Table of Contents

• Expansive Latent Planning for Sparse Reward Offline Reinforcement LearningRobert Gieselmann, Florian T. Pokorny. 1-22 [doi]
• Expansive Latent Planning for Sparse Reward Offline Reinforcement LearningRobert Gieselmann, Florian T. Pokorny. 1-22 [doi]
• SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task PlanningKrishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian D. Reid 0001, Niko Sünderhauf. 23-72 [doi]
• SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task PlanningKrishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian D. Reid 0001, Niko Sünderhauf. 23-72 [doi]
• Robot Parkour LearningZiwen Zhuang, Zipeng Fu, Jianren Wang, Christopher G. Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao. 73-92 [doi]
• Task-Oriented Koopman-Based Control with Contrastive EncoderXubo Lyu, Hanyang Hu, Seth Siriya, Ye Pu, Mo Chen. 93-105 [doi]
• On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation SkillsYunhai Han, Mandy Xie, Ye Zhao, Harish Ravichandar. 106-126 [doi]
• Rearrangement Planning for General Part AssemblyYulong Li, Andy Zeng, Shuran Song. 127-143 [doi]
• Language-Guided Traffic Simulation via Scene-Level DiffusionZiyuan Zhong, Davis Rempe, Yuxiao Chen 0008, Boris Ivanovic, Yulong Cao, Danfei Xu, Marco Pavone 0001, Baishakhi Ray. 144-177 [doi]
• Language Embedded Radiance Fields for Zero-Shot Task-Oriented GraspingAdam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg. 178-200 [doi]
• MimicPlay: Long-Horizon Imitation Learning by Watching Human PlayChen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei 0001, Danfei Xu, Yuke Zhu, Anima Anandkumar. 201-221 [doi]
• Continual Vision-based Reinforcement Learning with Group SymmetriesShiqi Liu, Mengdi Xu, Peide Huang, XiLun Zhang, Yongkang Liu 0005, Kentaro Oguchi 0001, Ding Zhao. 222-240 [doi]
• HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile ManipulationWenxuan Zhou, Bowen Jiang, Fan Yang, Chris Paxton, David Held. 241-265 [doi]
• Hijacking Robot Teams Through Adversarial CommunicationZixuan Wu, Sean Charles Ye, Byeolyi Han, Matthew C. Gombolay. 266-283 [doi]
• GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature FieldsYanjie Ze, Ge Yan, Yueh-Hua Wu, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen 0001, Li Erran Li, Xiaolong Wang. 284-301 [doi]
• Bootstrap Your Own Skills: Learning to Solve New Tasks with Large Language Model GuidanceJesse Zhang, Jiahui Zhang, Karl Pertsch, Ziyi Liu, Xiang Ren, Minsuk Chang, Shao-Hua Sun, Joseph J. Lim. 302-325 [doi]
• DATT: Deep Adaptive Trajectory Tracking for Quadrotor ControlKevin Huang, Rwik Rana, Alexander Spitzer, Guanya Shi, Byron Boots. 326-340 [doi]
• HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and ManipulationVainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg. 341-357 [doi]
• Predicting Object Interactions with Behavior Primitives: An Application in Stowing TasksHaonan Chen, Yilong Niu, Kaiwen Hong, Shuijing Liu, Yixuan Wang 0003, Yunzhu Li, Katherine Rose Driggs-Campbell. 358-373 [doi]
• Language to Rewards for Robotic Skill SynthesisWenhao Yu 0003, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montserrat Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, Fei Xia. 374-404 [doi]
• Distilled Feature Fields Enable Few-Shot Language-Guided ManipulationWilliam Shen, Ge Yang, Alan Yu, Jansen Wong, Leslie Pack Kaelbling, Phillip Isola. 405-424 [doi]
• Finetuning Offline World Models in the Real WorldYunhai Feng, Nicklas Hansen 0001, Ziyan Xiong, Chandramouli Rajagopalan, Xiaolong Wang. 425-445 [doi]
• Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement LearningXiyang Wu, Rohan Chandra, Tianrui Guan, Amrit S. Bedi, Dinesh Manocha. 446-477 [doi]
• PreCo: Enhancing Generalization in Co-Design of Modular Soft Robots via Brain-Body Pre-TrainingYuxing Wang, Shuang Wu, Tiantian Zhang 0002, Yongzhe Chang, Haobo Fu, Qiang Fu, Xueqian Wang. 478-498 [doi]
• Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and RenderingXinghao Zhu, JingHan Ke, Zhixuan Xu, Zhixin Sun, Bizhe Bai, Jun Lv, Qingtao Liu, Yuwei Zeng, Qi Ye, Cewu Lu, Masayoshi Tomizuka, Lin Shao 0002. 499-512 [doi]
• Surrogate Assisted Generation of Human-Robot Interaction ScenariosVarun Bhatt, Heramb Nemlekar, Matthew Christopher Fontaine, Bryon Tjanaka, Hejia Zhang, Ya-Chuan Hsu, Stefanos Nikolaidis. 513-539 [doi]
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language ModelsWenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu 0001, Li Fei-Fei 0001. 540-562 [doi]
• Stabilize to Act: Learning to Coordinate for Bimanual ManipulationJennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh. 563-576 [doi]
• How to Learn and Generalize From Three Minutes of Data: Physics-Constrained and Uncertainty-Aware Neural Stochastic Differential EquationsFranck Djeumou, Cyrus Neary, Ufuk Topcu. 577-601 [doi]
• Measuring Interpretability of Neural Policies of Robots with Disentangled RepresentationTsun-Hsuan Wang, Wei Xiao 0003, Tim Seyde, Ramin M. Hasani, Daniela Rus. 602-641 [doi]
• RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse ToolsHaochen Shi, Huazhe Xu, Samuel Clarke, Yunzhu Li, Jiajun Wu 0001. 642-660 [doi]
• Robots That Ask For Help: Uncertainty Alignment for Large Language Model PlannersAllen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar. 661-682 [doi]
• Robot Learning with Sensorimotor Pre-trainingIlija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik. 683-693 [doi]
• RVT: Robotic View Transformer for 3D Object ManipulationAnkit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, Dieter Fox. 694-710 [doi]
• ViNT: A Foundation Model for Visual NavigationDhruv Shah, Ajay Sridhar, Nitish Dashora, Kyle Stachowicz, Kevin Black, Noriaki Hirose, Sergey Levine. 711-733 [doi]
• What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal DiscoveryPeide Huang, XiLun Zhang, Ziang Cao, Shiqi Liu, Mengdi Xu, Wenhao Ding, Jonathan Francis, Bingqing Chen, Ding Zhao. 734-760 [doi]
• Scalable Deep Kernel Gaussian Process for Vehicle Dynamics in Autonomous RacingJingyun Ning, Madhur Behl. 761-773 [doi]
• Autonomous Robotic Reinforcement Learning with Asynchronous Human FeedbackMax Balsells, Marcel Torne Villasevil, Zihan Wang, Samedh Desai, Pulkit Agrawal, Abhishek Gupta. 774-799 [doi]
• Learning Realistic Traffic Agents in Closed-loopChris Zhang, James Tu, Lunjun Zhang, Kelvin Wong, Simon Suo, Raquel Urtasun. 800-821 [doi]
• Leveraging 3D Reconstruction for Mechanical Search on Cluttered ShelvesSeungyeon Kim, Young-Hun Kim, Yonghyeon Lee, Frank C. Park 0001. 822-848 [doi]
• SCONE: A Food Scooping Robot Learning Framework with Active PerceptionYen-Ling Tai, Yu-Chien Chiu, Yu-Wei Chao, Yi-Ting Chen. 849-865 [doi]
• Fine-Tuning Generative Models as an Inference Method for Robotic TasksOrr Krupnik, Elisei Shafer, Tom Jurgenson, Aviv Tamar. 866-886 [doi]
• Learning to Design and Use Tools for Robotic ManipulationZiang Liu 0008, Stephen Tian, Michelle Guo, C. Karen Liu, Jiajun Wu 0001. 887-905 [doi]
• CLUE: Calibrated Latent Guidance for Offline Reinforcement LearningJinxin Liu, Lipeng Zu, Li He, Donglin Wang. 906-927 [doi]
• DEFT: Dexterous Fine-Tuning for Hand PoliciesAditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam, Deepak Pathak. 928-942 [doi]
• One-Shot Imitation Learning: A Pose Estimation PerspectivePietro Vitiello, Kamil Dreczkowski, Edward Johns. 943-970 [doi]
• Semantic Mechanical Search with Large Vision and Language ModelsSatvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, Brian Ichter, Ken Goldberg. 971-1005 [doi]
• KITE: Keypoint-Conditioned Policies for Semantic ManipulationPriya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg. 1006-1021 [doi]
• BM2CP: Efficient Collaborative Perception with LiDAR-Camera ModalitiesBinyu Zhao, Wei Zhang, Zhaonian Zou. 1022-1035 [doi]
• That Sounds Right: Auditory Self-Supervision for Dynamic Robot ManipulationAbitha Thankaraj, Lerrel Pinto. 1036-1049 [doi]
• ManiCast: Collaborative Manipulation with Cost-Aware Human ForecastingKushal Kedia, Prithwish Dan, Atiksh Bhardwaj, Sanjiban Choudhury. 1050-1067 [doi]
• Predicting Routine Object Usage for Proactive Robot AssistanceMaithili Patel, Aswin Gururaj Prakash, Sonia Chernova. 1068-1083 [doi]
• Grounding Complex Natural Language Commands for Temporal Tasks in Unseen EnvironmentsJason Xinyu Liu, Ziyi Yang, Ifrah Idrees, Sam Liang, Benjamin Schornstein, Stefanie Tellex, Ankit Shah. 1084-1110 [doi]
• HOI4ABOT: Human-Object Interaction Anticipation for Human Intention Reading Collaborative roBOTsEsteve Valls Mascaro, Daniel Sliwowski, Dongheui Lee. 1111-1130 [doi]
• Reinforcement Learning Enables Real-Time Planning and Control of Agile Maneuvers for Soft Robot ArmsRianna M. Jitosho, Tyler Ga Wei Lum, Allison M. Okamura, C. Karen Liu. 1131-1153 [doi]
• A Policy Optimization Method Towards Optimal-time StabilityShengjie Wang, Lan Fengb, Xiang Zheng, Yuxue Cao, Oluwatosin OluwaPelumi Oseni, Haotian Xu, Tao Zhang, Yang Gao. 1154-1182 [doi]
• An Unbiased Look at Datasets for Visuo-Motor Pre-TrainingSudeep Dasari, Mohan Kumar Srirama, Unnat Jain, Abhinav Gupta 0001. 1183-1198 [doi]
• Equivariant Motion Manifold PrimitivesByeongho Lee, Yonghyeon Lee, Seungyeon Kim, MinJun Son, Frank C. Park 0001. 1199-1221 [doi]
• FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation ProjectionHarry Zhang, Ben Eisner, David Held. 1222-1241 [doi]
• Geometry Matching for Multi-Embodiment GraspingMaria Attarian, Muhammad Adil Asif, Jingzhou Liu, Ruthrash Hari, Animesh Garg, Igor Gilitschenski, Jonathan Tompson. 1242-1256 [doi]
• Contrastive Value Learning: Implicit Models for Simple Offline RLBogdan Mazoure, Benjamin Eysenbach, Ofir Nachum, Jonathan Tompson. 1257-1267 [doi]
• Parting with Misconceptions about Learning-based Vehicle Motion PlanningDaniel Dauner, Marcel Hallgarten, Andreas Geiger 0001, Kashyap Chitta. 1268-1281 [doi]
• Learning Sequential Acquisition Policies for Robot-Assisted FeedingPriya Sundaresan, Jiajun Wu 0001, Dorsa Sadigh. 1282-1299 [doi]
• Composable Part-Based ManipulationWeiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, Jiajun Wu 0001. 1300-1315 [doi]
• Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop SimulationJay Sarva, Jingkang Wang, James Tu, Yuwen Xiong, Sivabalan Manivasagam, Raquel Urtasun. 1316-1334 [doi]
• FindThis: Language-Driven Object Disambiguation in Indoor EnvironmentsArjun Majumdar, Fei Xia, Brian Ichter, Dhruv Batra, Leonidas J. Guibas. 1335-1347 [doi]
• Action-Quantized Offline Reinforcement Learning for Robotic Skill LearningJianlan Luo, Perry Dong, Jeffrey Wu, Aviral Kumar, Xinyang Geng, Sergey Levine. 1348-1361 [doi]
• Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic CalibrationLanke Frank Tarimo Fu, Maurice F. Fallon. 1362-1377 [doi]
• Fleet Active Learning: A Submodular Maximization ApproachOguzhan Akcin, Orhan Unuvar, Onat Ure, Sandeep P. Chinchali. 1378-1399 [doi]
• Robust Reinforcement Learning in Continuous Control Tasks with Uncertainty Set RegularizationYuan Zhang, Jianhong Wang, Joschka Boedecker. 1400-1424 [doi]
• Context-Aware Deep Reinforcement Learning for Autonomous Robotic Navigation in Unknown AreaJingsong Liang, Zhichen Wang, Yuhong Cao, Jimmy Chiun, Mengqi Zhang, Guillaume Adrien Sartoretti. 1425-1436 [doi]
• Learning to Discern: Imitating Heterogeneous Human Demonstrations with Preference and Representation LearningSachit Kuhar, Shuo Cheng, Shivang Chopra, Matthew Bronars, Danfei Xu. 1437-1449 [doi]
• Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in ClutterGeorgios Tziafas, Yucheng Xu, Arushi Goel, Mohammadreza Mohades Kasaei, Zhibin Li 0001, Hamidreza Kasaei 0001. 1450-1466 [doi]
• Learning Reusable Manipulation StrategiesJiayuan Mao, Tomás Lozano-Pérez, Joshua B. Tenenbaum, Leslie Pack Kaelbling. 1467-1483 [doi]
• Sample-Efficient Preference-based Reinforcement Learning with Dynamics Aware RewardsKatherine Metcalf, Miguel Sarabia, Natalie Mackraz, Barry-John Theobald. 1484-1532 [doi]
• Im2Contact: Vision-Based Contact Localization Without Touch or Force SensingLeon Kim, Yunshuang Li, Michael Posa, Dinesh Jayaraman. 1533-1546 [doi]
• DROID: Learning from Offline Heterogeneous Demonstrations via Reward-Policy DistillationSravan Jayanthi, Letian Chen, Nadya Balabanska, van Duong, Erik Scarlatescu, Ezra Ameperosa, Zulfiqar Haider Zaidi, Daniel Martin, Taylor Keith Del Matto, Masahiro Ono, Matthew C. Gombolay. 1547-1571 [doi]
• SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded ObjectsNing Gao, Ngo Anh Vien, Hanna Ziesche, Gerhard Neumann. 1572-1595 [doi]
• Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse ModelMatan Sudry, Tom Jurgenson, Aviv Tamar, Erez Karpas. 1596-1609 [doi]
• OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D DataShiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias, Kostas E. Bekris. 1610-1620 [doi]
• Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual LearningXiang Zhang, Changhao Wang, Lingfeng Sun, Zheng Wu, Xinghao Zhu, Masayoshi Tomizuka. 1621-1639 [doi]
• Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot NavigationHarel Biggie, Ajay Narasimha Mopidevi, Dusty Woods, Christoffer R. Heckman. 1640-1666 [doi]
• Dynamic Multi-Team Racing: Competitive Driving on 1/10-th Scale Vehicles via Learning in SimulationPeter Werner, Tim Seyde, Paul Drews, Thomas Matrai Balch, Igor Gilitschenski, Wilko Schwarting, Guy Rosman, Sertac Karaman, Daniela Rus. 1667-1685 [doi]
• Stochastic Occupancy Grid Map Prediction in Dynamic ScenesZhanteng Xie, Philip M. Dames. 1686-1705 [doi]
• A Bayesian approach to breaking things: efficiently predicting and repairing failure modes via samplingCharles Dawson 0001, Chuchu Fan. 1706-1722 [doi]
• BridgeData V2: A Dataset for Robot Learning at ScaleHomer Rich Walke, Kevin Black, Tony Z. Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, Abraham Lee, Kuan Fang, Chelsea Finn, Sergey Levine. 1723-1736 [doi]
• NOIR: Neural Signal Operated Intelligent Robots for Everyday ActivitiesRuohan Zhang, Sharon Lee, Minjune Hwang, Ayano Hiranaka, Chen Wang, Wensi Ai, Jin Jie Ryan Tan, Shreya Gupta, Yilun Hao, Gabrael Levine, Ruohan Gao, Anthony Norcia, Li Fei-Fei 0001, Jiajun Wu 0001. 1737-1760 [doi]
• PolarNet: 3D Point Clouds for Language-Guided Robotic ManipulationShizhe Chen, Ricardo Garcia Pinel, Cordelia Schmid, Ivan Laptev. 1761-1781 [doi]
• Stealthy Terrain-Aware Multi-Agent Active SearchNikhil Angad Bakshi, Jeff Schneider 0001. 1782-1796 [doi]
• A Data-Efficient Visual-Audio Representation with Intuitive Fine-tuning for Voice-Controlled RobotsPeixin Chang, Shuijing Liu, Tianchen Ji, Neeloy Chakraborty, Kaiwen Hong, Katherine Rose Driggs-Campbell. 1797-1819 [doi]
• MimicGen: A Data Generation System for Scalable Robot Learning using Human DemonstrationsAjay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj S. Narang, Linxi Fan, Yuke Zhu, Dieter Fox. 1820-1864 [doi]
• Quantifying Assistive Robustness Via the Natural-Adversarial FrontierJerry Zhi-Yang He, Daniel S. Brown, Zackory Erickson, Anca D. Dragan. 1865-1886 [doi]
• Dynamic Handover: Throw and Catch with Bimanual HandsBinghao Huang, Yuanpei Chen, Tianyu Wang, Yuzhe Qin, Yaodong Yang 0001, Nikolay Atanasov 0001, Xiaolong Wang. 1887-1902 [doi]
• Cross-Dataset Sensor Alignment: Making Visual 3D Object Detector GeneralizableLiangtao Zheng, Yicheng Liu, Yue Wang, Hang Zhao. 1903-1929 [doi]
• REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous ManipulationZheyuan Hu, Aaron Rovinsky, Jianlan Luo, Vikash Kumar, Abhishek Gupta 0004, Sergey Levine. 1930-1949 [doi]
• Context-Aware Entity Grounding with Open-Vocabulary 3D Scene GraphsHaonan Chang, Kowndinya Boyalakuntla, Shiyang Lu, Siwei Cai, Eric Pu Jing, Shreesh Keskar, Shijie Geng, Adeeb Abbas, LiFeng Zhou, Kostas E. Bekris, Abdeslam Boularias. 1950-1974 [doi]
• HomeRobot: Open-Vocabulary Mobile ManipulationSriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin S. Wang, Mukul Khanna, Théophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alexander Clegg, John M. Turner, Zsolt Kira, Manolis Savva, Angel X. Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton. 1975-2011 [doi]
• PlayFusion: Skill Acquisition via Diffusion from Language-Annotated PlayLili Chen, Shikhar Bahl, Deepak Pathak. 2012-2029 [doi]
• Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal RearrangementAnthony Simeonov, Ankit Goyal, Lucas Manuelli, Yen-Chen Lin, Alina Sarmiento, Alberto Rodriguez-Garcia, Pulkit Agrawal, Dieter Fox. 2030-2069 [doi]
• Learning Efficient Abstract Planning Models that Choose What to PredictNishanth Kumar, Willie McClinton, Rohan Chitnis, Tom Silver, Tomás Lozano-Pérez, Leslie Pack Kaelbling. 2070-2095 [doi]
• DYNAMO-GRASP: DYNAMics-aware Optimization for GRASP Point Detection in Suction GrippersBoling Yang, Soofiyan Atar, Markus Grotz, Byron Boots, Joshua R. Smith 0001. 2096-2112 [doi]
• HYDRA: Hybrid Robot Actions for Imitation LearningSuneel Belkhale, Yuchen Cui, Dorsa Sadigh. 2113-2133 [doi]
• Embodied Lifelong Learning for Task and Motion PlanningJorge Mendez-Mendez, Leslie Pack Kaelbling, Tomás Lozano-Pérez. 2134-2150 [doi]
• 4D-Former: Multimodal 4D Panoptic SegmentationAli Athar, Enxu Li, Sergio Casas 0002, Raquel Urtasun. 2151-2164 [doi]
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic ControlBrianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, Quan Vuong, Vincent Vanhoucke, Huong T. Tran, Radu Soricut, Anikait Singh, Jaspiar Singh, Pierre Sermanet, Pannag R. Sanketi, Grecia Salazar, Michael S. Ryoo, Krista Reymann, Kanishka Rao, Karl Pertsch, Igor Mordatch, Henryk Michalewski, Yao Lu 0006, Sergey Levine, Lisa Lee, Tsang-Wei Edward Lee, Isabel Leal, Yuheng Kuang, Dmitry Kalashnikov, Ryan Julian, Nikhil J. Joshi, Alex Irpan, Brian Ichter, Jasmine Hsu, Alexander Herzog, Karol Hausman, Keerthana Gopalakrishnan, Chuyuan Fu, Pete Florence, Chelsea Finn, Kumar Avinava Dubey, Danny Driess, Tianli Ding, Krzysztof Marcin Choromanski, Xi Chen 0071, Yevgen Chebotar, Justice Carbajal, Noah Brown, Anthony Brohan, Montserrat Gonzalez Arenas, Kehang Han. 2165-2183 [doi]
• Seeing-Eye Quadruped Navigation with Force Responsive Locomotion ControlDavid DeFazio, Eisuke Hirota, Shiqi Zhang 0001. 2184-2194 [doi]
• Waypoint-Based Imitation Learning for Robotic ManipulationLucy Xiaoyang Shi, Archit Sharma, Tony Z. Zhao, Chelsea Finn. 2195-2209 [doi]
• Multi-Resolution Sensing for Real-Time Control with Vision-Language ModelsSaumya Saxena, Mohit Sharma, Oliver Kroemer. 2210-2228 [doi]
• SCALE: Causal Learning and Discovery of Robot Manipulation Skills using SimulationTabitha Edith Lee, Shivam Vats, Siddharth Girdhar, Oliver Kroemer. 2229-2256 [doi]
• Learning Robot Manipulation from Cross-Morphology DemonstrationGautam Salhotra, I-Chun Arthur Liu, Gaurav S. Sukhatme. 2257-2277 [doi]
• Synthesizing Navigation Abstractions for Planning with Portable Manipulation SkillsEric Rosen, Steven James, Sergio Orozco, Vedant Gupta, Max Merlin, Stefanie Tellex, George Konidaris 0001. 2278-2287 [doi]
• Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety MechanismJoanne Taery Kim, Wenhao Yu 0003, Yash Kothari, Bruce Walker, Jie Tan, Greg Turk, Sehoon Ha. 2288-2303 [doi]
• A Bayesian Approach to Robust Inverse Reinforcement LearningRan Wei, Siliang Zeng, Chenliang Li, Alfredo Garcia, Anthony D. McDonald, Mingyi Hong. 2304-2322 [doi]
• ChainedDiffuser: Unifying Trajectory Diffusion and Keypose Prediction for Robotic ManipulationZhou Xian, Nikolaos Gkanatsios, Théophile Gervet, Tsung-Wei Ke, Katerina Fragkiadaki. 2323-2339 [doi]
• IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human SupervisorsGaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg. 2340-2356 [doi]
• CAT: Closed-loop Adversarial Training for Safe End-to-End DrivingLinrui Zhang, Zhenghao Peng, Quanyi Li, Bolei Zhou. 2357-2372 [doi]
• Neural Graph Control Barrier Functions Guided Distributed Collision-avoidance Multi-agent ControlSongyuan Zhang, Kunal Garg, Chuchu Fan. 2373-2392 [doi]
• STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot ExperienceHaresh Karnan, Elvin Yang, Daniel Farkash, Garrett Warnell, Joydeep Biswas, Peter Stone. 2393-2413 [doi]
• Towards General Single-Utensil Food Acquisition with Human-Informed ActionsEthan Kroll Gordon, Amal Nanavati, Ramya Challa, Bernie Hao Zhu, Taylor Annette Kessler Faulkner, Siddhartha S. Srinivasa. 2414-2428 [doi]
• ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map ConstructionJingyi Yu, Zizhao Zhang, Shengfu Xia, Jizhang Sang. 2429-2443 [doi]
• Tuning Legged Locomotion Controllers via Safe Bayesian OptimizationDaniel Widmer, DongHo Kang, Bhavya Sukhija, Jonas Hübotter, Andreas Krause 0001, Stelian Coros. 2444-2464 [doi]
• TraCo: Learning Virtual Traffic Coordinator for Cooperation with Multi-Agent Reinforcement LearningWeiwei Liu, Wei Jing, Lingping Gao, Ke Guo, Gang Xu, Yong Liu. 2465-2477 [doi]
• Enabling Efficient, Reliable Real-World Reinforcement Learning with Approximate Physics-Based ModelsTyler Westenbroek, Jacob Levy, David Fridovich-Keil. 2478-2497 [doi]
• Large Language Models as General Pattern MachinesSuvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng. 2498-2518 [doi]
• One-shot Imitation Learning via Interaction WarpingOndrej Biza, Skye Thompson, Kishore Reddy Pagidi, Abhinav Kumar, Elise van der Pol, Robin Walters, Thomas Kipf, Jan-Willem van de Meent, Lawson L. S. Wong, Robert Platt. 2519-2536 [doi]
• Learning to See Physical Properties with Active Sensing Motor PoliciesGabriel B. Margolis, Xiang Fu 0005, Yandong Ji, Pulkit Agrawal. 2537-2548 [doi]
• General In-hand Object Rotation with Vision and TouchHaozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma 0001, Roberto Calandra, Jitendra Malik. 2549-2564 [doi]
• Imitating Task and Motion Planning with Visuomotor TransformersMurtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox. 2565-2593 [doi]
• Curiosity-Driven Learning of Joint Locomotion and Manipulation TasksClemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter 0001. 2594-2610 [doi]
• Towards Scalable Coverage-Based Testing of Autonomous VehiclesJames Tu, Simon Suo, Chris Zhang, Kelvin Wong, Raquel Urtasun. 2611-2623 [doi]
• PLEX: Making the Most of the Available Data for Robotic Manipulation PretrainingGarrett Thomas, Ching-An Cheng, Ricky Loynd, Felipe Vieira Frujeri, Vibhav Vineet, Mihai Jalobeanu, Andrey Kolobov. 2624-2641 [doi]
• Learning Lyapunov-Stable Polynomial Dynamical Systems Through ImitationAmin Abyaneh, Hsiu-Chin Lin. 2642-2662 [doi]
• MUTEX: Learning Unified Policies from Multimodal Task SpecificationsRutav Shah, Roberto Martín-Martín, Yuke Zhu. 2663-2682 [doi]
• Navigation with Large Language Models: Semantic Guesswork as a Heuristic for PlanningDhruv Shah, Michael Robert Equi, Blazej Osinski, Fei Xia, Brian Ichter, Sergey Levine. 2683-2699 [doi]
• A Data-efficient Neural ODE Framework for Optimal Control of Soft ManipulatorsMohammadreza Mohades Kasaei, Keyhan Kouhkiloui Babarahmati, Zhibin Li 0001, Mohsen Khadem. 2700-2713 [doi]
• Language Conditioned Traffic GenerationShuhan Tan, Boris Ivanovic, Xinshuo Weng, Marco Pavone 0001, Philipp Krähenbühl. 2714-2752 [doi]
• CALAMARI: Contact-Aware and Language conditioned spatial Action MApping for contact-RIch manipulationYoungsun Wi, Mark Van der Merwe, Pete Florence, Andy Zeng, Nima Fazeli. 2753-2771 [doi]
• Generalization of Heterogeneous Multi-Robot Policies via Awareness and Communication of CapabilitiesPierce Howell, Max Rudolph, Reza Joseph Torbati, Kevin Fu, Harish Ravichandar. 2772-2790 [doi]
• CAJun: Continuous Adaptive Jumping using a Learned Centroidal ControllerYuxiang Yang, Guanya Shi, Xiangyun Meng, Wenhao Yu 0003, Tingnan Zhang, Jie Tan, Byron Boots. 2791-2806 [doi]
• Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory PredictorsSushant Veer, Apoorva Sharma, Marco Pavone 0001. 2807-2820 [doi]
• Neural Field Dynamics Model for Granular Object Piles ManipulationShangjie Xue, Shuo Cheng, Pujith Kachana, Danfei Xu. 2821-2837 [doi]
• AR2-D2: Training a Robot Without a RobotJiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna. 2838-2848 [doi]
• Affordance-Driven Next-Best-View Planning for Robotic GraspingXuechao Zhang, Dong Wang, Sun Han, Weichuang Li, Bin Zhao, Zhigang Wang, Xiaoming Duan, Chongrong Fang, Xuelong Li, Jianping He 0001. 2849-2862 [doi]
• PairwiseNet: Pairwise Collision Distance Learning for High-dof Robot SystemsJihwan Kim, Frank Chongwoo Park. 2863-2877 [doi]
• Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score MatchingH. J. Terry Suh, Glen Chou, Hongkai Dai, Lujie Yang, Abhishek Gupta, Russ Tedrake. 2878-2904 [doi]
• Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion ModelsUtkarsh Aashu Mishra, Shangjie Xue, Yongxin Chen, Danfei Xu. 2905-2925 [doi]
• Online Learning for Obstacle AvoidanceDavid Snyder, Meghan Booker, Nathaniel Simon, Wenhan Xia, Daniel Suo, Elad Hazan, Anirudha Majumdar. 2926-2954 [doi]
• Polybot: Training One Policy Across Robots While Embracing VariabilityJonathan Heewon Yang, Dorsa Sadigh, Chelsea Finn. 2955-2974 [doi]
• RoboPianist: Dexterous Piano Playing with Deep Reinforcement LearningKevin Zakka, Philipp Wu, Laura M. Smith, Nimrod Gileadi, Taylor Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel. 2975-2994 [doi]
• Revisiting Depth-guided Methods for Monocular 3D Object Detection by Hierarchical Balanced DepthYi-Rong Chen, Ching-Yu Tseng, Yi-Syuan Liou, Tsung-Han Wu, Winston H. Hsu. 2995-3009 [doi]
• Heteroscedastic Gaussian Processes and Random Features: Scalable Motion Primitives with GuaranteesEdoardo Caldarelli, Antoine Chatalic, Adrià Colomé, Lorenzo Rosasco, Carme Torras. 3010-3029 [doi]
• Human-in-the-Loop Task and Motion Planning for Imitation LearningAjay Mandlekar, Caelan Reed Garrett, Danfei Xu, Dieter Fox. 3030-3060 [doi]
• Gesture-Informed Robot Assistance via Foundation ModelsLi-Heng Lin, Yuchen Cui, Yilun Hao, Fei Xia, Dorsa Sadigh. 3061-3082 [doi]
• TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile ControlMiquel Oller, Dmitry Berenson, Nima Fazeli. 3083-3099 [doi]
• FastRLAP: A System for Learning High-Speed Driving via Deep RL and Autonomous PracticingKyle Stachowicz, Dhruv Shah, Arjun Bhorkar, Ilya Kostrikov, Sergey Levine. 3100-3111 [doi]
• Energy-based Potential Games for Joint Motion Forecasting and ControlChristopher Diehl, Tobias Klosek, Martin Krüger, Nils Murzyn, Timo Osterburg, Torsten Bertram. 3112-3141 [doi]
• Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic PlayIrmak Güzey, Ben Evans, Soumith Chintala, Lerrel Pinto. 3142-3166 [doi]
• ADU-Depth: Attention-based Distillation with Uncertainty Modeling for Depth EstimationZizhang Wu, Zhuozheng Li, Zhi-Gang Fan, Yunzhe Wu, Xiaoquan Wang, Rui Tang, Jian Pu. 3167-3179 [doi]
• Structural Concept Learning via Graph Attention for Multi-Level Rearrangement PlanningManav Kulshrestha, Ahmed H. Qureshi. 3180-3193 [doi]
• Few-Shot In-Context Imitation Learning via Implicit Graph AlignmentVitalis Vosylius, Edward Johns. 3194-3213 [doi]
• Topology-Matching Normalizing Flows for Out-of-Distribution Detection in Robot LearningJianxiang Feng, Jongseok Lee, Simon Geisler, Stephan Günnemann, Rudolph Triebel. 3214-3241 [doi]
• Compositional Diffusion-Based Continuous Constraint SolversZhutian Yang, Jiayuan Mao, Yilun Du, Jiajun Wu 0001, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling. 3242-3265 [doi]
• Precise Robotic Needle-Threading with Tactile Perception and Reinforcement LearningZhenjun Yu, Wenqiang Xu, Siqiong Yao, Jieji Ren, Tutian Tang, Yutong Li, Guoying Gu, Cewu Lu. 3266-3276 [doi]
• Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good StatesZidan Wang, Takeru Oba, Takuma Yoneda, Rui Shen, Matthew R. Walter, Bradly C. Stadie. 3277-3291 [doi]
• Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement LearningArchit Sharma, Ahmed M. Ahmed 0004, Rehaan Ahmad, Chelsea Finn. 3292-3308 [doi]
• Equivariant Reinforcement Learning under Partial ObservabilityHai Huu Nguyen, Andrea Baisero, David Klee, Dian Wang 0001, Robert Platt, Christopher Amato. 3309-3320 [doi]
• UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment FoldingHan Xue, Yutong Li, Wenqiang Xu, Huanyu Li 0010, Dongzhe Zheng, Cewu Lu. 3321-3341 [doi]
• A Universal Semantic-Geometric Representation for Robotic ManipulationTong Zhang, Yingdong Hu, Hanchen Cui, Hang Zhao, Yang Gao. 3342-3363 [doi]
• LabelFormer: Object Trajectory Refinement for Offboard Perception from LiDAR Point CloudsAnqi Joyce Yang, Sergio Casas 0002, Nikita Dvornik, Sean Segal, Yuwen Xiong, Jordan Sir Kwang Hu, Carter Fang, Raquel Urtasun. 3364-3383 [doi]
• Language-Conditioned Path PlanningAmber Xie, Youngwoon Lee, Pieter Abbeel, Stephen James. 3384-3396 [doi]
• Open-World Object Manipulation using Pre-Trained Vision-Language ModelsAustin Stone, Ted Xiao, Yao Lu, Keerthana Gopalakrishnan, Kuang-Huei Lee, Quan Vuong, Paul Wohlhart, Sean Kirmani, Brianna Zitkovich, Fei Xia, Chelsea Finn, Karol Hausman. 3397-3417 [doi]
• Learning Generalizable Manipulation Policies with Object-Centric 3D RepresentationsYifeng Zhu, Zhenyu Jiang 0002, Peter Stone, Yuke Zhu. 3418-3433 [doi]
• AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real TransferAllen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar. 3434-3452 [doi]
• Dexterous Functional GraspingAnanye Agarwal, Shagun Uppal, Kenneth Shaw, Deepak Pathak. 3453-3467 [doi]
• REFLECT: Summarizing Robot Experiences for Failure Explanation and CorrectionZeyi Liu, Arpit Bahety, Shuran Song. 3468-3484 [doi]
• Task Generalization with Stability Guarantees via Elastic Dynamical System Motion PoliciesTianyu Li, Nadia Figueroa. 3485-3517 [doi]
• Push Past Green: Learning to Look Behind Plant Foliage by Moving ItXiaoyu Zhang, Saurabh Gupta 0001. 3518-3535 [doi]
• XSkill: Cross Embodiment Skill DiscoveryMengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song. 3536-3555 [doi]
• SayTap: Language to Quadrupedal LocomotionYujin Tang, Wenhao Yu 0003, Jie Tan, Heiga Zen, Aleksandra Faust, Tatsuya Harada. 3556-3570 [doi]
• SLAP: Spatial-Language Attention PoliciesPriyam Parashar, Vidhi Jain, Xiaohan Zhang 0002, Jay Vakil, Sam Powers, Yonatan Bisk, Chris Paxton. 3571-3596 [doi]
• Learning Human Contribution Preferences in Collaborative Human-Robot TasksMichelle D. Zhao, Reid G. Simmons, Henny Admoni. 3597-3618 [doi]
• M2T2: Multi-Task Masked Transformer for Object-centric Pick and PlaceWentao Yuan, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox. 3619-3630 [doi]
• Learning to Drive AnywhereRuizhao Zhu, Peng Huang, Eshed Ohn-Bar, Venkatesh Saligrama. 3631-3653 [doi]
• MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot LearningRafael Rafailov, Kyle Beltran Hatch, Victor Kolev, John D. Martin, Mariano Phielipp, Chelsea Finn. 3654-3671 [doi]
• Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian InferenceJana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos 0001, Tucker Hermans. 3672-3686 [doi]
• Online Model Adaptation with Feedforward CompensationAbulikemu Abuduweili, Changliu Liu. 3687-3709 [doi]
• Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural RenderingYasasa Abeysirigoonawardena, Kevin Xie, Chuhan Chen, Salar Hosseini Khorasgani, Ruiting Chen, Ruiqi Wang, Florian Shkurti. 3710-3731 [doi]
• STOW: Discrete-Frame Segmentation and Tracking of Unseen Objects for Warehouse Picking RobotsYi Li, Muru Zhang, Markus Grotz, Kaichun Mo, Dieter Fox. 3732-3748 [doi]
• DORT: Modeling Dynamic Objects in Recurrent for Multi-Camera 3D Object Detection and TrackingQing Lian, Tai Wang, Dahua Lin, Jiangmiao Pang. 3749-3765 [doi]
• Scaling Up and Distilling Down: Language-Guided Robot Skill AcquisitionHuy Ha, Pete Florence, Shuran Song. 3766-3777 [doi]
• Marginalized Importance Sampling for Off-Environment Policy EvaluationPulkit Katdare, Nan Jiang, Katherine Rose Driggs-Campbell. 3778-3788 [doi]
• Policy Stitching: Learning Transferable Robot PoliciesPingcheng Jian, Easop Lee, Zachary I. Bell, Michael M. Zavlanos, Boyuan Chen 0007. 3789-3808 [doi]
• Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon ManipulationYuanpei Chen, Chen Wang, Li Fei-Fei 0001, C. Karen Liu. 3809-3829 [doi]
• Deception Game: Closing the Safety-Learning Loop in Interactive Robot AutonomyHaimin Hu, Zixu Zhang, Kensuke Nakamura, Andrea Bajcsy, Jaime Fernández Fisac. 3830-3850 [doi]
• Improving Behavioural Cloning with Positive Unlabeled LearningQiang Wang, Robert McCarthy, David Cordova Bulens, Kevin McGuinness, Noel E. O'Connor, Francisco Roldan Sanchez, Nico Gürtler, Felix Widmaier, Stephen J. Redmond. 3851-3869 [doi]
• α-MDF: An Attention-based Multimodal Differentiable Filter for Robot State EstimationXiao Liu, Yifan Zhou, Shuhei Ikemoto, Heni Ben Amor. 3870-3893 [doi]
• Goal Representations for Instruction Following: A Semi-Supervised Language Interface to ControlVivek Myers, Andre Wang He, Kuan Fang, Homer Rich Walke, Philippe Hansen-Estruch, Ching-An Cheng, Mihai Jalobeanu, Andrey Kolobov, Anca D. Dragan, Sergey Levine. 3894-3908 [doi]
• Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-FunctionsYevgen Chebotar, Quan Vuong, Karol Hausman, Fei Xia, Yao Lu, Alex Irpan, Aviral Kumar, Tianhe Yu, Alexander Herzog, Karl Pertsch, Keerthana Gopalakrishnan, Julian Ibarz, Ofir Nachum, Sumedh Anand Sontakke, Grecia Salazar, Huong T. Tran, Jodilyn Peralta, Clayton Tan, Deeksha Manjunath, Jaspiar Singh, Brianna Zitkovich, Tomas Jackson, Kanishka Rao, Chelsea Finn, Sergey Levine. 3909-3928 [doi]
• Preference learning for guiding the tree search in continuous POMDPsJiyong Ahn, Sanghyeon Son, Dongryung Lee, Jisu Han, Dongwon Son, Beomjoon Kim. 3929-3948 [doi]
• Act3D: 3D Feature Field Transformers for Multi-Task Robotic ManipulationThéophile Gervet, Zhou Xian, Nikolaos Gkanatsios, Katerina Fragkiadaki. 3949-3965 [doi]
• Simultaneous Learning of Contact and Continuous DynamicsBibit Bianchini, Mathew Halm, Michael Posa. 3966-3978 [doi]