Robotics: Science and Systems XXI

Table of Contents

Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation Pascal Roth, Jonas Frey, Cesar Cadena, Marco Hutter
Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid Parv Kapoor, Ian Higgins, Nikhil Varma Keetha, Jay Patrikar, Brady Moon, Zelin Ye, Yao He, Ivan Cisneros, Changliu Liu, Eunsuk Kang, Sebastian Scherer
Self-supervised Multi-future Occupancy Forecasting for Autonomous Driving Bernard Lange, Masha Itkina, Jiachen Li, Mykel Kochenderfer
MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction Yulun Tian, Hanwen Cao, Sunghwan Kim, Nikolay Atanasov
Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based Correspondence Jiwoo Kim, Geunsik Bae, Changseung Kim, Jinwoo Lee, Woojae Shin, Hyondong Oh
DRO: Doppler-Aware Direct Radar Odometry with Gyroscope Cedric Le Gentil, Leonardo Brizi, Daniil Lisus, Xinyuan Qiao, Giorgio Grisetti, Timothy Barfoot
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift Devansh R. Agrawal, Rajiv Govindjee, Taekyung Kim, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou
Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation Edgar Granados, Sumanth Tangirala, Kostas Bekris
Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari
π₀: A Vision-Language-Action Flow Model for General Robot Control Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Robert Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, Laura Smith, James Tanner, Quan Vuong, Anna Walling, Haohuan Wang, Ury Zhilinsky
SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Jiayuan Gu, Zhigang Wang, Yan Ding, Bin Zhao, Dong Wang, Xuelong Li
FAST: Efficient Action Tokenization for Vision-Language-Action Models Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, Sergey Levine
Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang, He Wang
Learning to Act Anywhere with Task-centric Latent Actions Qingwen Bu, Yanting Yang, Jisong Cai, Shenyuan Gao, Guanghui Ren, Maoqing Yao, Ping Luo, Hongyang Li
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets Chuning Zhu, Raymond Yu, Siyuan Feng, Benjamin Burchfiel, Paarth Shah, Abhishek Gupta
CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language Supervision Gi-Cheon Kang, Junghyun Kim, Kyuhwan Shim, Jun Ki Lee, Byoung-Tak Zhang
Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success Moo Jin Kim, Chelsea Finn, Percy Liang
NaVILA: Legged Robot Vision-Language-Action Model for Navigation An-Chieh Cheng, Yandong Ji, Zhaojing Yang, Zaitian Gongye, Xueyan Zou, Jan Kautz, Erdem Biyik, Hongxu Yin, Sifei Liu, Xiaolong Wang
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy Yuhui Chen, Shuai Tian, Shugao Liu, Yingting Zhou, Haoran Li, Dongbin Zhao
Demonstrating MuJoCo Playground Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder Alexander Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel
Demonstrating GPU Parallelized Robot Simulation and Rendering for Generalizable Embodied AI with ManiSkill3 Stone Tao, Fanbo Xiang, Arth Shukla, Yuzhe Qin, Xander Hinrichsen, Xiaodi Yuan, Chen Bao, Xinsong Lin, Yulin Liu, Tse-Kai Chan, Yuan Gao, Xuanlin Li, Tongzhou Mu, Nan Xiao, Arnav Gurha, Viswesh Nagaswamy Rajesh, Yong Woo Choi, Yen-Ru Chen, Zhiao Huang, Roberto Calandra, Rui Chen, Shan Luo, Hao Su
RoboVerse: A Unified Platform, Benchmark and Dataset for Scalable and Generalizable Robot Learning Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Haozhe Lou, Charlie Tianyue Cheng, Peihao Li, Haozhe Chen, Yutong Liang, Yuxi Qian, Jiageng Mao, Weikang Wan, Yiran Geng, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Chaoyi Xu, Jialiang Zhang, Chengyang Zhao, Haoran Lu, Yufei Ding, Ran Gong, Yuran Wang, Yuxuan Kuang, Ruihai Wu, Baoxiong Jia, Hao Dong, Siyuan Huang, Yue Wang, Jitendra Malik, Pieter Abbeel
Robot Data Curation with Mutual Information Estimators Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna, Annie Xie, Ayzaan Wahid, Jonathan Tompson, Pannag R. Sanketi, Dhruv Shah, Coline Manon Devin, Dorsa Sadigh
Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization Daniel Rakita, Chen Liang, Qian Wang
Robot Learning with Super-Linear Scaling Marcel Torne Villasevil, Arhan Jain, Jiayi Yuan, Vidyaaranya Macha, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Abhishek Gupta
Action Flow Matching for Lifelong Learning Alejandro Murillo-González, Lantao Liu
Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL Songyuan Zhang, Oswin So, Mitchell Black, Zachary Serlin, Chuchu Fan
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning Charles Xu, Qiyang Li, Jianlan Luo, Sergey Levine
ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization Mason Peterson, Yixuan Jia, Yulun Tian, Annika Thomas, Jonathan P. How
GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction Yuhan Xie, Yixi Cai, Yinqiang Zhang, Lei Yang, Jia Pan
LiDAR Registration with Visual Foundation Models Niclas Vödisch, Giovanni Cioffi, Marco Cannici, Wolfram Burgard, Davide Scaramuzza
Building Rome with Convex Optimization Haoyu Han, Heng Yang
Demonstrating MOSART: Opening Articulated Structures in the Real World Arjun Gupta, Michelle Zhang, Rishik Sathua, Saurabh Gupta
Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics Bibit Bianchini, Minghan Zhu, Mengti Sun, Bowen Jiang, Camillo Jose Taylor, Michael Posa
Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations Jeongho Ha, Minseok Song, Bonggyeong Park, Daehyung Park
Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li
V-HOP: Visuo-Haptic 6D Object Pose Tracking Hongyu Li, Mingxi Jia, Mete Tuluhan Akbulut, Yu Xiang, George Konidaris, Srinath Sridhar
Joint State and Noise Covariance Estimation Kasra Khosoussi, Iman Shames
Map Space Belief Prediction for Manipulation-Enhanced Mapping Joao Marcos Correia Marques, Nils Dengler, Jesper Mücke, Tobias Zaenker, Shenlong Wang, Maren Bennewitz, Kris Hauser
PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map Yue Pan, Xingguang Zhong, Liren Jin, Louis Wiesmann, Marija Popovic, Jens Behley, Cyrill Stachniss
RAMEN: Real-time Asynchronous Multi-agent Neural Implicit Mapping Hongrui Zhao, Boris Ivanovic, Negar Mehr
RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity Xiaomeng Xu, Dominik Bauer, Shuran Song
Bilevel Learning for Bilevel Planning Bowen Li, Tom Silver, Sebastian Scherer, Alexander G. Gray
A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex Sets Tobia Marcucci, Mathew Halm, William Yang, Dongchan Lee, Andrew Marchese
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning Peter Werner, Richard Cheng, Tom Stewart, Russ Tedrake, Daniela Rus
Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations Shucheng Kang, Guorui Liu, Heng Yang
On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning Yulin Li, Haoyu Han, Shucheng Kang, Jun Ma, Heng Yang
Effective Sampling for Robot Motion Planning Through the Lens of Lattices Itai Panasoff, Kiril Solovey
Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott
Differentiable GPU-Parallelized Task and Motion Planning William Shen, Caelan Reed Garrett, Nishanth Kumar, Ankit Goyal, Tucker Hermans, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Fabio Ramos
Flow Matching Ergodic Coverage Max Muchen Sun, Allison Pinosky, Todd Murphey
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Fang Yuan, Guoying Gu, Huazhe Xu, Cewu Lu
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang, H.j. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake
ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation Jayjun Lee, Nima Fazeli
A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation Jaehyung Kim, Jiho Kim, Dongryung Lee, Yujin Jang, Beomjoon Kim
PP-Tac: Paper Picking Using Omnidirectional Tactile Feedback in Dexterous Robotic Hands Pei Lin, Yuzhe Huang, Jianpeng Ma, Chenxi Xiao, Wanlin Li, Ziyuan Jiao
GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty Sirui Chen, Sergio Francisco Aguilera Marinovic, Soshi Iba, Rana Soltani Zarrin
Demonstrating the Octopi-1.5 Visual-Tactile-Language Model Samson Yu, Lin Kelvin, Harold Soh
Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly Daniel Sliwowski, Shail Jadav, Sergej Stanovcic, Jędrzej Orbik, Johannes Heidersberger, Dongheui Lee
Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang
AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control Jialong Li, Xuxin Cheng, Tianshu Huang, Shiqi Yang, Ri-Zhao Qiu, Xiaolong Wang
Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath
Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta
Learning Humanoid Standing-up Control across Diverse Postures Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen, Jianan Li, Jiangmiao Pang
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning Yiyang Shao, Bike Zhang, Qiayuan Liao, Xiaoyu Huang, Yuman Gao, Yufeng Chi, Zhongyu Li, Sophia Shao, Koushil Sreenath
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbabu, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica K. Hodgins, Linxi Fan, Yuke Zhu, Changliu Liu, Guanya Shi
A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion Yufei Xue, Wentao Dong, Minghuan Liu, Weinan Zhang, Jiangmiao Pang
BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds Huayi Wang, Zirui Wang, Junli Ren, Qingwei Ben, Tao Huang, Weinan Zhang, Jiangmiao Pang
Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains Junheng Li, Ziwei Duan, Junchao Ma, Quan Nguyen
HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit Qingwei Ben, Feiyu Jia, Jia Zeng, Junting Dong, Dahua Lin, Jiangmiao Pang
Curating Demonstrations using Online Experience Annie S. Chen, Alec M. Lessing, Yuejiang Liu, Chelsea Finn
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity Guang Yin, Yitong Li, Yixuan Wang, Dale Mcconachie, Paarth Shah, Kunimatsu Hashimoto, Huan Zhang, Katherine Liu, Yunzhu Li
Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies Chen Xu, Tony Khuong Nguyen, Emma Dixon, Christopher Rodriguez, Patrick Miller, Robert Lee, Paarth Shah, Rares Andrei Ambrus, Haruki Nishimura, Masha Itkina
Unified Video Action Model Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song
DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies Tony Tao, Mohan Kumar Srirama, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak
From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment Yilin Wu, Thomas Tian, Gokul Swamy, Andrea Bajcsy
Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping David Snyder, Asher James Hancock, Apurva Badithela, Emma Dixon, Patrick Miller, Rares Andrei Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier, Kanghyun Ryu, Qiayuan Liao, Koushil Sreenath, Negar Mehr
FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning Jason Jingzhou Liu, Yulong Li, Kenneth Shaw, Tony Tao, Russ Salakhutdinov, Deepak Pathak
Morpheus: A Neural-driven Animatronic Face with Hybrid Actuation and Diverse Emotion Control Zongzheng Zhang, Jiawen Yang, Ziqiao Peng, Meng Yang, Jianzhu Ma, Lin Cheng, Huazhe Xu, Hang Zhao, Hao Zhao
Interface-level Intent Inference for Environment-agnostic Robot Teleoperation Assistance Larisa Y.c. Loke, Brenna Argall
Sense and Sensibility: What makes an social robot convincing to high-school students? Pablo Gonzalez-Oliveras, Olov Engwall, Ali Reza Majlesi
FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song, Yuting Yang, Ziang Liu, Benjamin Howe, Aimee Whitneck, Tapomayukh Bhattacharjee
Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture
Users and Wizards in Conversations: How WoZ Interface Choices Define Human-Robot Interactions Ekaterina Torubarova, Jura Miniotaite, Andre Pereira
Demonstrating Shared Force-Language Embeddings for Natural Human-Robot Communication Ravi Tejwani, Karl Angel Velazquez, John Payne, Paolo Bonato, Haruhiko Asada
Optimal Interactive Learning on the Job via Facility Location Planning Shivam Vats, Michelle D. Zhao, Patrick Callaghan, Mingxi Jia, Maxim Likhachev, Oliver Kroemer, George Konidaris
A Robot-Assisted Approach to Small Talk Training for Adults with ASD Rebecca Ramnauth, Dražen Brščić, Brian Scassellati
Interruption Handling for Conversational Robots Shiye Cao, Jiwon Moon, Amama Mahmood, Victor Nikhil Antony, Ziang Xiao, Anqi Liu, Chien-Ming Huang
ASTRID: A Robotic Tutor for Nurse Training to Reduce Healthcare-Associated Infections Peizhu Qian, Filip Bajraktari, Carlos Quintero-Pena, Qingxi Meng, Shannan Hamlin, Lydia E. Kavraki, Vaibhav V. Unhelkar
Towards Uncertainty Unification: A Case Study for Preference Learning Shaoting Peng, Haonan Chen, Katherine Rose Driggs-Campbell
Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation Linh Kästner, Volodymyr Shcherbyna, Harold Soh, Giang Nguyen Huu Truong, Do Duc Anh, Ton Manh Kien, Tim Seeger, Ahmed Martban, Vu Thanh Lam, Nguyen Quoc Hung, Pham Thai Hoang Tung, Tran Dang An, Eva Wiese, Maximilian Ho-Kyoung Schreff
Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports Donggeon David Oh, Justin Lidard, Haimin Hu, Himani Sinhmar, Elle Lazarski, Deepak Edakkattil Gopinath, Emily Sumner, Jonathan Decastro, Guy Rosman, Naomi Leonard, Jaime Fernández Fisac
Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety Jasmine Jerry Aloor, Jason Jangho Choi, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan, Claire Tomlin
FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection Yiming Luo, Yunfei Wang, Hongming Chen, Chengkai Wu, Ximin Lyu, Jinni Zhou, Jun Ma, Fu Zhang, Boyu Zhou
Online Competitive Information Gathering for Partially Observable Trajectory Games Mel Krusniak, Hang Xu, Forrest John Laine
Collaborative Object Transportation in Space via Impact Interactions Joris Verhagen, Jana Tumova
APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly Philip Huang, Ruixuan Liu, Shobhit Aggarwal, Changliu Liu, Jiaoyang Li
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems Zhongqi Wei, Xusheng Luo, Changliu Liu
A Probabilistic Measure of Multi-Robot Connectivity and Ergodic Optimal Control Yongce Liu, Zhongqiang Ren
How to Coordinate UAVs and UGVs for Efficient Mission Planning? Optimizing Energy-Constrained Cooperative Routing with a DRL Framework Mohammad Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule
Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems Anoop Kiran, Nora Ayanian, Kenneth Breuer
DexterityGen: Foundation Controller for Unprecedented Dexterity Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Robert Hogan, Chaithanya Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu
Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen, Yubin Ke, Lin Peng, He Wang
Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation Jianglong Ye, Keyi Wang, Chengjing Yuan, Ruihan Yang, Yiquan Li, Jiyue Zhu, Yuzhe Qin, Xueyan Zou, Xiaolong Wang
Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success Che Wang, Jeroen Vanbaar, Chaitanya Mitash, Shuai Li, Dylan Randle, Weiyao Wang, Sumedh Anand Sontakke, Kostas Bekris, Kapil Katyal
Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrations Xili Yi, Nima Fazeli
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen, Soroush Nasiriany, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, Scott Reed, Ken Goldberg, Ajay Mandlekar, Linxi Fan, Yuke Zhu
CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World Yankai Fu, Ning Chen, Qiuxuan Feng, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin
Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions Ji Yin, Oswin So, Eric Yang Yu, Chuchu Fan, Panagiotis Tsiotras
Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis Kensuke Nakamura, Lasse Peters, Andrea Bajcsy
Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis Zeyuan Feng, Le Qiu, Somil Bansal
Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon
Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking Pratik Kunapuli, Jake Welde, Dinesh Jayaraman, Vijay Kumar
A Generic Continuous Multi-Joint Spinal Robotic System for Agile and Accurate Behaviors with GNN-MPC method Ying Wu, Zida Zhou, Renming Liu, Lanxiang Zheng, Hui Cheng
Behavior Synthesis via Contact-Aware Fisher Information Maximization Hrishikesh Sathyanarayan, Ian Abraham
Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator Yanhao Yang, Ross Hatton
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng, Tzu-Yuan Lin, William A. Clark, Ram Vasudevan, Maani Ghaffari
Provably-Safe, Online System Identification Bohao Zhang, Zichang Zhou, Ram Vasudevan
Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining Yaru Niu, Yunzhe Zhang, Mingyang Yu, Changyi Lin, Chenhao Li, Yikai Wang, Yuxiang Yang, Wenhao Yu, Tingnan Zhang, Zhenzhen Li, Jonathan Francis, Bingqing Chen, Jie Tan, Ding Zhao
Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning Arthicha Srisuchinnawong, Poramate Manoonpong
SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning Li Peizhuo, Hongyi Li, Ge Sun, Jin Cheng, Xinrong Yang, Guillaume Bellegarda, Milad Shafiee Ashtiani, Yuhong Cao, Auke Ijspeert, Guillaume Adrien Sartoretti
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey, Gabriel B. Margolis, Martin Peticco, Pulkit Agrawal
Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties Shipeng Liu, Jiaze Tang, Siyuan Meng, Feifei Qian
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu, Sangli Teng, Ben Liu, Wei Zhang, Maani Ghaffari
SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile Manipulation Arpit Bahety, Arnav Balaji, Ben Abbatematteo, Roberto Martín-Martín
Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks Zijie Zheng, Zeshun Li, Yunpeng Wang, Qinghongbing Xie, Long Zeng
Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning Guanqi He, Xiaofeng Guo, Luyi Tang, Yuanhang Zhang, Mohammadreza Mousaei, Jiahe Xu, Junyi Geng, Sebastian Scherer, Guanya Shi
RUKA: Rethinking the Design of Humanoid Hands with Learning Anya Zorin, Irmak Guzey, Nikhil X. Bhattasali, Lerrel Pinto
Demonstrating LEAP Hand v2: Low-Cost, Easy-to-Assemble, High-Performance Hand for Robot Learning Kenneth Shaw, Deepak Pathak
Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots Juntao He, Baxi Chong, Massimiliano Iaschi, Vincent R. Nienhusser, Sehoon Ha, Daniel Goldman
Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter
emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands Sagar Verma
CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidance Arthur Zhang, Harshit Sikchi, Joydeep Biswas, Amy Zhang
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson’s Equation Gilbert Bahati, Ryan M. Bena, Aaron Ames
Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain Tong Xu, Chenhui Pan, Madhan B. Rao, Aniket Datar, Anuj Pokhrel, Yuanjie Lu, Xuesu Xiao
Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving Jacob Levy, Jason Gibson, Bogdan Vlahov, Erica Tevere, Evangelos Theodorou, David Fridovich-Keil, Patrick Spieler
Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam, Haotong Qin, Lei Xie, Michele Magno, Luca Benini
Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance Alankrit Gupta, Adnan Abdullah, Xianyao Li, Vaishnav Ramesh, Ioannis Rekleitis, Md Jahidul Islam
RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation Minwoo Kim, Geunsik Bae, Jinwoo Lee, Woojae Shin, Changseung Kim, Myongyol Choi, Heejung Shin, Hyongdong Oh
Neural Inertial Odometry from Lie Events Royina Karegoudra Jayanth, Yinshuang Xu, Evangelos Chatzipantazis, Kostas Daniilidis, Daniel Gehrig
Uncertainty-Aware Trajectory Prediction via Rule-Regularized Heteroscedastic Deep Classification Kumar Manas, Christian Schlauch, Adrian Paschke, Christian Wirth, Nadja Klein
Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins Chuanruo Ning, Kuan Fang, Wei-Chiu Ma
Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation Sizhe Yang, Wenye Yu, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang
STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot Manipulation Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran Zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang
PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation Yifan Yin, Zhengtao Han, Shivam Aarya, Shuhang Xu, Jianxin Wang, Jiawei Peng, Angtian Wang, Alan Yuille, Tianmin Shu
You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations Huayi Zhou, Ruixiang Wang, Yunxin Tai, Yueci Deng, Guiliang Liu, Kui Jia
Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models Chenrui Tie, Shengxiang Sun, Jinxuan Zhu, Yiwei Liu, Jingxiang Guo, Yue Hu, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao
Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches Peihong Yu, Amisha Bhaskar, Anukriti Singh, Zahiruddin Mahammad, Pratap Tokekar
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation Kun Wu, Chengkai Hou, Jiaming Liu, Zhengping Che, Xiaozhu Ju, Zhuqin Yang, Meng Li, Yinuo Zhao, Zhiyuan Xu, Guang Yang, Shichao Fan, Xinhua Wang, Fei Liao, Zhen Zhao, Guangyu Li, Zhao Jin, Lecheng Wang, Jilei Mao, Ning Liu, Pei Ren, Qiang Zhang, Yaoxu Lyu, Mengzhen Liu, He Jingyang, Yulin Luo, Zeyu Gao, Chenxuan Li, Chenyang Gu, Yankai Fu, Di Wu, Xingyu Wang, Sixiang Chen, Zhenyu Wang, Pengju An, Siyuan Qian, Shanghang Zhang, Jian Tang
PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li, Hang Zhao, Zhiyuan Yu, Yu Du, Qin Zou, Ruizhen Hu, Kai Xu
Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments Yoonyoung Cho, Junhyek Han, Jisu Han, Beomjoon Kim
Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization Jonathan Heewon Yang, Chuyuan Fu, Dhruv Shah, Dorsa Sadigh, Fei Xia, Tingnan Zhang
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation Yufei Wang, Ziyu Wang, Mino Nakura, Pratik Bhowal, Chia-Liang Kuo, Yi-Ting Chen, Zackory Erickson, David Held
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning Zhengrong Xue, Shuying Deng, Zhenyang Chen, Yixuan Wang, Zhecheng Yuan, Huazhe Xu
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation Krishan Rana, Robert Lee, David Pershouse, Niko Suenderhauf
Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan (Edgar) Liang, Daniel Rakita
Gripper Pose and Object Pointflow as Interfaces for Robotic Bimanual Manipulation Yuyin Yang, Zetao Cai, Yang Tian, Jia Zeng, Jiangmiao Pang
SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation Shengjie Wang, Jiacheng You, Yihang Hu, Jiongye Li, Yang Gao
Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations Ken-Joel Simmoteit, Philipp Schillinger, Leonel Rozo
Learning Interpretable Features from Interventions Erin Hedlund-Botti, Julianna Schalkwyk, Nina Marie Moorman, Chuxuan Yang, Lakshmi Seelam, Sanne Van Waveren, Russell Perkins, Paul Robinette, Matthew Craig Gombolay