Robotics: Science and Systems XX

Table of Contents

Stein Variational Ergodic Search Darrick Lee, Cameron Lerch, Fabio Ramos, Ian Abraham
Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive Control Wilson Jallet, Ewen Dantec, Etienne Arlaud, Nicolas Mansard, Justin Carpentier
Differentiable Robust Model Predictive Control Alex Oshin, Hassan Almubarak, Evangelos Theodorou
Computation-Aware Learning for Stable Control with Gaussian Process Wenhan Cao, Alexandre Capone, Rishabh Yadav, Sandra Hirche, Wei Pan
Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty Yupeng Yang, Yiwei Lyu, Yanze Zhang, Sha Yi, Wenhao Luo
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal
JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments Nikhil Uday Shinde, Xiao Liang, Fei Liu, Yutong Zhang, Florian Richter, Sylvia Lee Herbert, Michael C. Yip
Conformalized Teleoperation: Confidently Mapping Human Inputs to High-Dimensional Robot Actions Michelle D Zhao, Reid Simmons, Henny Admoni, Andrea Bajcsy
Optimal Non-Redundant Manipulator Surface Coverage with Rank-Deficient Manipulability Constraints Tong Yang, Li Huang, Jaime Valls Miro, Yue Wang, Rong Xiong
AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li
Human-oriented Representation Learning for Robotic Manipulation Mingxiao Huo, Mingyu Ding, Chenfeng Xu, Thomas Tian, Xinghao Zhu, Yao Mu, Lingfeng Sun, Masayoshi Tomizuka, Wei Zhan
Dynamic On-Palm Manipulation via Controlled Sliding William Yang, Michael Posa
Efficient Data Collection for Robotic Manipulation via Compositional Generalization Jensen Gao, Annie Xie, Ted Xiao, Chelsea Finn, Dorsa Sadigh
Demonstrating Learning from Humans on Open-Source Dexterous Robot Hands Kenneth Shaw, Ananye Agarwal, Shikhar Bahl, Mohan Kumar Srirama, Alexandre Kirchmeyer, Aditya Kannan, Aravind Sivakumar, Deepak Pathak
Reconciling Reality through Simulation: A Real-To-Sim-to-Real Approach for Robust Manipulation Marcel Torne Villasevil, Anthony Simeonov, Zechu Li, April Chan, Tao Chen, Abhishek Gupta, Pulkit Agrawal
SAGE: Bridging Semantic and Actionable Parts for GEneralizable Articulated-Object Manipulation under Language Instructions Haoran Geng, Songlin Wei, Congyue Deng, Bokui Shen, He Wang, Leonidas Guibas
Demonstrating Event-Triggered Investigation and Sample Collection for Human Scientists using Field Robots and Large Foundation Models Tirthankar Bandyopadhyay, Fletcher Talbot, Callum Bennie, Hashini Senaratne, Xun Li, Brendan Tidd, Mingze Xi, Jan Stiefel, Volkan Dedeoglu, Rod Taylor, Tea Molnar, Ziwei Wang, Josh Pinskier, Feng Xu, Lois Liow, Ben Burgess-Limerick, Jesse Haviland, Pavan Sikka, Simon Murrell, Jane Hodgkinson, Jiajun Liu, Fred Pauling, Stanislav Funiak
CraterGrader: Autonomous Robotic Terrain Manipulation for Lunar Site Preparation and Earthmoving Ryan Lee, Benjamin Younes, Alexander Pletta, John Harrington, Russell Q. Wong, William Whittaker
POAM: Probabilistic Online Attentive Mapping for Efficient Robotic Information Gathering Weizhe Chen, Lantao Liu, Roni Khardon
Blending Data-Driven Priors in Dynamic Games Justin Lidard, Haimin Hu, Asher Hancock, Zixu Zhang, Albert Gimo Contreras, Vikash Modi, Jonathan DeCastro, Deepak Gopinath, Guy Rosman, Naomi Leonard, Maria Santos, Jaime Fernández Fisac
Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving Sidharth Talia, Matthew Schmittle, Alexander Lambert, Alexander Spitzer, Christoforos Mavrogiannis, Siddhartha Srinivasa
Model Predictive Control for Aggressive Driving Over Uneven Terrain Tyler Han, Alex Liu, Anqi Li, Alexander Spitzer, Guanya Shi, Byron Boots
Demonstrating CropFollow++: Robust Under-Canopy Navigation with Keypoints Arun Narenthiran Sivakumar, Mateus Valverde Gasparino, Michael McGuire, Vitor Akihiro Hisano Higuti, M. Ugur Akcal, Girish Chowdhary
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks Muhammad Fadhil Ginting, Sung-Kyun Kim, David Fan, Matteo Palieri, Mykel Kochenderfer, Ali-akbar Agha-mohammadi
Yell At Your Robot: Improving On-the-Fly from Language Corrections Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z. Zhao, Archit Sharma, Karl Pertsch, Jianlan Luo, Sergey Levine, Chelsea Finn
Task Adaptation in Industrial Human-Robot Interaction: Leveraging Riemannian Motion Policies Mike Allenspach, Michael Pantic, Rik Girod, Lionel Ott, Roland Siegwart
Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction Justin Lidard, Hang Pham, Ariel Bachman, Bryan Boateng, Anirudha Majumdar
Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-Manipulation Yifei Simon Shao, Tianyu Li, Shafagh Keyvanian, Pratik Chaudhari, Vijay Kumar, Nadia Figueroa
Demonstrating HumanTHOR: A Simulation Platform and Benchmark for Human-Robot Collaboration in a Shared Workspace Chenxu Wang, Boyuan Du, Jiaxin Xu, Huaping Liu
Developing Design Guidelines for Older Adults with Robot Learning from Demonstration Erin Hedlund-Botti, Lakshmi Seelam, Chuxuan Yang, Nathaniel Belles, Zulfiqar Haider Zaidi, Matthew Gombolay
FLAIR: Feeding via Long-Horizon AcquIsition of Realistic dishes Rajat Kumar Jenamani, Priya Sundaresan, Maram Sakr, Tapomayukh Bhattacharjee, Dorsa Sadigh
The Benefits of Sound Resound: An In-Person Replication of the Ability of Character-Like Robot Sound to Improve Perceived Social Warmth Nnamdi Nwagwu, Adeline Schneider, Ibrahim Syed, Brian J. Zhang, Naomi T. Fitter
Leveraging Large Language Model for Heterogeneous Ad Hoc Teamwork Collaboration Xinzhu Liu, Peiyan Li, Wenju Yang, Di Guo, Huaping Liu
INTERPRET: Interactive Predicate Learning from Language Feedback for Generalizable Task Planning Muzhi Han, Yifeng Zhu, Song-Chun Zhu, Ying Nian Wu, Yuke Zhu
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres Jonathan Michaux, Adam Li, Qingyi Chen, Che Chen, Ram Vasudevan
Motion Planning in Foliated Manifolds using Repetition Roadmap Jiaming Hu, Shrutheesh Raman Iyer, Jiawei Wang, Henrik I Christensen
Language-Augmented Symbolic Planner for Open-World Task Planning Guanqi Chen, Lei Yang, Ruixing Jia, Zhe Hu, Yizhou Chen, Wei Zhang, Wenping Wang, Jia Pan
Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Motion Planning with Pointclouds Clayton Ramsey, Zachary Kingston, Wil Thomason, Lydia E Kavraki
Homotopic Path Set Planning for Robot Manipulation and Navigation Jing Huang
Practice Makes Perfect: Planning to Learning Skill Parameter Policies Nishanth Kumar, Tom Silver, Willie McClinton, Linfeng Zhao, Stephen Proulx, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Jennifer L. Barry
World Models for General Surgical Grasping Hongbin Lin
SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty Sirui Chen, Jeannette Bohg, Karen Liu
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, Karen Liu
GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps Tasbolat Taunyazov, Kelvin Lin, Harold Soh
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song
Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering Snehal Jauhri, Ishikaa Lunawat, Georgia Chalvatzaki
Demonstrating Adaptive Mobile Manipulation in Retail Environments Max Spahn, Corrado Pezzato, Chadi Salmi, Rick Dekker, Cong Wang, Christian Pek, Jens Kober, Javier Alonso-Mora, Carlos Hernandez Corbato, Martijn Wisse
Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning Xiaoyu Zhang, Matthew Chang, Pranav Kumar, Saurabh Gupta
RT-H: Action Hierarchies using Language Suneel Belkhale, Tianli Ding, Ted Xiao, Pierre Sermanet, Quan Vuong, Jonathan Tompson, Yevgen Chebotar, Debidatta Dwibedi, Dorsa Sadigh
RoboCasa: Large-Scale Simulation of Household Tasks for Generalist Robots Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, Yuke Zhu
Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour Cloning Vitalis Vosylius, Younggyo Seo, Jafar Uruç, Stephen James
Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention Transformers Vidhi Jain, Maria Attarian, Nikhil J Joshi, Ayzaan Wahid, Danny Driess, Quan Vuong, Pannag R Sanketi, Pierre Sermanet, Stefan Welker, Christine Chan, Igor Gilitschenski, Yonatan Bisk, Debidatta Dwibedi
Offline Imitation Learning Through Graph Search and Retrieval Zhao-Heng Yin, Pieter Abbeel
RVT-2: Learning Precise Manipulation from Few Demonstrations Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, Dieter Fox
Imitation Bootstrapped Reinforcement Learning Hengyuan Hu, Suvir Mirchandani, Dorsa Sadigh
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros
Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, Jianyu Chen
Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion Tairan He, Chong Zhang, Wenli Xiao, Guanqi He, Changliu Liu, Guanya Shi
RL2AC: Reinforcement Learning-based Rapid Online Adaptive Control for Legged Robot Robust Locomotion Shangke Lyu, Xin Lang, Han Zhao, Hongyin Zhang, Pengxiang Ding, Donglin Wang
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, Pieter Abbeel
MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting Kuan Fang, Fangchen Liu, Pieter Abbeel, Sergey Levine
Collaborative Planar Pushing of Polytopic Objects with Multiple Robots in Complex Scenes Zili Tang, Yuming Feng, Meng Guo
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, Fabio Ramos, Yashraj Narang
An abstract theory of sensor eventification Yulin Zhang, Dylan Shell
Octopi: Object Property Reasoning with Large Tactile-Language Models Samson Yu, Lin Kelvin, Anxing Xiao, Jiafei Duan, Harold Soh
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, Huazhe Xu
HRP: Human affordances for Robotic Pre-training Mohan Kumar Srirama, Sudeep Dasari, Shikhar Bahl, Abhinav Gupta
MIRAGE: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting Lawrence Yunliang Chen, Karthik Dharmarajan, Kush Hari, Chenfeng Xu, Quan Vuong, Ken Goldberg
Broadcasting Support Relations Recursively from Local Dynamics for Object Retrieval in Clutters Yitong Li, Ruihai Wu, Haoran Lu, Chuanruo Ning, Yan Shen, Guanqi Zhan, Hao Dong
Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation Aaditya Prasad, Kevin Lin, Jimmy Wu, Linqi Zhou, Jeannette Bohg
CLOSURE: Fast Quantification of Pose Uncertainty Sets Yihuai Gao, Yukai Tang, Han Qi, Heng Yang
GOAT: GO to Any Thing Matthew Chang, Theophile Gervet, Mukul Khanna, Sriram Yenamandra, Dhruv Shah, So Yeon Min, Kavit Shah, Chris Paxton, Saurabh Gupta, Dhruv Batra, Roozbeh Mottaghi, Jitendra Malik, Devendra Singh Chaplot
Demonstrating Arena 3.0: Advancing Social Navigation in Collaborative and Highly Dynamic Environments Linh Kästner, Volodymyir Shcherbyna, Huajian Zeng, Tuan Anh Le, Maximilian Ho-Kyung Schreff, Halid Osmaev, Nam Truong Tran, Diego Diaz, Jan Golebiowski, Harold Soh, Jens Lambrecht
RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Multi-Modal Large Language Model Learning Jianhao Yuan, Shuyang Sun, Daniel Omeiza, Bo Zhao, Paul Newman, Lars Kunze, Matthew Gadd
Dynamic Adversarial Attacks on Autonomous Driving Systems Amirhosein Chahe, Chenan Wang, Abhishek Jeyapratap, Kaidi Xu, Lifeng Zhou
Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation Abdelrhman Werby, Chenguang Huang, Martin Büchner, Abhinav Valada, Wolfram Burgard
ScrewMimic: Bimanual Imitation from Human Videos with Screw Space Projection Arpit Bahety, Priyanka Mandikal, Ben Abbatematteo, Roberto Martín-Martín
NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation Jiazhao Zhang, Kunyu Wang, Rongtao Xu, Gengze Zhou, Yicong Hong, Xiaomeng Fang, Qi Wu, Zhizheng Zhang, He Wang
RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer Crashes Kyle Stachowicz, Sergey Levine
Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments Lukas Schmid, Marcus Abate, Yun Chang, Luca Carlone
Demonstrating Agile Flight from Pixels without State Estimation Ismail Geles, Leonard Bauersfeld, Angel Romero, Jiaxu Xing, Davide Scaramuzza
You’ve Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property Prediction Parker Ewen, Hao Chen, Yuzhen Chen, Anran Li, Anup Bagali, Gitesh Gunjal, Ram Vasudevan
AnyFeature-VSLAM: Automating the Usage of Any Feature into Visual SLAM Alejandro Fontan, Javier Civera, Michael Milford
iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping Daniel McGann, Michael Kaess
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization Tianyue Wu, Fei Gao
Experience-based multi-agent path finding with narrow corridors Rachel A Moan, Courtney McBeth, Marco Morales, Nancy Amato, Kris Hauser
Event-based Visual Inertial Velometer Xiuyuan LU, Yi Zhou, Junkai Niu, Sheng Zhong, Shaojie Shen
Explore until Confident: Efficient Exploration for Embodied Question Answering Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar, Dorsa Sadigh
Octo: An Open-Source Generalist Robot Policy Dibya Ghosh, Homer Rich Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Quan Vuong, Ted Xiao, Pannag R Sanketi, Dorsa Sadigh, Chelsea Finn, Sergey Levine
Demonstrating OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics Peiqi Liu, Yaswanth Orru, Jay Vakil, Chris Paxton, Nur Muhammad Mahi Shafiullah, Lerrel Pinto
Any-point Trajectory Modeling for Policy Learning Chuan Wen, Xingyu Lin, John Ian Reyes So, Kai Chen, Qi Dou, Yang Gao, Pieter Abbeel
Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation Jonathan Heewon Yang, Catherine Glossop, Arjun Bhorkar, Dhruv Shah, Quan Vuong, Chelsea Finn, Dorsa Sadigh, Sergey Levine
DrEureka: Language Model Guided Sim-To-Real Transfer Yecheng Jason Ma, William Liang, Hung-Ju Wang, Yuke Zhu, Linxi Fan, Osbert Bastani, Dinesh Jayaraman
Set It Up!: Functional Object Arrangement with Compositional Generative Models Yiqing Xu, Jiayuan Mao, Yilun Du, Tomás Lozano-Pérez, Leslie Pack Kaelbling, David Hsu
Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics Norman Di Palo, Edward Johns
ConTac: Continuum-Emulated Soft Skinned Arm with Vision-based Shape Sensing and Contact-aware Manipulation Tuan Tai Nguyen, Quan Khanh Luu, Dinh Quang Nguyen, Van Ho
Function Based Sim-to-Real Learning for Shape Control of Deformable Free-form Surfaces Yingjun Tian, Guoxin Fang, Renbo Su, Weiming Wang, Simeon Gill, Andrew Weightman, Charlie C. L. Wang
Safe & Accurate at Speed with Tendons: A Robot Arm for Exploring Dynamic Motion Simon Guist, Jan Schneider, Hao Ma, Le Chen, Vincent Berenz, Julian Martus, Heiko Ott, Felix Grüninger, Michael Muehlebach, Jonathan Fiene, Bernhard Schölkopf, Dieter Büchler
Evolution and learning in differentiable robots Luke Strgar, David Matthews, Tyler Hummer, Sam Kriegman
Construction of a Multiple-DOF Underactuated Gripper with Force-Sensing via Deep Learning Jihao Li, Keqi Zhu, Guodong Lu, I-Ming Chen, HUIXU DONG
A Single Motor Nano Aerial Vehicle with Novel Peer-to-Peer Communication and Sensing Mechanism Jingxian Wang, Andrew G. Curtis, Mark Yim, Michael Rubenstein
Design and Control of a Bipedal Robotic Character Ruben Grandia, Espen Knoop, Michael A. Hopkins, Georg Wiedebach, Jared Bishop, Steven Pickles, David Müller, Moritz Bächer
POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints Jean-Baptiste Bouvier, Kartik Nagpal, Negar Mehr
Demonstrating Language-Grounded Motion Controller Ravi Tejwani, Chengyuan Ma, Paco Gomez-Paz, Paolo Bonato, Haruhiko Asada
VLMPC: Vision-Language Model Predictive Control for Robotic Manipulation Wentao Zhao, Jiaming Chen, Ziyu Meng, DonghuiMao, Ran Song, Wei Zhang
Expressive Whole-Body Control for Humanoid Robots Xuxin Cheng, Yandong Ji, Junming Chen, Ruihan Yang, Ge Yang, Xiaolong Wang
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach Justin Carpentier, Quentin Le Lidec, Louis Montaut
MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints Maria Krinner, Angel Romero, Leonard Bauersfeld, Melanie Zeilinger, Andrea Carron, Davide Scaramuzza
Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective Bruce Wingo, Ajay Suresha Sathya, Stéphane Caron, Seth Hutchinson, Justin Carpentier
A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Cranes Javier Puig-Navarro, Dominic R Bisio, John E Pye, Yotam Granov, Joshua N Moser, Jessica S. Friz, Walter J Waltz, Julia E Cline, B. Danette Allen
AutoGPT+P: Affordance-based Task Planning using Large Language Models Timo Birr, Christoph Pohl, Abdelrahman Younes, Tamim Asfour
Implicit Graph Search for Planning on Graphs of Convex Sets Ramkumar Natarajan, Chaoqi Liu, Howie Choset, Maxim Likhachev
Real-Time Anomaly Detection and Reactive Planning with Large Language Models Rohan Sinha, Amine Elhafsi, Christopher Agia, Matt Foutter, Edward Schmerling, Marco Pavone
iHERO: Interactive Human-oriented Exploration and Supervision Under Scarce Communication Zhuoli Tian, Yuyang Zhang, Jinsheng Wei, Meng Guo
Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots Haimin Hu, Gabriele Dragotto, Zixu Zhang, Kaiqu Liang, Bartolomeo Stellato, Jaime Fernández Fisac
Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation Long Kiu Chung, Wonsuhk Jung, Chuizheng Kong, Shreyas Kousik
Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness Aidan Curtis, George Matheos, Nishad Gothoskar, Vikash Mansinghka, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, Peter David Fagan, Joey Hejna, Masha Itkina, Marion Lepert, Yecheng Jason Ma, Patrick Tree Miller, Jimmy Wu, Suneel Belkhale, Shivin Dass, Huy Ha, Arhan Jain, Abraham Lee, Youngwoon Lee, Marius Memmel, Sungjae Park, Ilija Radosavovic, Kaiyuan Wang, Albert Zhan, Kevin Black, Cheng Chi, Kyle Beltran Hatch, Shan Lin, Jingpei Lu, Jean Mercat, Abdul Rehman, Pannag R Sanketi, Archit Sharma, Cody Simpson, Quan Vuong, Homer Rich Walke, Blake Wulfe, Ted Xiao, Jonathan Heewon Yang, Arefeh Yavary, Tony Z. Zhao, Christopher Agia, Rohan Baijal, Mateo Guaman Castro, Daphne Chen, Qiuyu Chen, Trinity Chung, Jaimyn Drake, Ethan Paul Foster, Jensen Gao, David Antonio Herrera, Minho Heo, Kyle Hsu, Jiaheng Hu, Donovon Jackson, Charlotte Le, Yunshuang Li, Roy Lin, Zehan Ma, Abhiram Maddukuri, Suvir Mirchandani, Daniel Morton, Tony Nguyen, Abigail O'Neill, Rosario Scalise, Derick Seale, Victor Son, Stephen Tian, Emi Tran, Andrew E. Wang, Yilin Wu, Annie Xie, Jingyun Yang, Patrick Yin, Yunchu Zhang, Osbert Bastani, Glen Berseth, Jeannette Bohg, Ken Goldberg, Abhinav Gupta, Abhishek Gupta, Dinesh Jayaraman, Joseph J Lim, Jitendra Malik, Roberto Martín-Martín, Subramanian Ramamoorthy, Dorsa Sadigh, Shuran Song, Jiajun Wu, Michael C. Yip, Yuke Zhu, Thomas Kollar, Sergey Levine, Chelsea Finn
Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals Moritz Reuss, Ömer Erdinç Yağmurlu, Fabian Wenzel, Rudolf Lioutikov
Don't Start From Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion Kaiqi Chen, Eugene Lim, Lin Kelvin, Yiyang Chen, Harold Soh
Learning Manipulation by Predicting Interaction Jia Zeng, Qingwen Bu, Bangjun Wang, Wenke Xia, Li Chen, Hao Dong, Haoming Song, Dong Wang, Di Hu, Ping Luo, Heming Cui, Bin Zhao, Xuelong Li, Yu Qiao, Hongyang Li
URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images Qiuyu Chen, Aaron Walsman, Marius Memmel, Kaichun Mo, Alex Fang, Dieter Fox, Abhishek Gupta
Learning to Learn Faster from Human Feedback with Language Model Predictive Control Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, Maria Attarian, Maria Bauza Villalonga, Matthew Bennice, Alex Bewley, Adil Dostmohamed, Chuyuan Fu, Nimrod Gileadi, Marissa Giustina, Keerthana Gopalakrishnan, Leonard Hasenclever, Jan Humplik, Jasmine Hsu, Nikhil J Joshi, Ben Jyenis, J Chase Kew, Sean Kirmani, Tsang-Wei Edward Lee, Kuang-Huei Lee, Assaf Hurwitz Michaely, Joss Moore, Kenneth Oslund, Dushyant Rao, Allen Z. Ren, Baruch Tabanpour, Quan Vuong, Ayzaan Wahid, Ted Xiao, Ying Xu, Vincent Zhuang, Peng Xu, Erik Frey, Ken Caluwaerts, Tingnan Zhang, Brian Ichter, Jonathan Tompson, Leila Takayama, Vincent Vanhoucke, Izhak Shafran, Maja Mataric, Dorsa Sadigh, Nicolas Heess, Kanishka Rao, Nik Stewart, Jie Tan, Carolina Parada
Natural Language Can Help Bridge the Sim2Real Gap Albert Yu, Adeline Foote, Ray Mooney, Roberto Martín-Martín
PoCo: Policy Composition from and for Heterogeneous Robot Learning Lirui Wang, Jialiang Zhao, Yilun Du, Edward Adelson, Russ Tedrake
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand Zilin Si, Kevin Lee Zhang, Zeynep Temel, Oliver Kroemer
HACMan++: Spatially-Grounded Motion Primitives for Manipulation Bowen Jiang, Yilin Wu, Wenxuan Zhou, Chris Paxton, David Held
RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing Bo Ai, Stephen Tian, Haochen Shi, Yixuan Wang, Cheston Tan, Yunzhu Li, Jiajun Wu
Configuration Space Distance Fields for Manipulation Planning Yiming Li, Xuemin Chi, Amirreza Razmjoo, Sylvain Calinon
Towards Tight Convex Relaxations for Contact-Rich Manipulation Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci, Savva Morozov, Alexandre Amice, Pablo Parrilo, Russ Tedrake
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason, Dieter Fox
One-Shot Imitation Learning with Invariance Matching for Robotic Manipulation Xinyu Zhang, Abdeslam Boularias
Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control Miquel Oller, Dmitry Berenson, Nima Fazeli