| Oral Session 1 Friday, Dec 16 1:55PM-3:05PM | Planning + Learning Owen G. Glen Building (Building 260) Fisher & Paykel Appliances Auditorium (Room 105) Papers with * will also be presented in posters sessions for QA purposes. Session Chairs: David Hsu, Byron Boots | ||
| Paper ID | Paper Title and Authors | Link | |
| 464* | RAP: Risk-Aware Prediction for Robust Planning Authors: Haruki Nishimura, Jean Mercat, Blake Wulfe, Rowan Thomas McAllister, Adrien Gaidon | OpenReview | |
| 236* | Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning Authors: Jan Achterhold, Markus Krimmel, Joerg Stueckler | OpenReview | |
| 252* | Meta-Learning Priors for Safe Bayesian Optimization Authors: Jonas Rothfuss, Christopher Koenig, Alisa Rupenyan, Andreas Krause | OpenReview | |
| 263* | Do As I Can, Not As I Say: Grounding Language in Robotic Affordances Authors: Brian Ichter, Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, Dmitry Kalashnikov, Sergey Levine, Yao Lu, Carolina Parada, Kanishka Rao, Pierre Sermanet, Alexander T Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Mengyuan Yan, Noah Brown, Michael Ahn, Omar Cortes, Nicolas Sievers, Clayton Tan, Sichun Xu, Diego Reyes, Jarek Rettinghouse, Jornell Quiambao, Peter Pastor, Linda Luu, Kuang-Huei Lee, Yuheng Kuang, Sally Jesmonth, Kyle Jeffrey, Rosario Jauregui Ruano, Jasmine Hsu, Keerthana Gopalakrishnan, Byron David, Andy Zeng, Chuyuan Kelly Fu Best Systems Paper Award Finalist | OpenReview | |
| 228 | LEADER: Learning Attention over Driving Behaviors Authors: Mohamad Hosein Danesh, Panpan Cai, David Hsu Best Paper Award Finalist | OpenReview | |
| 104 | Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks Authors: Kuan Fang, Patrick Yin, Ashvin Nair, Homer Rich Walke, Gengchen Yan, Sergey Levine | OpenReview | |
| Oral Session 2 Friday, Dec 16 3:35PM-4:45PM | Learning from Humans Owen G. Glen Building (Building 260) Fisher & Paykel Appliances Auditorium (Room 105) Papers with * will also be presented in posters sessions for QA purposes. Session Chairs: Dorsa Sadigh, Pamela Carreno | ||
| Paper ID | Paper Title and Authors | Link | |
| 235* | i-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops Authors: Saminda Wishwajith Abeyruwan, Laura Graesser, David B D’Ambrosio, Avi Singh, Anish Shankar, Alex Bewley, Deepali Jain, Krzysztof Marcin Choromanski, Pannag R Sanketi | OpenReview | |
| 385* | Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Authors: Chenhao Li, Marin Vlastelica, Sebastian Blaes, Jonas Frey, Felix Grimminger, Georg Martius Best Paper Award Finalist | OpenReview | |
| 462* | Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision Authors: Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg | OpenReview | |
| 98* | BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation Authors: Chengshu Li, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Michael Lingelbach, Jiankai Sun, Mona Anvari, Minjune Hwang, Manasi Sharma, Arman Aydin, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb R Matthews, Ivan Villa-Renteria, Jerry Huayang Tang, Claire Tang, Fei Xia, Silvio Savarese, Hyowon Gweon, Karen Liu, Jiajun Wu, Li Fei-Fei | OpenReview | |
| 35* | Watch and Match: Supercharging Imitation with Regularized Optimal Transport Authors: Siddhant Haldar, Vaibhav Mathur, Denis Yarats, Lerrel Pinto Best Paper Award Finalist | OpenReview | |
| 99* | Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations Authors: Yanwei Wang, Nadia Figueroa, Shen Li, Ankit Shah, Julie Shah | OpenReview | |
| Oral Session 3 Saturday, Dec 17 11:20AM-12:30PM | Perception Owen G. Glen Building (Building 260) Fisher & Paykel Appliances Auditorium (Room 105) Papers with * will also be presented in posters sessions for QA purposes. Session Chairs: Edward Johns, Dinesh Jayaraman | ||
| Paper ID | Paper Title and Authors | Link | |
| 53 | Graph Inverse Reinforcement Learning from Diverse Videos Authors: Sateesh Kumar, Jonathan Zamora, Nicklas Hansen, Rishabh Jangir, Xiaolong Wang | OpenReview | |
| 274* | MidasTouch: Monte-Carlo inference over distributions across sliding touch Authors: Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam | OpenReview | |
| 26* | Training Robots to Evaluate Robots: Example-Based Interactive Reward Functions for Policy Learning Authors: Kun Huang, Edward S. Hu, Dinesh Jayaraman Best Paper Award Finalist | OpenReview | |
| 476* | Real World Robot Learning with Masked Visual Pre-training Authors: Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, Trevor Darrell | OpenReview | |
| 475* | Legged Locomotion in Challenging Terrains using Egocentric Vision Authors: Ananye Agarwal, Ashish Kumar, Jitendra Malik, Deepak Pathak Best Systems Paper Award Finalist | OpenReview | |
| 200* | PRISM: Probabilistic Real-Time Inference in Spatial Models Authors: Atanas Mirchev, Baris Kayalibay, Ahmed Agha, Patrick van der Smagt, Daniel Cremers, Justin Bayer | OpenReview | |
| Oral Session 4 Saturday, Dec 17 2:25PM-3:35PM | Control and Simulation Owen G. Glen Building (Building 260) Fisher & Paykel Appliances Auditorium (Room 105) Papers with * will also be presented in posters sessions for QA purposes. Session Chairs: Tassa Yuval, Deepak Pathak | ||
| Paper ID | Paper Title and Authors | Link | |
| 59* | Inferring Smooth Robot Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes Authors: Joe Watson, Jan Peters | OpenReview | |
| 108* | Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimenter Authors: Iain Haughton, Edgar Sucar, Andre Mouton, Edward Johns, Andrew Davison | OpenReview | |
| 261 | Rethinking Optimization with Differentiable Simulation from a Global Perspective Authors: Rika Antonova, Jingyun Yang, Krishna Murthy Jatavallabhula, Jeannette Bohg | OpenReview | |
| 27* | Walk These Ways: Gait-conditioned Policies Yield Diversified Quadrupedal Agility Authors: Gabriel B. Margolis, Pulkit Agrawal | OpenReview | |
| 494 | SE(2)-Equivariant Pushing Dynamics Models for Tabletop Object Manipulations Authors: Seungyeon Kim, Byeongdo Lim, Yonghyeon Lee, Frank C. Park | OpenReview | |
| 127* | Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion Authors: Zipeng Fu, Xuxin Cheng, Deepak Pathak Best Systems Paper Award Finalist | OpenReview | |
| Oral Session 5 Sunday, Dec 18 11:20AM-12:30PM | Navigation and Autonomous Driving Owen G. Glen Building (Building 260) Fisher & Paykel Appliances Auditorium (Room 105) Papers with * will also be presented in posters sessions for QA purposes. Session Chairs: Michael Milford, Nils Wilde | ||
| Paper ID | Paper Title and Authors | Link | |
| 41* | Offline Reinforcement Learning for Customizable Visual Navigation Authors: Dhruv Shah, Arjun Bhorkar, Hrishit Leen, Ilya Kostrikov, Nicholas Rhinehart, Sergey Levine | OpenReview | |
| 256* | Planning Paths through Occlusions in Urban Environments Authors: Yutao Han, Youya Xia, Guo-Jun Qi, Mark Campbell | OpenReview | |
| 219* | Embedding Synthetic Off-Policy Experience for Autonomous Driving via Zero-Shot Curricula Authors: Eli Bronstein, Sirish Srinivasan, Supratik Paul, Aman Sinha, Matthew O’Kelly, Payam Nikdel, Shimon Whiteson | OpenReview | |
| 471* | Topological Semantic Graph Memory for Image-Goal Navigation Authors: Nuri Kim, Obin Kwon, Hwiyeon Yoo, Yunho Choi, Jeongho Park, Songhwai Oh | OpenReview | |
| 125 | Robust Trajectory Prediction against Adversarial Attacks Authors: Yulong Cao, Danfei Xu, Xinshuo Weng, Zhuoqing Mao, Anima Anandkumar, Chaowei Xiao, Marco Pavone | OpenReview | |
| Oral Session 6 Sunday, Dec 18 3:50PM-5:05PM | Manipulation + Grasping Owen G. Glen Building (Building 260) Fisher & Paykel Appliances Auditorium (Room 105) Papers with * will also be presented in posters sessions for QA purposes. Session Chairs: Oliver Kroemer, Dmitry Berenson | ||
| Paper ID | Paper Title and Authors | Link | |
| 296* | Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding Authors: Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh | OpenReview | |
| 447* | Evo-NeRF: Evolving NeRF for Sequential Robot Grasping Authors: Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg | OpenReview | |
| 1* | RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments Authors: Haoyu Xiong, Haoyuan Fu, Jieyi Zhang, Chen Bao, Qiang Zhang, Yongxi Huang, Wenqiang Xu, Animesh Garg, Cewu Lu | OpenReview | |
| 132* | Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity Authors: Wenxuan Zhou, David Held | OpenReview | |
| 208* | Instruction-Driven History-Aware Policies for Robotic Manipulations Authors: Pierre-Louis Guhur, Shizhe Chen, Ricardo Garcia Pinel, Makarand Tapaswi, Ivan Laptev, Cordelia Schmid | OpenReview |
