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Proceedings of Machine Learning Research

Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research Proceedings of Machine Learning Research
Proceedings of Machine Learning Research
PMLR · 2026-06-02 · via Proceedings of Machine Learning Research

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Volume 87: Conference on Robot Learning, 29-31 October 2018,

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Editors: Aude Billard, Anca Dragan, Jan Peters, Jun Morimoto

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Filter Authors: Filter Titles:

Personalized Dynamics Models for Adaptive Assistive Navigation Systems

Eshed OhnBar, Kris Kitani, Chieko Asakawa; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:16-39

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Few-Shot Goal Inference for Visuomotor Learning and Planning

Annie Xie, Avi Singh, Sergey Levine, Chelsea Finn; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:40-52

[abs][Download PDF][Supplementary video][Source code]

Neural Modular Control for Embodied Question Answering

Abhishek Das, Georgia Gkioxari, Stefan Lee, Devi Parikh, Dhruv Batra; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:53-62

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Visual Curiosity: Learning to Ask Questions to Learn Visual Recognition

Jianwei Yang, Jiasen Lu, Stefan Lee, Dhruv Batra, Devi Parikh; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:63-80

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Guided Feature Transformation (GFT): A Neural Language Grounding Module for Embodied Agents

Haonan Yu, Xiaochen Lian, Haichao Zhang, Wei Xu; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:81-98

[abs][Download PDF][Supplementary video][Source code]

Grasp2Vec: Learning Object Representations from Self-Supervised Grasping

Eric Jang, Coline Devin, Vincent Vanhoucke, Sergey Levine; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:99-112

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Including Uncertainty when Learning from Human Corrections

Dylan P. Losey, Marcia K. O’Malley; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:123-132

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Deep Drone Racing: Learning Agile Flight in Dynamic Environments

Elia Kaufmann, Antonio Loquercio, Rene Ranftl, Alexey Dosovitskiy, Vladlen Koltun, Davide Scaramuzza; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:133-145

[abs][Download PDF][Supplementary video]

HDNET: Exploiting HD Maps for 3D Object Detection

Bin Yang, Ming Liang, Raquel Urtasun; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:146-155

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Motion Perception in Reinforcement Learning with Dynamic Objects

Artemij Amiranashvili, Alexey Dosovitskiy, Vladlen Koltun, Thomas Brox; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:156-168

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Particle Filter Networks with Application to Visual Localization

Peter Karkus, David Hsu, Wee Sun Lee; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:169-178

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Sparse Gaussian Process Temporal Difference Learning for Marine Robot Navigation

John Martin, Jinkun Wang, Brendan Englot; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:179-189

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Fast 3D Modeling with Approximated Convolutional Kernels

Vitor Guizilini, Fabio Ramos; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:190-199

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Unpaired Learning of Dense Visual Depth Estimators for Urban Environments

Vitor Guizilini, Fabio Ramos; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:200-212

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Learning over Subgoals for Efficient Navigation of Structured, Unknown Environments

Gregory J. Stein, Christopher Bradley, Nicholas Roy; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:213-222

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Inferring geometric constraints in human demonstrations

Guru Subramani, Michael Zinn, Michael Gleicher; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:223-236

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Conditional Affordance Learning for Driving in Urban Environments

Axel Sauer, Nikolay Savinov, Andreas Geiger; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:237-252

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Modular Vehicle Control for Transferring Semantic Information Between Weather Conditions Using GANs

Patrick Wenzel, Qadeer Khan, Daniel Cremers, Laura Leal-Taixe; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:253-269

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GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning

Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:270-282

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Feature Learning for Scene Flow Estimation from LIDAR

Arash K. Ushani, Ryan M. Eustice; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:283-292

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PAC-Bayes Control: Synthesizing Controllers that Provably Generalize to Novel Environments

Anirudha Majumdar, Maxwell Goldstein; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:293-305

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Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects

Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:306-316

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A Data-Efficient Approach to Precise and Controlled Pushing

Maria Bauza, Francois R. Hogan, Alberto Rodriguez; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:336-345

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Learning Deployable Navigation Policies at Kilometer Scale from a Single Traversal

Jake Bruce, Niko Sunderhauf, Piotr Mirowski, Raia Hadsell, Michael Milford; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:346-361

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Risk-Aware Active Inverse Reinforcement Learning

Daniel S. Brown, Yuchen Cui, Scott Niekum; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:362-372

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Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation

Peter R. Florence, Lucas Manuelli, Russ Tedrake; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:373-385

[abs][Download PDF][Supplementary video][Source code]

Bayesian RL for Goal-Only Rewards

Philippe Morere, Fabio Ramos; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:386-398

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Benchmarks for reinforcement learning in mixed-autonomy traffic

Eugene Vinitsky, Aboudy Kreidieh, Luc Le Flem, Nishant Kheterpal, Kathy Jang, Cathy Wu, Fangyu Wu, Richard Liaw, Eric Liang, Alexandre M. Bayen; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:399-409

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Intervention Aided Reinforcement Learning for Safe and Practical Policy Optimization in Navigation

Fan Wang, Bo Zhou, Ke Chen, Tingxiang Fan, Xi Zhang, Jiangyong Li, Hao Tian, Jia Pan; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:410-421

[abs][Download PDF][Supplementary video][Source code]

Reinforcement Learning of Active Vision for Manipulating Objects under Occlusions

Ricson Cheng, Arpit Agarwal, Katerina Fragkiadaki; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:422-431

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Adaptable replanning with compressed linear action models for learning from demonstrations

Clement Gehring, Leslie Pack Kaelbling, Tomas Lozano-Perez; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:432-442

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Automorphing Kernels for Nonstationarity in Mapping Unstructured Environments

Ransalu Senanayake, Anthony Tompkins, Fabio Ramos; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:443-455

[abs][Download PDF][Supplementary video][Source code]

Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization

Paul-Edouard Sarlin, Frederic Debraine, Marcin Dymczyk, Roland Siegwart, Cesar Cadena; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:456-465

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The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems

Spencer M. Richards, Felix Berkenkamp, Andreas Krause; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:466-476

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Curiosity Driven Exploration of Learned Disentangled Goal Spaces

Adrien Laversanne-Finot, Alexandre Pere, Pierre-Yves Oudeyer; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:487-504

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Mapping Navigation Instructions to Continuous Control Actions with Position-Visitation Prediction

Valts Blukis, Dipendra Misra, Ross A. Knepper, Yoav Artzi; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:505-518

[abs][Download PDF][Supplementary video][Source code]

Learning Audio Feedback for Estimating Amount and Flow of Granular Material

Samuel Clarke, Travers Rhodes, Christopher G. Atkeson, Oliver Kroemer; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:529-550

[abs][Download PDF][Supplementary video][Source code]

HybridNet: Integrating Model-based and Data-driven Learning to Predict Evolution of Dynamical Systems

Yun Long, Xueyuan She, Saibal Mukhopadhyay; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:551-560

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Benchmarking Reinforcement Learning Algorithms on Real-World Robots

A. Rupam Mahmood, Dmytro Korenkevych, Gautham Vasan, William Ma, James Bergstra; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:561-591

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Learning Neural Parsers with Deterministic Differentiable Imitation Learning

Tanmay Shankar, Nicholas Rhinehart, Katharina Muelling, Kris M. Kitani; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:592-604

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Learning to Localize Using a LiDAR Intensity Map

Ioan Andrei Barsan, Shenlong Wang, Andrei Pokrovsky, Raquel Urtasun; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:605-616

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Model-Based Reinforcement Learning via Meta-Policy Optimization

Ignasi Clavera, Jonas Rothfuss, John Schulman, Yasuhiro Fujita, Tamim Asfour, Pieter Abbeel; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:617-629

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Reinforcement Learning of Phase Oscillators for Fast Adaptation to Moving Targets

Guilherme Maeda, Okan Koc, Jun Morimoto; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:630-640

[abs][Download PDF][Supplementary video]

Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation

Rika Antonova, Mia Kokic, Johannes A. Stork, Danica Kragic; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:641-650

[abs][Download PDF][Supplementary video]

Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation

Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, Sergey Levine; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:651-673

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Reward Estimation for Variance Reduction in Deep Reinforcement Learning

Joshua Romoff, Peter Henderson, Alexandre Piche, Vincent Francois-Lavet, Joelle Pineau; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:674-699

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Domain Randomization for Simulation-Based Policy Optimization with Transferability Assessment

Fabio Muratore, Felix Treede, Michael Gienger, Jan Peters; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:700-713

[abs][Download PDF][Supplementary video][Supplementary video]

Grounding Robot Plans from Natural Language Instructions with Incomplete World Knowledge

Daniel Nyga, Subhro Roy, Rohan Paul, Daehyung Park, Mihai Pomarlan, Michael Beetz, Nicholas Roy; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:714-723

[abs][Download PDF][Supplementary video]

Learning What Information to Give in Partially Observed Domains

Rohan Chitnis, Leslie Pack Kaelbling, Tomas Lozano-Perez; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:724-733

[abs][Download PDF][Supplementary video]

Sim-to-Real Reinforcement Learning for Deformable Object Manipulation

Jan Matas, Stephen James, Andrew J. Davison; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:734-743

[abs][Download PDF][Supplementary video]

Efficient Hierarchical Robot Motion Planning Under Uncertainty and Hybrid Dynamics

Ajinkya Jain, Scott Niekum; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:757-766

[abs][Download PDF][Supplementary video][Source code]

SURREAL: Open-Source Reinforcement Learning Framework and Robot Manipulation Benchmark

Linxi Fan, Yuke Zhu, Jiren Zhu, Zihua Liu, Orien Zeng, Anchit Gupta, Joan Creus-Costa, Silvio Savarese, Li Fei-Fei; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:767-782

[abs][Download PDF][Supplementary video]

Task-Embedded Control Networks for Few-Shot Imitation Learning

Stephen James, Michael Bloesch, Andrew J. Davison; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:783-795

[abs][Download PDF][Supplementary video][website]

Learning under Misspecified Objective Spaces

Andreea Bobu, Andrea Bajcsy, Jaime F. Fisac, Anca D. Dragan; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:796-805

[abs][Download PDF][Supplementary video][Source code]

Composable Action-Conditioned Predictors: Flexible Off-Policy Learning for Robot Navigation

Gregory Kahn, Adam Villaflor, Pieter Abbeel, Sergey Levine; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:806-816

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Sim-to-Real Transfer with Neural-Augmented Robot Simulation

Florian Golemo, Adrien Ali Taiga, Aaron Courville, Pierre-Yves Oudeyer; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:817-828

[abs][Download PDF][Supplementary video][Source code]

Bayesian Generalized Kernel Inference for Terrain Traversability Mapping

Tixiao Shan, Jinkun Wang, Brendan Englot, Kevin Doherty; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:829-838

[abs][Download PDF][Supplementary video]

Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards

Rituraj Kaushik, Konstantinos Chatzilygeroudis, Jean-Baptiste Mouret; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:839-855

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Dyadic collaborative Manipulation through Hybrid Trajectory Optimization

Theodoros Stouraitis, Iordanis Chatzinikolaidis, Michael Gienger, Sethu Vijayakumar; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:869-878

[abs][Download PDF][Supplementary video]

ROBOTURK: A Crowdsourcing Platform for Robotic Skill Learning through Imitation

Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:879-893

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Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories

Yanfu Zhang, Wenshan Wang, Rogerio Bonatti, Daniel Maturana, Sebastian Scherer; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:894-905

[abs][Download PDF][Supplementary video][Source code]

Multiple Interactions Made Easy (MIME): Large Scale Demonstrations Data for Imitation

Pratyusha Sharma, Lekha Mohan, Lerrel Pinto, Abhinav Gupta; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:906-915

[abs][Download PDF][Supplementary video]

Policies Modulating Trajectory Generators

Atil Iscen, Ken Caluwaerts, Jie Tan, Tingnan Zhang, Erwin Coumans, Vikas Sindhwani, Vincent Vanhoucke; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:916-926

[abs][Download PDF][Supplementary video]

A Physically-Consistent Bayesian Non-Parametric Mixture Model for Dynamical System Learning

Nadia Figueroa, Aude Billard; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:927-946

[abs][Download PDF][Supplementary video][Source code]

IntentNet: Learning to Predict Intention from Raw Sensor Data

Sergio Casas, Wenjie Luo, Raquel Urtasun; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:947-956

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Interpretable Latent Spaces for Learning from Demonstration

Yordan Hristov, Alex Lascarides, Subramanian Ramamoorthy; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:957-968

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ESIM: an Open Event Camera Simulator

Henri Rebecq, Daniel Gehrig, Davide Scaramuzza; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:969-982

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Robustness via Retrying: Closed-Loop Robotic Manipulation with Self-Supervised Learning

Frederik Ebert, Sudeep Dasari, Alex X. Lee, Sergey Levine, Chelsea Finn; Proceedings of The 2nd Conference on Robot Learning, PMLR 87:983-993

[abs][Download PDF][Supplementary video][Source code]