Oral Sessions

Oral Session 1
Friday, Dec 16
1:55PM-3:05PM
Planning + Learning
Owen G. Glen Building (Building 260)
Fisher & Paykel Appliances Auditorium (Room 105)
Paper IDPaper Title and AuthorsLink
464RAP: Risk-Aware Prediction for Robust Planning

Authors: Haruki Nishimura, Jean MercatBlake WulfeRowan Thomas McAllisterAdrien Gaidon
OpenReview
236Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning

Authors: Jan Achterhold, Markus KrimmelJoerg Stueckler
OpenReview
252Meta-Learning Priors for Safe Bayesian Optimization

Authors: Jonas RothfussChristopher KoenigAlisa RupenyanAndreas Krause
OpenReview
263Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Authors: Brian Ichter, Anthony BrohanYevgen ChebotarChelsea FinnKarol HausmanAlexander HerzogDaniel HoJulian IbarzAlex IrpanEric JangRyan JulianDmitry KalashnikovSergey LevineYao LuCarolina ParadaKanishka RaoPierre SermanetAlexander T ToshevVincent VanhouckeFei XiaTed XiaoPeng XuMengyuan YanNoah BrownMichael AhnOmar CortesNicolas SieversClayton TanSichun XuDiego ReyesJarek RettinghouseJornell QuiambaoPeter PastorLinda LuuKuang-Huei LeeYuheng KuangSally JesmonthKyle JeffreyRosario Jauregui RuanoJasmine HsuKeerthana GopalakrishnanByron DavidAndy ZengChuyuan Kelly Fu
OpenReview
228LEADER: Learning Attention over Driving Behaviors

Authors: Mohamad Hosein Danesh, Panpan CaiDavid Hsu
OpenReview
104Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks

Authors: Kuan Fang, Patrick YinAshvin NairHomer Rich WalkeGengchen YanSergey 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)
Paper IDPaper Title and AuthorsLink
235i-Sim2Real: Reinforcement Learning of Robotic Policies in Tight Human-Robot Interaction Loops

Authors: Saminda Wishwajith Abeyruwan, Laura GraesserDavid B D’AmbrosioAvi SinghAnish ShankarAlex BewleyDeepali JainKrzysztof Marcin ChoromanskiPannag R Sanketi
OpenReview
385Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations

Authors: Chenhao Li, Marin VlastelicaSebastian BlaesJonas FreyFelix GrimmingerGeorg Martius
OpenReview
462Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision

Authors: Ryan Hoque, Lawrence Yunliang ChenSatvik SharmaKarthik DharmarajanBrijen ThananjeyanPieter AbbeelKen Goldberg
OpenReview
98BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation

Authors: Chengshu Li, Ruohan ZhangJosiah WongCem GokmenSanjana SrivastavaRoberto Martín-MartínChen WangGabrael LevineMichael LingelbachJiankai SunMona AnvariMinjune HwangManasi SharmaArman AydinDhruva BansalSamuel HunterKyu-Young KimAlan LouCaleb R MatthewsIvan Villa-RenteriaJerry Huayang TangClaire TangFei XiaSilvio SavareseHyowon GweonKaren LiuJiajun WuLi Fei-Fei
OpenReview
35Watch and Match: Supercharging Imitation with Regularized Optimal Transport

Authors: Siddhant Haldar, Vaibhav MathurDenis YaratsLerrel Pinto
OpenReview
99Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations

Authors: Yanwei Wang, Nadia FigueroaShen LiAnkit ShahJulie 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)
Paper IDPaper Title and AuthorsLink
53Graph Inverse Reinforcement Learning from Diverse Videos

Authors: Sateesh KumarJonathan ZamoraNicklas HansenRishabh JangirXiaolong Wang
OpenReview
274MidasTouch: Monte-Carlo inference over distributions across sliding touch

Authors: Sudharshan Suresh, Zilin SiStuart AndersonMichael KaessMustafa Mukadam
OpenReview
26Training Robots to Evaluate Robots: Example-Based Interactive Reward Functions for Policy Learning

Authors: Kun Huang, Edward S. HuDinesh Jayaraman
OpenReview
476Real World Robot Learning with Masked Visual Pre-training

Authors: Ilija Radosavovic, Tete XiaoStephen JamesPieter AbbeelJitendra MalikTrevor Darrell
OpenReview
475Legged Locomotion in Challenging Terrains using Egocentric Vision

Authors: Ananye Agarwal, Ashish KumarJitendra MalikDeepak Pathak
OpenReview
200PRISM: Probabilistic Real-Time Inference in Spatial Models

Authors: Atanas Mirchev, Baris KayalibayAhmed AghaPatrick van der SmagtDaniel CremersJustin 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)
Paper IDPaper Title and Authors Link
59Inferring Smooth Robot Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes

Authors: Joe Watson, Jan Peters
OpenReview
108Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimenter

Authors: Iain Haughton, Edgar SucarAndre MoutonEdward JohnsAndrew Davison
OpenReview
261Rethinking Optimization with Differentiable Simulation from a Global Perspective

Authors: Rika Antonova, Jingyun YangKrishna Murthy JatavallabhulaJeannette Bohg
OpenReview
27Walk These Ways: Gait-conditioned Policies Yield Diversified Quadrupedal Agility

Authors: Gabriel B. Margolis, Pulkit Agrawal
OpenReview
494SE(2)-Equivariant Pushing Dynamics Models for Tabletop Object Manipulations

Authors: Seungyeon Kim, Byeongdo LimYonghyeon LeeFrank C. Park
OpenReview
127Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

Authors: Zipeng Fu, Xuxin ChengDeepak Pathak
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)
Paper IDPaper Title and AuthorsLink
41Offline Reinforcement Learning for Customizable Visual Navigation

Authors: Dhruv Shah, Arjun BhorkarHrishit LeenIlya KostrikovNicholas RhinehartSergey Levine
OpenReview
256Planning Paths through Occlusions in Urban Environments

Authors: Yutao Han, Youya XiaGuo-Jun QiMark Campbell
OpenReview
219Embedding Synthetic Off-Policy Experience for Autonomous Driving via Zero-Shot Curricula

Authors: Eli BronsteinSirish SrinivasanSupratik PaulAman SinhaMatthew O’KellyPayam NikdelShimon Whiteson
OpenReview
471Topological Semantic Graph Memory for Image-Goal Navigation

Authors: Nuri Kim, Obin KwonHwiyeon YooYunho ChoiJeongho ParkSonghwai Oh
OpenReview
125Robust Trajectory Prediction against Adversarial Attacks

Authors: Yulong Cao, Danfei XuXinshuo WengZhuoqing MaoAnima AnandkumarChaowei XiaoMarco 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)
Paper IDPaper Title and AuthorsLink
296Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding

Authors: Priya Sundaresan, Suneel BelkhaleDorsa Sadigh
OpenReview
447Evo-NeRF: Evolving NeRF for Sequential Robot Grasping

Authors: Justin Kerr, Letian FuHuang HuangYahav AvigalMatthew TancikJeffrey IchnowskiAngjoo KanazawaKen Goldberg
OpenReview
1RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments

Authors: Haoyu Xiong, Haoyuan FuJieyi ZhangChen BaoQiang ZhangYongxi HuangWenqiang XuAnimesh GargCewu Lu
OpenReview
132Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity

Authors: Wenxuan Zhou, David Held
OpenReview
208Instruction-Driven History-Aware Policies for Robotic Manipulations

Authors: Pierre-Louis Guhur, Shizhe ChenRicardo Garcia PinelMakarand TapaswiIvan LaptevCordelia Schmid
OpenReview