Divergence Constrained Model-Based Reinforcement Learning
Sean J Wang, Samuel Triest, Wenshan Wang, Sebastian Scherer, Aaron Johnson; Proceedings of the 5th Conference on Robot Learning, PMLR 164:224-233
LEO: Learning Energy-based Models in Factor Graph Optimization
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess; Proceedings of the 5th Conference on Robot Learning, PMLR 164:234-244
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning
Danny Driess, Jung-Su Ha, Marc Toussaint, Russ Tedrake; Proceedings of the 5th Conference on Robot Learning, PMLR 164:245-255
GRAC: Self-Guided and Self-Regularized Actor-Critic
Lin Shao, Yifan You, Mengyuan Yan, Shenli Yuan, Qingyun Sun, Jeannette Bohg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:267-276
V-MAO: Generative Modeling for Multi-Arm Manipulation of Articulated Objects
Xingyu Liu, Kris M. Kitani; Proceedings of the 5th Conference on Robot Learning, PMLR 164:287-296
Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation
Charles Sun, Jȩdrzej Orbik, Coline Manon Devin, Brian H. Yang, Abhishek Gupta, Glen Berseth, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:308-319
Adversarially Robust Imitation Learning
Jianren Wang, Ziwen Zhuang, Yuyang Wang, Hang Zhao; Proceedings of the 5th Conference on Robot Learning, PMLR 164:320-331
Look Before You Leap: Safe Model-Based Reinforcement Learning with Human Intervention
Yunkun Xu, Zhenyu Liu, Guifang Duan, Jiangcheng Zhu, Xiaolong Bai, Jianrong Tan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:332-341
Learning Feasibility to Imitate Demonstrators with Different Dynamics
Zhangjie Cao, Yilun Hao, Mengxi Li, Dorsa Sadigh; Proceedings of the 5th Conference on Robot Learning, PMLR 164:363-372
Orientation Probabilistic Movement Primitives on Riemannian Manifolds
Leonel Rozo, Vedant Dave; Proceedings of the 5th Conference on Robot Learning, PMLR 164:373-383
Self-supervised Reinforcement Learning with Independently Controllable Subgoals
Andrii Zadaianchuk, Georg Martius, Fanny Yang; Proceedings of the 5th Conference on Robot Learning, PMLR 164:384-394
Haptics-based Curiosity for Sparse-reward Tasks
Sai Rajeswar, Cyril Ibrahim, Nitin Surya, Florian Golemo, David Vazquez, Aaron Courville, Pedro O. Pinheiro; Proceedings of the 5th Conference on Robot Learning, PMLR 164:395-405
Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization
Youngwoon Lee, Joseph J Lim, Anima Anandkumar, Yuke Zhu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:406-416
A Workflow for Offline Model-Free Robotic Reinforcement Learning
Aviral Kumar, Anikait Singh, Stephen Tian, Chelsea Finn, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:417-428
SeqMatchNet: Contrastive Learning with Sequence Matching for Place Recognition & Relocalization
Sourav Garg, Madhu Vankadari, Michael Milford; Proceedings of the 5th Conference on Robot Learning, PMLR 164:429-443
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iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Elliott Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese; Proceedings of the 5th Conference on Robot Learning, PMLR 164:455-465
ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations
Ruohan Gao, Yen-Yu Chang, Shivani Mall, Li Fei-Fei, Jiajun Wu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:466-476
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments
Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia, Kent Elliott Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, Li Fei-Fei; Proceedings of the 5th Conference on Robot Learning, PMLR 164:477-490
Learning Model Preconditions for Planning with Multiple Models
Alex Licari LaGrassa, Oliver Kroemer; Proceedings of the 5th Conference on Robot Learning, PMLR 164:491-500
Single-Shot Scene Reconstruction
Sergey Zakharov, Rares Andrei Ambrus, Vitor Campagnolo Guizilini, Dennis Park, Wadim Kehl, Fredo Durand, Joshua B. Tenenbaum, Vincent Sitzmann, Jiajun Wu, Adrien Gaidon; Proceedings of the 5th Conference on Robot Learning, PMLR 164:501-512
Learning Backchanneling Behaviors for a Social Robot via Data Augmentation from Human-Human Conversations
Michael Murray, Nick Walker, Amal Nanavati, Patricia Alves-Oliveira, Nikita Filippov, Allison Sauppe, Bilge Mutlu, Maya Cakmak; Proceedings of the 5th Conference on Robot Learning, PMLR 164:513-525
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:526-536
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XIRL: Cross-embodiment Inverse Reinforcement Learning
Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi; Proceedings of the 5th Conference on Robot Learning, PMLR 164:537-546
Evaluations of the Gap between Supervised and Reinforcement Lifelong Learning on Robotic Manipulation Tasks
Fan Yang, Chao Yang, Huaping Liu, Fuchun Sun; Proceedings of the 5th Conference on Robot Learning, PMLR 164:547-556
Scaling Up Multi-Task Robotic Reinforcement Learning
Dmitry Kalashnikov, Jake Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, Karol Hausman; Proceedings of the 5th Conference on Robot Learning, PMLR 164:557-575
Decentralized Control of Quadrotor Swarms with End-to-end Deep Reinforcement Learning
Sumeet Batra, Zhehui Huang, Aleksei Petrenko, Tushar Kumar, Artem Molchanov, Gaurav S. Sukhatme; Proceedings of the 5th Conference on Robot Learning, PMLR 164:576-586
ReSkin: versatile, replaceable, lasting tactile skins
Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, Abhinav Gupta; Proceedings of the 5th Conference on Robot Learning, PMLR 164:587-597
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ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning
Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:598-608
Anytime Depth Estimation with Limited Sensing and Computation Capabilities on Mobile Devices
Yuedong Yang, Zihui Xue, Radu Marculescu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:609-618
Semantic Terrain Classification for Off-Road Autonomous Driving
Amirreza Shaban, Xiangyun Meng, JoonHo Lee, Byron Boots, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:619-629
Guided Imitation of Task and Motion Planning
Michael James McDonald, Dylan Hadfield-Menell; Proceedings of the 5th Conference on Robot Learning, PMLR 164:630-640
Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation
I-Chun Arthur Liu, Shagun Uppal, Gaurav S. Sukhatme, Joseph J Lim, Peter Englert, Youngwoon Lee; Proceedings of the 5th Conference on Robot Learning, PMLR 164:641-650
DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video
Priyanka Mandikal, Kristen Grauman; Proceedings of the 5th Conference on Robot Learning, PMLR 164:651-661
DiffImpact: Differentiable Rendering and Identification of Impact Sounds
Samuel Clarke, Negin Heravi, Mark Rau, Ruohan Gao, Jiajun Wu, Doug James, Jeannette Bohg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:662-673
Rapid Exploration for Open-World Navigation with Latent Goal Models
Dhruv Shah, Benjamin Eysenbach, Nicholas Rhinehart, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:674-684
Advancing Self-supervised Monocular Depth Learning with Sparse LiDAR
Ziyue Feng, Longlong Jing, Peng Yin, Yingli Tian, Bing Li; Proceedings of the 5th Conference on Robot Learning, PMLR 164:685-694
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Visually-Grounded Library of Behaviors for Manipulating Diverse Objects across Diverse Configurations and Views
Jingyun Yang, Hsiao-Yu Tung, Yunchu Zhang, Gaurav Pathak, Ashwini Pokle, Christopher G Atkeson, Katerina Fragkiadaki; Proceedings of the 5th Conference on Robot Learning, PMLR 164:695-705
A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution
Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, Yoav Artzi; Proceedings of the 5th Conference on Robot Learning, PMLR 164:706-717
Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradients
Oliver Scheel, Luca Bergamini, Maciej Wolczyk, Błażej Osiński, Peter Ondruska; Proceedings of the 5th Conference on Robot Learning, PMLR 164:718-728
My House, My Rules: Learning Tidying Preferences with Graph Neural Networks
Ivan Kapelyukh, Edward Johns; Proceedings of the 5th Conference on Robot Learning, PMLR 164:740-749
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots; Proceedings of the 5th Conference on Robot Learning, PMLR 164:750-759
Fast and Efficient Locomotion via Learned Gait Transitions
Yuxiang Yang, Tingnan Zhang, Erwin Coumans, Jie Tan, Byron Boots; Proceedings of the 5th Conference on Robot Learning, PMLR 164:773-783
Geometry-aware Bayesian Optimization in Robotics using Riemannian Matérn Kernels
Noémie Jaquier, Viacheslav Borovitskiy, Andrei Smolensky, Alexander Terenin, Tamim Asfour, Leonel Rozo; Proceedings of the 5th Conference on Robot Learning, PMLR 164:794-805
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Predicting Stable Configurations for Semantic Placement of Novel Objects
Chris Paxton, Chris Xie, Tucker Hermans, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:806-815
Just Label What You Need: Fine-Grained Active Selection for P&P through Partially Labeled Scenes
Sean Segal, Nishanth Kumar, Sergio Casas, Wenyuan Zeng, Mengye Ren, Jingkang Wang, Raquel Urtasun; Proceedings of the 5th Conference on Robot Learning, PMLR 164:816-826
Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects
Haoping Xu, Yi Ru Wang, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti, Animesh Garg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:827-838
Motivating Physical Activity via Competitive Human-Robot Interaction
Boling Yang, Golnaz Habibi, Patrick Lancaster, Byron Boots, Joshua Smith; Proceedings of the 5th Conference on Robot Learning, PMLR 164:839-849
Group-based Motion Prediction for Navigation in Crowded Environments
Allan Wang, Christoforos Mavrogiannis, Aaron Steinfeld; Proceedings of the 5th Conference on Robot Learning, PMLR 164:871-882
A Constrained Multi-Objective Reinforcement Learning Framework
Sandy Huang, Abbas Abdolmaleki, Giulia Vezzani, Philemon Brakel, Daniel J. Mankowitz, Michael Neunert, Steven Bohez, Yuval Tassa, Nicolas Heess, Martin Riedmiller, Raia Hadsell; Proceedings of the 5th Conference on Robot Learning, PMLR 164:883-893
S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning in Robotics
Samarth Sinha, Ajay Mandlekar, Animesh Garg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:907-917
Aligning an optical interferometer with beam divergence control and continuous action space
Stepan Makarenko, Dmitry Igorevich Sorokin, Alexander Ulanov, Alexander Lvovsky; Proceedings of the 5th Conference on Robot Learning, PMLR 164:918-927
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Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots
Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak; Proceedings of the 5th Conference on Robot Learning, PMLR 164:928-937
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo
Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland; Proceedings of the 5th Conference on Robot Learning, PMLR 164:938-948
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:959-969
Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning
Alec Farid, Sushant Veer, Anirudha Majumdar; Proceedings of the 5th Conference on Robot Learning, PMLR 164:970-980
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BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, Chelsea Finn; Proceedings of the 5th Conference on Robot Learning, PMLR 164:991-1002
Motion Forecasting with Unlikelihood Training in Continuous Space
Deyao Zhu, Mohamed Zahran, Li Erran Li, Mohamed Elhoseiny; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1003-1012
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Exploring Adversarial Robustness of Multi-sensor Perception Systems in Self Driving
James Tu, Huichen Li, Xinchen Yan, Mengye Ren, Yun Chen, Ming Liang, Eilyan Bitar, Ersin Yumer, Raquel Urtasun; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1013-1024
Learning to Jump from Pixels
Gabriel B Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sang bae Kim, Pulkit Agrawal; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1025-1034
Learning to Predict Vehicle Trajectories with Model-based Planning
Haoran Song, Di Luan, Wenchao Ding, Michael Y Wang, Qifeng Chen; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1035-1045
LanguageRefer: Spatial-Language Model for 3D Visual Grounding
Junha Roh, Karthik Desingh, Ali Farhadi, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1046-1056
Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events
Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1057-1066
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The Boombox: Visual Reconstruction from Acoustic Vibrations
Boyuan Chen, Mia Chiquier, Hod Lipson, Carl Vondrick; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1067-1077
AW-Opt: Learning Robotic Skills with Imitation andReinforcement at Scale
Yao Lu, Karol Hausman, Yevgen Chebotar, Mengyuan Yan, Eric Jang, Alexander Herzog, Ted Xiao, Alex Irpan, Mohi Khansari, Dmitry Kalashnikov, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1078-1088
Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes
Alex X. Lee, Coline Manon Devin, Yuxiang Zhou, Thomas Lampe, Konstantinos Bousmalis, Jost Tobias Springenberg, Arunkumar Byravan, Abbas Abdolmaleki, Nimrod Gileadi, David Khosid, Claudio Fantacci, Jose Enrique Chen, Akhil Raju, Rae Jeong, Michael Neunert, Antoine Laurens, Stefano Saliceti, Federico Casarini, Martin Riedmiller, raia hadsell, Francesco Nori; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1089-1131
Strength Through Diversity: Robust Behavior Learning via Mixture Policies
Tim Seyde, Wilko Schwarting, Igor Gilitschenski, Markus Wulfmeier, Daniela Rus; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1144-1155
Learning to Plan Optimistically: Uncertainty-Guided Deep Exploration via Latent Model Ensembles
Tim Seyde, Wilko Schwarting, Sertac Karaman, Daniela Rus; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1156-1167
Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes
Jongseok Lee, Jianxiang Feng, Matthias Humt, Marcus Gerhard Müller, Rudolph Triebel; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1168-1179
Learning Multi-Stage Tasks with One Demonstration via Self-Replay
Norman Di Palo, Edward Johns; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1180-1189
Learning Behaviors through Physics-driven Latent Imagination
Antoine Richard, Stéphanie Aravecchia, Matthieu Geist, Cédric Pradalier; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1190-1199
Enhancing Consistent Ground Maneuverability by Robot Adaptation to Complex Off-Road Terrains
Sriram Siva, Maggie Wigness, John Rogers, Hao Zhang; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1200-1210
Self-Improving Semantic Perception for Indoor Localisation
Hermann Blum, Francesco Milano, René Zurbrügg, Roland Siegwart, Cesar Cadena, Abel Gawel; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1211-1222
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Anomaly Detection in Multi-Agent Trajectories for Automated Driving
Julian Wiederer, Arij Bouazizi, Marco Troina, Ulrich Kressel, Vasileios Belagiannis; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1223-1233
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Generating Scenarios with Diverse Pedestrian Behaviors for Autonomous Vehicle Testing
Maria Priisalu, Aleksis Pirinen, Ciprian Paduraru, Cristian Sminchisescu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1247-1258
Skill Preferences: Learning to Extract and Execute Robotic Skills from Human Feedback
Xiaofei Wang, Kimin Lee, Kourosh Hakhamaneshi, Pieter Abbeel, Michael Laskin; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1259-1268
Visual Learning Towards Soft Robot Force Control using a 3D Metamaterial with Differential Stiffness
Fang Wan, Xiaobo Liu, Ning Guo, Xudong Han, Feng Tian, Chaoyang Song; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1269-1278
Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration
Chen Wang, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-Fei, Karen Liu, Silvio Savarese; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1279-1290
Visual-Locomotion: Learning to Walk on Complex Terrains with Vision
Wenhao Yu, Deepali Jain, Alejandro Escontrela, Atil Iscen, Peng Xu, Erwin Coumans, Sehoon Ha, Jie Tan, Tingnan Zhang; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1291-1302
Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation
Suraj Nair, Eric Mitchell, Kevin Chen, brian ichter, Silvio Savarese, Chelsea Finn; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1303-1315
Hierarchically Integrated Models: Learning to Navigate from Heterogeneous Robots
Katie Kang, Gregory Kahn, Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1316-1325
Learning A Risk-Aware Trajectory Planner From Demonstrations Using Logic Monitor
Xiao Li, Jonathan DeCastro, Cristian Ioan Vasile, Sertac Karaman, Daniela Rus; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1326-1335
LENS: Localization enhanced by NeRF synthesis
Arthur Moreau, Nathan Piasco, Dzmitry Tsishkou, Bogdan Stanciulescu, Arnaud de La Fortelle; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1347-1356
Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Roberto Martín-Martín; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1367-1378
Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction
Niklas Funk, Georgia Chalvatzaki, Boris Belousov, Jan Peters; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1401-1411
Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations
Minghan Zhu, Maani Ghaffari, Huei Peng; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1412-1422
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Specializing Versatile Skill Libraries using Local Mixture of Experts
Onur Celik, Dongzhuoran Zhou, Ge Li, Philipp Becker, Gerhard Neumann; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1423-1433
Multi-Agent Trajectory Prediction by Combining Egocentric and Allocentric Views
Xiaosong Jia, Liting Sun, Hang Zhao, Masayoshi Tomizuka, Wei Zhan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1434-1443
Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks
Benedikt Mersch, Xieyuanli Chen, Jens Behley, Cyrill Stachniss; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1444-1454
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Dealing with the Unknown: Pessimistic Offline Reinforcement Learning
Jinning Li, Chen Tang, Masayoshi Tomizuka, Wei Zhan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1455-1464
Stochastic Policy Optimization with Heuristic Information for Robot Learning
Seonghyun Kim, Ingook Jang, Samyeul Noh, Hyunseok Kim; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1465-1474
Guiding Multi-Step Rearrangement Tasks with Natural Language Instructions
Elias Stengel-Eskin, Andrew Hundt, Zhuohong He, Aditya Murali, Nakul Gopalan, Matthew Gombolay, Gregory Hager; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1486-1501
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Towards Real Robot Learning in the Wild: A Case Study in Bipedal Locomotion
Michael Bloesch, Jan Humplik, Viorica Patraucean, Roland Hafner, Tuomas Haarnoja, Arunkumar Byravan, Noah Yamamoto Siegel, Saran Tunyasuvunakool, Federico Casarini, Nathan Batchelor, Francesco Romano, Stefano Saliceti, Martin Riedmiller, S. M. Ali Eslami, Nicolas Heess; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1502-1511
SCAPE: Learning Stiffness Control from Augmented Position Control Experiences
Mincheol Kim, Scott Niekum, Ashish D. Deshpande; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1512-1521
Fully Self-Supervised Class Awareness in Dense Object Descriptors
Denis Hadjivelichkov, Dimitrios Kanoulas; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1522-1531
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Neural Posterior Domain Randomization
Fabio Muratore, Theo Gruner, Florian Wiese, Boris Belousov, Michael Gienger, Jan Peters; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1532-1542
You Only Evaluate Once: a Simple Baseline Algorithm for Offline RL
Wonjoon Goo, Scott Niekum; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1543-1553
"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer
Andrew Hundt, Aditya Murali, Priyanka Hubli, Ran Liu, Nakul Gopalan, Matthew Gombolay, Gregory D. Hager; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1564-1574
Learning Inertial Odometry for Dynamic Legged Robot State Estimation
Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice Fallon; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1575-1584
Generalised Task Planning with First-Order Function Approximation
Jun Hao Alvin Ng, Ronald P.A. Petrick; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1595-1610
Distributional Depth-Based Estimation of Object Articulation Models
Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov, Scott Niekum; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1611-1621
Smooth Exploration for Robotic Reinforcement Learning
Antonin Raffin, Jens Kober, Freek Stulp; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1634-1644
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation
Alex Church, John Lloyd, raia hadsell, Nathan F. Lepora; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1645-1654
RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks
Chris Xie, Arsalan Mousavian, Yu Xiang, Dieter Fox; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1655-1665
[abs][Download PDF][OpenReview][Software][Supplementary ZIP]
O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning
Kaichun Mo, Yuzhe Qin, Fanbo Xiang, Hao Su, Leonidas Guibas; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1666-1677
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1678-1690
Offline-to-Online Reinforcement Learning via Balanced Replay and Pessimistic Q-Ensemble
Seunghyun Lee, Younggyo Seo, Kimin Lee, Pieter Abbeel, Jinwoo Shin; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1702-1712
[abs][Download PDF][OpenReview][Software][Supplementary ZIP]
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions
Charles Dawson, Zengyi Qin, Sicun Gao, Chuchu Fan; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1724-1735
[abs][Download PDF][OpenReview][Software][Supplementary ZIP]
Collect & Infer - a fresh look at data-efficient Reinforcement Learning
Martin Riedmiller, Jost Tobias Springenberg, Roland Hafner, Nicolas Heess; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1736-1744
The Task Specification Problem
Pulkit Agrawal; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1745-1751
Understanding the World Through Action
Sergey Levine; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1752-1757
Continuous then discrete: A recommendation for building robotic brains
Chris Eliasmith, P. Michael Furlong; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1758-1763
Back to Reality for Imitation Learning
Edward Johns; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1764-1768
Robots on Demand: A Democratized Robotics Research Cloud
Victoria Dean, Yonadav G Shavit, Abhinav Gupta; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1769-1775
From Robot Learning To Robot Understanding: Leveraging Causal Graphical Models For Robotics
Kaylene Caswell Stocking, Alison Gopnik, Claire Tomlin; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1776-1781
Learning to be Multimodal : Co-evolving Sensory Modalities and Sensor Properties
Rika Antonova, Jeannette Bohg; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1782-1788
RoboFlow: a Data-centric Workflow Management System for Developing AI-enhanced Robots
Qinjie Lin, Guo Ye, Jiayi Wang, Han Liu; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1789-1794
Decentralized Sharing and Valuation of Fleet Robotic Data
Yuchong Geng, Dongyue Zhang, Po-han Li, Oguzhan Akcin, Ao Tang, Sandeep P. Chinchali; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1795-1800
Auditing Robot Learning for Safety and Compliance during Deployment
Homanga Bharadhwaj; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1801-1806
Toward robots that learn to summarize their actions in natural language: a set of tasks
Chad DeChant, Daniel Bauer; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1807-1813
Dual-Arm Adversarial Robot Learning
Elie Aljalbout; Proceedings of the 5th Conference on Robot Learning, PMLR 164:1814-1819
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