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Editors: Leslie Pack Kaelbling, Danica Kragic, Komei Sugiura
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To Follow or not to Follow: Selective Imitation Learning from Observations
Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Joseph J. Lim; Proceedings of the Conference on Robot Learning, PMLR 100:11-23
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On-Policy Robot Imitation Learning from a Converging Supervisor
Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg; Proceedings of the Conference on Robot Learning, PMLR 100:24-41
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Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
Kuan Fang, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei; Proceedings of the Conference on Robot Learning, PMLR 100:42-52
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S4G: Amodal Single-view Single-Shot SE(3) Grasp Detection in Cluttered Scenes
Yuzhe Qin, Rui Chen, Hao Zhu, Meng Song, Jing Xu, Hao Su; Proceedings of the Conference on Robot Learning, PMLR 100:53-65
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Multimodal Attention Branch Network for Perspective-Free Sentence Generation
Aly Magassouba, Komei Sugiura, Hisashi Kawai; Proceedings of the Conference on Robot Learning, PMLR 100:76-85
MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Prediction
Yuning Chai, Benjamin Sapp, Mayank Bansal, Dragomir Anguelov; Proceedings of the Conference on Robot Learning, PMLR 100:86-99
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Object-centric Forward Modeling for Model Predictive Control
Yufei Ye, Dhiraj Gandhi, Abhinav Gupta, Shubham Tulsiani; Proceedings of the Conference on Robot Learning, PMLR 100:100-109
Multi-Agent Manipulation via Locomotion using Hierarchical Sim2Real
Ofir Nachum, Michael Ahn, Hugo Ponte, Shixiang (Shane) Gu, Vikash Kumar; Proceedings of the Conference on Robot Learning, PMLR 100:110-121
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Combining Deep Learning and Verification for Precise Object Instance Detection
Siddharth Ancha, Junyu Nan, David Held; Proceedings of the Conference on Robot Learning, PMLR 100:122-141
MAT: Multi-Fingered Adaptive Tactile Grasping via Deep Reinforcement Learning
Bohan Wu, Iretiayo Akinola, Jacob Varley, Peter K. Allen; Proceedings of the Conference on Robot Learning, PMLR 100:142-161
Curious iLQR: Resolving Uncertainty in Model-based RL
Sarah Bechtle, Yixin Lin, Akshara Rai, Ludovic Righetti, Franziska Meier; Proceedings of the Conference on Robot Learning, PMLR 100:162-171
Hybrid system identification using switching density networks
Michael Burke, Yordan Hristov, Subramanian Ramamoorthy; Proceedings of the Conference on Robot Learning, PMLR 100:172-181
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Regularizing Model-Based Planning with Energy-Based Models
Rinu Boney, Juho Kannala, Alexander Ilin; Proceedings of the Conference on Robot Learning, PMLR 100:182-191
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Semi-Supervised Learning of Decision-Making Models for Human-Robot Collaboration
Vaibhav V. Unhelkar, Shen Li, Julie A. Shah; Proceedings of the Conference on Robot Learning, PMLR 100:192-203
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan Ratliff; Proceedings of the Conference on Robot Learning, PMLR 100:204-219
Bayesian Optimization Meets Riemannian Manifolds in Robot Learning
Noémie Jaquier, Leonel Rozo, Sylvain Calinon, Mathias Bürger; Proceedings of the Conference on Robot Learning, PMLR 100:233-246
Learning from demonstration with model-based Gaussian process
Noémie Jaquier, David Ginsbourger, Sylvain Calinon; Proceedings of the Conference on Robot Learning, PMLR 100:247-257
Variational Inference MPC for Bayesian Model-based Reinforcement Learning
Masashi Okada, Tadahiro Taniguchi; Proceedings of the Conference on Robot Learning, PMLR 100:258-272
Optimizing Sequences of Probabilistic Manipulation Skills Learned from Demonstration
Lukas Schwenkel, Meng Guo, Mathias Bürger; Proceedings of the Conference on Robot Learning, PMLR 100:273-282
Predictive Safety Network for Resource-constrained Multi-agent Systems
Meng Guo, Mathias Bürger; Proceedings of the Conference on Robot Learning, PMLR 100:283-292
A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space
Leonidas Koutras, Zoe Doulgeri; Proceedings of the Conference on Robot Learning, PMLR 100:293-302
Masking by Moving: Learning Distraction-Free Radar Odometry from Pose Information
Dan Barnes, Rob Weston, Ingmar Posner; Proceedings of the Conference on Robot Learning, PMLR 100:303-316
Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real
Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonanthan Hurst, Michiel Panne; Proceedings of the Conference on Robot Learning, PMLR 100:317-329
Better-than-Demonstrator Imitation Learning via Automatically-Ranked Demonstrations
Daniel S. Brown, Wonjoon Goo, Scott Niekum; Proceedings of the Conference on Robot Learning, PMLR 100:330-359
Mutual-Information Regularization in Markov Decision Processes and Actor-Critic Learning
Felix Leibfried, Jordi Grau-Moya; Proceedings of the Conference on Robot Learning, PMLR 100:360-373
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Model-Based Planning with Energy-Based Models
Yilun Du, Toru Lin, Igor Mordatch; Proceedings of the Conference on Robot Learning, PMLR 100:374-383
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Identifying Unknown Instances for Autonomous Driving
Kelvin Wong, Shenlong Wang, Mengye Ren, Ming Liang, Raquel Urtasun; Proceedings of the Conference on Robot Learning, PMLR 100:384-393
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Discrete Residual Flow for Probabilistic Pedestrian Behavior Prediction
Ajay Jain, Sergio Casas, Renjie Liao, Yuwen Xiong, Song Feng, Sean Segal, Raquel Urtasun; Proceedings of the Conference on Robot Learning, PMLR 100:407-419
Combining Optimal Control and Learning for Visual Navigation in Novel Environments
Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire Tomlin; Proceedings of the Conference on Robot Learning, PMLR 100:420-429
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Leveraging exploration in off-policy algorithms via normalizing flows
Bogdan Mazoure, Thang Doan, Audrey Durand, Joelle Pineau, R Devon Hjelm; Proceedings of the Conference on Robot Learning, PMLR 100:430-444
Bayesian Optimization in Variational Latent Spaces with Dynamic Compression
Rika Antonova, Akshara Rai, Tianyu Li, Danica Kragic; Proceedings of the Conference on Robot Learning, PMLR 100:456-465
A Survey on Reproducibility by Evaluating Deep Reinforcement Learning Algorithms on Real-World Robots
Nicolai A. Lynnerup, Laura Nolling, Rasmus Hasle, John Hallam; Proceedings of the Conference on Robot Learning, PMLR 100:466-489
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Learning to Manipulate Object Collections Using Grounded State Representations
Matthew Wilson, Tucker Hermans; Proceedings of the Conference on Robot Learning, PMLR 100:490-502
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Robust Semi-Supervised Monocular Depth Estimation with Reprojected Distances
Vitor Guizilini, Jie Li, Rares Ambrus, Sudeep Pillai, Adrien Gaidon; Proceedings of the Conference on Robot Learning, PMLR 100:503-512
Self-Paced Contextual Reinforcement Learning
Pascal Klink, Hany Abdulsamad, Boris Belousov, Jan Peters; Proceedings of the Conference on Robot Learning, PMLR 100:513-529
Contextual Imagined Goals for Self-Supervised Robotic Learning
Ashvin Nair, Shikhar Bahl, Alexander Khazatsky, Vitchyr Pong, Glen Berseth, Sergey Levine; Proceedings of the Conference on Robot Learning, PMLR 100:530-539
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Conditional Driving from Natural Language Instructions
Junha Roh, Chris Paxton, Andrzej Pronobis, Ali Farhadi, Dieter Fox; Proceedings of the Conference on Robot Learning, PMLR 100:540-551
Adversarial Active Exploration for Inverse Dynamics Model Learning
Zhang-Wei Hong, Tsu-Jui Fu, Tzu-Yun Shann, Chun-Yi Lee; Proceedings of the Conference on Robot Learning, PMLR 100:552-565
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Imagined Value Gradients: Model-Based Policy Optimization with Tranferable Latent Dynamics Models
Arunkumar Byravan, Jost Tobias Springenberg, Abbas Abdolmaleki, Roland Hafner, Michael Neunert, Thomas Lampe, Noah Siegel, Nicolas Heess, Martin Riedmiller; Proceedings of the Conference on Robot Learning, PMLR 100:566-589
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PIC: Permutation Invariant Critic for Multi-Agent Deep Reinforcement Learning
Iou-Jen Liu, Raymond A. Yeh, Alexander G. Schwing; Proceedings of the Conference on Robot Learning, PMLR 100:590-602
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HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators
Chengshu Li, Fei Xia, Roberto Martín-Martín, Silvio Savarese; Proceedings of the Conference on Robot Learning, PMLR 100:603-616
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Learning Navigation Subroutines from Egocentric Videos
Ashish Kumar, Saurabh Gupta, Jitendra Malik; Proceedings of the Conference on Robot Learning, PMLR 100:617-626
A Learnable Safety Measure
Steve Heim, Alexander von Rohr, Sebastian Trimpe, Alexander Badri-Spröwitz; Proceedings of the Conference on Robot Learning, PMLR 100:627-639
HJB Optimal Feedback Control with Deep Differential Value Functions and Action Constraints
Michael Lutter, Boris Belousov, Kim Listmann, Debora Clever, Jan Peters; Proceedings of the Conference on Robot Learning, PMLR 100:640-650
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Multi-Frame GAN: Image Enhancement for Stereo Visual Odometry in Low Light
Eunah Jung, Nan Yang, Daniel Cremers; Proceedings of the Conference on Robot Learning, PMLR 100:651-660
Connectivity Guaranteed Multi-robot Navigation via Deep Reinforcement Learning
Juntong Lin, Xuyun Yang, Peiwei Zheng, Hui Cheng; Proceedings of the Conference on Robot Learning, PMLR 100:661-670
Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks
Ekaterina Tolstaya, Fernando Gama, James Paulos, George Pappas, Vijay Kumar, Alejandro Ribeiro; Proceedings of the Conference on Robot Learning, PMLR 100:671-682
Provably Robust Blackbox Optimization for Reinforcement Learning
Krzysztof Choromanski, Aldo Pacchiano, Jack Parker-Holder, Yunhao Tang, Deepali Jain, Yuxiang Yang, Atil Iscen, Jasmine Hsu, Vikas Sindhwani; Proceedings of the Conference on Robot Learning, PMLR 100:683-696
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Stochastic Optimal Control as Approximate Input Inference
Joe Watson, Hany Abdulsamad, Jan Peters; Proceedings of the Conference on Robot Learning, PMLR 100:697-716
AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers
Andrey Kurenkov, Ajay Mandlekar, Roberto Martin-Martin, Silvio Savarese, Animesh Garg; Proceedings of the Conference on Robot Learning, PMLR 100:717-734
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Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics
Michael Neunert, Abbas Abdolmaleki, Markus Wulfmeier, Thomas Lampe, Tobias Springenberg, Roland Hafner, Francesco Romano, Jonas Buchli, Nicolas Heess, Martin Riedmiller; Proceedings of the Conference on Robot Learning, PMLR 100:735-751
Learning from My Partner’s Actions: Roles in Decentralized Robot Teams
Dylan P. Losey, Mengxi Li, Jeannette Bohg, Dorsa Sadigh; Proceedings of the Conference on Robot Learning, PMLR 100:752-765
Energy-efficient Path Planning for Ground Robots by and Combining Air and Ground Measurements
Minghan Wei, Volkan Isler; Proceedings of the Conference on Robot Learning, PMLR 100:766-775
Multi-Agent Reinforcement Learning with Multi-Step Generative Models
Orr Krupnik, Igor Mordatch, Aviv Tamar; Proceedings of the Conference on Robot Learning, PMLR 100:776-790
Learning to Navigate Using Mid-Level Visual Priors
Alexander Sax, Jeffrey O. Zhang, Bradley Emi, Amir Zamir, Silvio Savarese, Leonidas Guibas, Jitendra Malik; Proceedings of the Conference on Robot Learning, PMLR 100:791-812
Graph Policy Gradients for Large Scale Robot Control
Arbaaz Khan, Ekaterina Tolstaya, Alejandro Ribeiro, Vijay Kumar; Proceedings of the Conference on Robot Learning, PMLR 100:823-834
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Teacher algorithms for curriculum learning of Deep RL in continuously parameterized environments
Rémy Portelas, Cédric Colas, Katja Hofmann, Pierre-Yves Oudeyer; Proceedings of the Conference on Robot Learning, PMLR 100:835-853
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Data-efficient Co-Adaptation of Morphology and Behaviour with Deep Reinforcement Learning
Kevin Sebastian Luck, Heni Ben Amor, Roberto Calandra; Proceedings of the Conference on Robot Learning, PMLR 100:854-869
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Disentangled Relational Representations for Explaining and Learning from Demonstration
Yordan Hristov, Daniel Angelov, Michael Burke, Alex Lascarides, Subramanian Ramamoorthy; Proceedings of the Conference on Robot Learning, PMLR 100:870-884
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RoboNet: Large-Scale Multi-Robot Learning
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, Chelsea Finn; Proceedings of the Conference on Robot Learning, PMLR 100:885-897
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Counter-example Guided Learning of Bounds on Environment Behavior
Yuxiao Chen, Sumanth Dathathri, Tung Phan-Minh, Richard M. Murray; Proceedings of the Conference on Robot Learning, PMLR 100:898-909
MAME : Model-Agnostic Meta-Exploration
Swaminathan Gurumurthy, Sumit Kumar, Katia Sycara; Proceedings of the Conference on Robot Learning, PMLR 100:910-922
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End-to-End Multi-View Fusion for 3D Object Detection in LiDAR Point Clouds
Yin Zhou, Pei Sun, Yu Zhang, Dragomir Anguelov, Jiyang Gao, Tom Ouyang, James Guo, Jiquan Ngiam, Vijay Vasudevan; Proceedings of the Conference on Robot Learning, PMLR 100:923-932
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Task-Conditioned Variational Autoencoders for Learning Movement Primitives
Michael Noseworthy, Rohan Paul, Subhro Roy, Daehyung Park, Nicholas Roy; Proceedings of the Conference on Robot Learning, PMLR 100:933-944
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Quasi-Newton Trust Region Policy Optimization
Devesh K. Jha, Arvind U. Raghunathan, Diego Romeres; Proceedings of the Conference on Robot Learning, PMLR 100:945-954
Learning value functions with relational state representations for guiding task-and-motion planning
Beomjoon Kim, Luke Shimanuki; Proceedings of the Conference on Robot Learning, PMLR 100:955-968
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Locally Weighted Regression Pseudo-Rehearsal for Adaptive Model Predictive Control
Grady R. Williams, Brian Goldfain, Keuntaek Lee, Jason Gibson, James M. Rehg, Evangelos A. Theodorou; Proceedings of the Conference on Robot Learning, PMLR 100:969-978
Graph-Structured Visual Imitation
Maximilian Sieb, Zhou Xian, Audrey Huang, Oliver Kroemer, Katerina Fragkiadaki; Proceedings of the Conference on Robot Learning, PMLR 100:979-989
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Inferring Task Goals and Constraints using Bayesian Nonparametric Inverse Reinforcement Learning
Daehyung Park, Michael Noseworthy, Rohan Paul, Subhro Roy, Nicholas Roy; Proceedings of the Conference on Robot Learning, PMLR 100:1005-1014
Experience-Embedded Visual Foresight
Lin Yen-Chen, Maria Bauza, Phillip Isola; Proceedings of the Conference on Robot Learning, PMLR 100:1015-1024
Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning
Abhishek Gupta, Vikash Kumar, Corey Lynch, Sergey Levine, Karol Hausman; Proceedings of the Conference on Robot Learning, PMLR 100:1025-1037
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Nonverbal Robot Feedback for Human Teachers
Sandy H. Huang, Isabella Huang, Ravi Pandya, Anca D. Dragan; Proceedings of the Conference on Robot Learning, PMLR 100:1038-1051
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Two Stream Networks for Self-Supervised Ego-Motion Estimation
Rares Ambrus, Vitor Guizilini, Jie Li, Sudeep Pillai Adrien Gaidon; Proceedings of the Conference on Robot Learning, PMLR 100:1052-1061
Model-based Behavioral Cloning with Future Image Similarity Learning
Alan Wu, AJ Piergiovanni, Michael S. Ryoo; Proceedings of the Conference on Robot Learning, PMLR 100:1062-1077
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Worst Cases Policy Gradients
Yichuan Charlie Tang, Jian Zhang, Ruslan Salakhutdinov; Proceedings of the Conference on Robot Learning, PMLR 100:1078-1093
Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, Sergey Levine; Proceedings of the Conference on Robot Learning, PMLR 100:1094-1100
Deep Dynamics Models for Learning Dexterous Manipulation
Anusha Nagabandi, Kurt Konolige, Sergey Levine, Vikash Kumar; Proceedings of the Conference on Robot Learning, PMLR 100:1101-1112
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Learning Latent Plans from Play
Corey Lynch, Mohi Khansari, Ted Xiao, Vikash Kumar, Jonathan Tompson, Sergey Levine, Pierre Sermanet; Proceedings of the Conference on Robot Learning, PMLR 100:1113-1132
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Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects
Chaitanya Mitash, Bowen Wen, Kostas Bekris, Abdeslam Boularias; Proceedings of the Conference on Robot Learning, PMLR 100:1133-1145
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Macro-Action-Based Deep Multi-Agent Reinforcement Learning
Yuchen Xiao, Joshua Hoffman, Christopher Amato; Proceedings of the Conference on Robot Learning, PMLR 100:1146-1161
Active Domain Randomization
Bhairav Mehta, Manfred Diaz, Florian Golemo, Christopher J. Pal, Liam Paull; Proceedings of the Conference on Robot Learning, PMLR 100:1162-1176
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Language-guided Semantic Mapping and Mobile Manipulation in Partially Observable Environments
Siddharth Patki, Ethan Fahnestock, Thomas M. Howard, Matthew R. Walter; Proceedings of the Conference on Robot Learning, PMLR 100:1201-1210
Learning Parametric Constraints in High Dimensions from Demonstrations
Glen Chou, Necmiye Ozay, Dmitry Berenson; Proceedings of the Conference on Robot Learning, PMLR 100:1211-1230
Variational Optimization Based Reinforcement Learning for Infinite Dimensional Stochastic Systems
Ethan N. Evans, Marcus A. Periera, George I. Boutselis, Evangelos A. Theodorou; Proceedings of the Conference on Robot Learning, PMLR 100:1231-1246
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Understanding Teacher Gaze Patterns for Robot Learning
Akanksha Saran, Elaine Schaertl Short, Andrea Thomaz, Scott Niekum; Proceedings of the Conference on Robot Learning, PMLR 100:1247-1258
A Divergence Minimization Perspective on Imitation Learning Methods
Seyed Kamyar Seyed Ghasemipour, Richard Zemel, Shixiang Gu; Proceedings of the Conference on Robot Learning, PMLR 100:1259-1277
Receding Horizon Curiosity
Matthias Schultheis, Boris Belousov, Hany Abdulsamad, Jan Peters; Proceedings of the Conference on Robot Learning, PMLR 100:1278-1288
Learning to Generalize Kinematic Models to Novel Objects
Ben Abbatematteo, Stefanie Tellex, George Konidaris; Proceedings of the Conference on Robot Learning, PMLR 100:1289-1299
ROBEL: Robotics Benchmarks for Learning with Low-Cost Robots
Michael Ahn, Henry Zhu, Kristian Hartikainen, Hugo Ponte, Abhishek Gupta, Sergey Levine, Vikash Kumar; Proceedings of the Conference on Robot Learning, PMLR 100:1300-1313
Navigation Agents for the Visually Impaired: A Sidewalk Simulator and Experiments
Martin Weiss, Simon Chamorro, Roger Girgis, Margaux Luck, Samira E. Kahou, Joseph P. Cohen, Derek Nowrouzezahrai, Doina Precup, Florian Golemo, Chris Pal; Proceedings of the Conference on Robot Learning, PMLR 100:1314-1327
Certified Adversarial Robustness for Deep Reinforcement Learning
Björn Lütjens, Michael Everett, Jonathan P. How; Proceedings of the Conference on Robot Learning, PMLR 100:1328-1337
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Asynchronous Methods for Model-Based Reinforcement Learning
Yunzhi Zhang, Ignasi Clavera, Boren Tsai, Pieter Abbeel; Proceedings of the Conference on Robot Learning, PMLR 100:1338-1347
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PyRoboLearn: A Python Framework for Robot Learning Practitioners
Brian Delhaisse, Leonel Rozo, Darwin G. Caldwell; Proceedings of the Conference on Robot Learning, PMLR 100:1348-1358
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An Online Learning Procedure for Feedback Linearization Control without Torque Measurements
M. Capotondi, G. Turrisi, C. Gaz, V. Modugno, G. Oriolo, A. De Luca; Proceedings of the Conference on Robot Learning, PMLR 100:1359-1368
The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation
Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox; Proceedings of the Conference on Robot Learning, PMLR 100:1369-1378
Trajectory-wise Control Variates for Variance Reduction in Policy Gradient Methods
Ching-An Cheng, Xinyan Yan, Byron Boots; Proceedings of the Conference on Robot Learning, PMLR 100:1379-1394
Towards Learning to Detect and Predict Contact Events on Vision-based Tactile Sensors
Yazhan Zhang, Weihao Yuan, Zicheng Kan, Michael Yu Wang; Proceedings of the Conference on Robot Learning, PMLR 100:1395-1404
Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction
Weiming Zhi, Lionel Ott, Fabio Ramos; Proceedings of the Conference on Robot Learning, PMLR 100:1405-1414
Entity Abstraction in Visual Model-Based Reinforcement Learning
Rishi Veerapaneni, John D. Co-Reyes, Michael Chang, Michael Janner, Chelsea Finn, Jiajun Wu, Joshua Tenenbaum, Sergey Levine; Proceedings of the Conference on Robot Learning, PMLR 100:1439-1456
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Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations
M. Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan Ratliff; Proceedings of the Conference on Robot Learning, PMLR 100:1457-1468
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