sotahi/corl2024_paper_list · Datasets at Hugging Face

title stringlengths 25 127	author stringlengths 21 293	affiliation stringlengths 5 322	url stringlengths 1 104 ⌀	oral/poster stringclasses 2 values	video stringclasses 2 values	code stringclasses 2 values	webpage stringclasses 2 values	keywords stringlengths 29 167 ⌀	robot_type stringclasses 35 values	sim_env stringlengths 1 102	real_robot stringlengths 1 60	real_sensor stringlengths 1 46 ⌀
Equivariant Diffusion Policy	Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt	Northeastern University, Boston Dynamics AI Institute	https://equidiff.github.io	Oral	Yes	Yes	Yes	Equivariance, Diffusion Model, Robotic Manipulation	Arm	Robomimic	Franka Panda	realsense D455
D³Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement	Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Rose Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li	Columbia University, University of Illinois Urbana-Champaign, National University of Singapore, Boston Dynamics AI Institute, Stanford University	https://robopil.github.io/d3fields/	Oral	Yes	Yes	Yes	Implicit 3D Representation, Visual Foundational Model, Zero-Shot Generalization, Robotic Manipulation	Arm	OmniGibson, BEHAVIOR-1K	Kinova Gen3	-
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation	Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang	University of Southern California, Peking University, Stanford University	https://yuxuank.com/RAM/	Oral	Yes	Yes	Yes	Hierarchical Retrieval, Affordance Transfer, Zero-Shot Robotic Manipulation, Visual Foundation Models	Arm	IsaacGym	Franka Panda	realsense D415
Visual Whole-Body Control for Legged Loco-Manipulation	Minghuan Liu∗, Zixuan Chen∗ Xuxin Cheng, Yandong Ji, Rizhao Qiu, Ruihan Yang, Xiaolong Wang	UC San Diego,Shanghai Jiao Tong University,Fudan University	https://wholebody-b1.github.io/	Oral	Yes	Yes	Yes	Robot Learning, Whole-Body Control, Legged Loco-Manipulation	quadruped	IsaacGym	Unitree B1, Unitree H1	realsense D435
Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective	Haoran He, Peilin Wu, Chenjia Bai, Hang Lai, Lingxiao Wang, Ling Pan, Xiaolin Hu, Weinan Zhang	Shanghai Jiao Tong University,Hong Kong University of Science and Technology,Institute of Artificial Intelligence (TeleAI), China Telecom,Northwestern University,Tsinghua University	https://sites.google.com/view/history-ib	Oral	Yes	Yes	Yes	Sim-to-Real, Information Bottleneck, Reinforcement Learning, Locomotion	quadruped	IsaacGym	Unitree A1	-
Environment Curriculum Generation via Large Language Models	William Liang, Sam Wang, Hung-Ju Wang, Osbert Bastani, Dinesh Jayaraman, Yecheng Jason Ma	University of Pennsylvania	https://eureka-research.github.io/eurekaverse/	Oral	Yes	Yes	Yes	Large Language Models, Environment Curriculum, Quadrupeds, Sim-To-Real Reinforcement Learning	quadruped	IsaacGym	Unitree Go1	realsense D435
Learning Quadruped Locomotion Using Differentiable Simulation	Yunlong Song, Sang bae Kim, Davide Scaramuzza	University of Zurich, MIT	-	Oral	Yes	No	No	Differentiable Simulation, Legged Locomotion, Reinforcement Learning	quadruped	IsaacGym	Mini Cheetah	-
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation	Jean Pierre Sleiman, Mayank Mittal, Marco Hutter	ETH Zurich, NVIDIA	https://leggedrobotics.github.io/guided-rl-locoma/	Oral	Yes	No	Yes	Whole-body Loco-Manipulation, Reinforcement Learning, Legged Mobile Manipulators	quadruped	IsaacGym	Anymal	-
Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination	Duy Phuong Nguyen, Kai-Chieh Hsu, Wenhao Yu, Jie Tan, Jaime Fernández Fisac	Princeton University, Google DeepMind	https://saferobotics.org/research/gameplay-filter	Oral	Yes	No	Yes	Robust Safety, Adversarial Reinforcement Learning, Game Theory	quadruped	Pybullet	Ghost Robotics Spirit S40,Unitree go2	-
Differentiable Robot Rendering	Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick	Columbia University, Stanford University	https://drrobot.cs.columbia.edu/	Oral	Yes	Yes	Yes	Robot Representation, Visual Foundation Model	Humanoid, Arm, quadruped	MuJoCo	Franka Panda	realsense, Kinect 360, azure kinect DK
Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning	Dhruva Tirumala, Markus Wulfmeier, Ben Moran, Sandy Huang, Jan Humplik, Guy Lever, Tuomas Haarnoja, Leonard Hasenclever, Arunkumar Byravan, Nathan Batchelor, Neil sreendra, Kushal Patel, Marlon Gwira, Francesco Nori, Martin Riedmiller, Nicolas Heess	Google DeepMind, University College London	https://sites.google.com/view/vision-soccer	Oral	Yes	No	Yes	robotics, deep reinforcement learning	Humanoid	MuJoCo	Robotis OP3	Logitech C920
WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts	Chong Zhang, Wenli Xiao, Tairan He, Guanya Shi	Carnegie Mellon University, Google DeepMind	https://lecar-lab.github.io/wococo/	Oral	Yes	Yes	Yes	Whole-Body Humanoid Control, Multi-Contact Control, Reinforcement Learning	Humanoid	IsaacGym	Unitree H1	-
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models	Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor	University of Pennsylvania	https://hersh500.github.io/occam	Oral	Yes	Yes	Yes	Controller Adaptation, Robot Model Learning, Meta-Learning	race car, quadrotor, quadruped	OpenAI gym, RotorPy	Crazyflie quadrotor	-
Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration	Jennifer Grannen, Siddharth Karamcheti, Suvir Mirchandani, Percy Liang, Dorsa Sadigh	Stanford University	https://vocal-sandbox.github.io	Oral	Yes	No	Yes	Continual Learning, Multimodal Teaching, Human-Robot Interaction	Arm	MuJoCo	Franka Panda	ZED 2
OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation	Jinhan Li, Yifeng Zhu, Yuqi Xie, Zhenyu Jiang, Mingyo Seo, Georgios Pavlakos, Yuke Zhu	The University of Texas at Austin, Nvidia Research	https://ut-austin-rpl.github.io/OKAMI/	Oral	Yes	No	Yes	Humanoid Manipulation, Imitation From Videos, Motion Retargeting	Humanoid	RoboSuite	Fourier GR1	realsense D435i
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning	Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg	University of California, UC Berkeley, Toyota Research Institute, Physical Intelligence	https://rovi-aug.github.io/	Oral	Yes	Yes	Yes	Cross-Embodiment Learning, Viewpoint Robust, Data Augmentation	Arm	RoboSuite	Franka Panda, UR5, Sawyer, Kinova Jaco	ZED 2
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction	Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa	UC Berkeley	https://robot-see-robot-do.github.io/	Oral	Yes	Yes	Yes	Feature Fields, Visual Imitation, Grasping, Articulated Objects	Bimanual Arm	-	ABB YuMi	ZED 2
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks	Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger	Johns Hopkins University, Stanford University	https://surgical-robot-transformer.github.io/	Oral	Yes	No	Yes	Imitation Learning, Manipulation, Medical Robotics	Bimanual Arm	-	da Vinci Research Kit (dVRK) system	stereo camera
FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality	Keyu Chen, Yuheng Lei, Hao Cheng, Haoran Wu, Wenchao Sun, Sifa Zheng	Tsinghua University, The University of Hong Kong	https://currychen77.github.io/FREA/	Oral	Yes	Yes	Yes	Feasibility, Scenario Generation, Autonomous Driving	autonomus vehicle	Carla	-	-
One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits	Franck Djeumou, Thomas Jonathan Lew, NAN DING, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits	Toyota Research Institute,Rensselaer Polytechnic Institute	-	Oral	Yes	No	No	Diffusion Models, Learning for Control, Autonomous Drifting, Model Predictive Control	autonomus vehicle	-	Toyota Supra, Lexus LC500	-
Uncertainty-Aware Decision Transformer for Stochastic Driving Environments	Zenan Li, Fan Nie, Qiao Sun, Fang Da, Hang Zhao	Tsinghua university, Shanghai Qi Zhi Institute, Stanford university, QCraft	https://github.com/Emiyalzn/CoRL24-UNREST	Oral	Yes	Yes	No	Self-Driving, Decision Transformer, Uncertainty-Aware Planning	autonomus vehicle	CARLA	-	-
PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators	Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, Luca Weihs	Allen Institute for Artifical Intelligence	https://poliformer.allen.ai	Oral	Yes	Yes	Yes	Embodied Navigation, On-Policy RL, Transformer Policy	Mobile Manipulator	AI2-THOR	LoCoBot, Stretch RE-1	-
SELFI: Autonomous Self-Improvement with RL for Vision-Based Navigation around People	Noriaki Hirose, Dhruv Shah, Kyle Stachowicz, Ajay Sridhar, Sergey Levine	University of California, UC Berkeley, Toyota Motor North America	https://sites.google.com/view/selfi-rl/	Oral	Yes	No	Yes	online reinforcement learning, vision-based navigation	mobile	-	Self Created	Ricoh Theta S
Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation	Ria Doshi, Homer Rich Walke, Oier Mees, Sudeep Dasari, Sergey Levine	UC Berkeley, Carnegie Mellon University	https://crossformer-model.github.io/	Oral	Yes	Yes	Yes	Imitation Learning, Cross-Embodiment	Arm	-	WindowX 250, ALOHA, LoCoBot, unitree Go1, TELLO	-
Reinforcement Learning with Foundation Priors: Let Embodied Agent Efficiently Learn on Its Own	Weirui Ye, Yunsheng Zhang, Haoyang Weng, Xianfan Gu, Shengjie Wang, Tong Zhang, Mengchen Wang, Pieter Abbeel, Yang Gao	Tsinghua University, Shanghai Qi Zhi Institute, Shanghai Artificial Intelligence Laboratory, UC Berkeley	https://yewr.github.io/rlfp	Oral	Yes	No	Yes	Reinforcement Learning, Foundation Models, Robotics, VLMs	Arm	MetaWorld	Franka Panda	-
Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation	Ruoxuan Feng, Di Hu, Wenke Ma, Xuelong Li	Gaoling School of Artificial Intelligence, Renmin University of China, Shenzhen Taobotics Co., Ltd. Institute of Artificial Intelligence (TeleAI), China Telecom	https://gewu-lab.github.io/MS-Bot/	Oral	Yes	Yes	Yes	Multi-Sensory, Robotic Manipulation, Multi-Stage	Arm	-	xArm 6, Robotiq 2F-140	realsense D435i, GelSight
TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach	Weikun Peng, Jun Lv, Yuwei Zeng, Haonan Chen, Siheng Zhao, Jichen Sun, Cewu Lu, Lin Shao	National University of Singapore, Shanghai Jiao Tong University, Nanjing University	https://tiebots.github.io/	Oral	Yes	No	Yes	cloth manipulation, learning from demonstration, robot learning	dual arm	DiffClothAI	Flexiv Rizon, Kinova MOVO	realsense D435, Kinect
Physically Embodied Gaussian Splatting: A Visually Learnt and Physically Grounded 3D Representation for Robotics	Jad Abou-Chakra, Krishan Rana, Feras Dayoub, Niko Suenderhauf	QUT Centre for Robotics, University of Adelaide	https://embodied-gaussians.github.io/	Oral	Yes	No	Yes	3D Representation, Gaussian Splatting, Robotics, Tracking, Physics	Arm	-	Franka Panda	realsense D435
RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches	Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, Stefan Schaal	Stanford University, Google DeepMind, Intrinsic	https://rt-sketch.github.io/	Oral	Yes	No	Yes	Visual Imitation Learning, Goal-Conditioned Manipulation	Mobile Manipulator	-	RT-1 robot	-
ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning	Joey Hejna, Chethan Anand Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh	Stanford university, UC Berkeley	https://github.com/jhejna/remix	Oral	No	Yes	No	Data Curation, Data Quality, Robot Imitation Learning	dual arm	Robomimic	WindowX 250, Franka Panda	-
HumanPlus: Humanoid Shadowing and Imitation from Humans	Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn	Stanford university	https://humanoid-ai.github.io/	Poster	Yes	Yes	Yes	Humanoids, Learning from Human Data, Whole-Body Control	Humanoid	-	Unitree H1	-
Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning	Zhecheng Yuan, Tianming Wei, Shuiqi Cheng, Gu Zhang, Yuanpei Chen, Huazhe Xu	Tsinghua University IIIS, Shanghai Jiao Tong University, The University of Hong Kong, Peking University, Shanghai Qi Zhi Institute, Shanghai AI Lab	https://gemcollector.github.io/maniwhere/	Poster	Yes	Yes	Yes	Visual Generalization, Sim2real, Reinforcement Learning	Arm	MuJoCo	UR5, Franka Panda, XArm	realsense L515
ACE: A Cross-platform and visual-Exoskeletons System for Low-Cost Dexterous Teleoperation	Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang	UC San Diego	https://ace-teleop.github.io/	Poster	Yes	Yes	Yes	Teleopration System; Hardware; Imitation Learning; Robot Learning; Exoskeletons	Bimanual Arm	IsaacGym	Unitree H1, xArm7	-
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer	Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron Ames, Mac Schwager, Jeannette Bohg	Stanford University, California Institute of Technology	https://sites.google.com/view/get-a-grip-dataset	Poster	Yes	Yes	Yes	Multi-Fingered Grasping, Large-Scale Grasp Dataset, Sim-to-Real	Arm	IsaacGym,Pybullet	Allegro hand, Franka Research 3	ZED 2i
LLARVA: Vision-Action Instruction Tuning Enhances Robot Learning	Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, Roei Herzig	Berkeley AI Research, UC Berkeley	https://llarva24.github.io/	Poster	Yes	Yes	Yes	LMMs, Vision Action Instruction Tuning, Robot Learning	Arm	CoppeliaSim, RLBench	Franka Panda	Logitech BRIO 4K
Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping	Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang, Jeannette Bohg, Yixin Zhu, Leonidas Guibas	Stanford University, Peking University	-	Poster	Yes	No	No	null	Arm	-	Shadow Dexterous Hand, UR10e	Femto Bolt
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models	Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna	University of Washington, NVIDIA, Allen Institute for Artifical Intelligence, Universidad Católica San Pablo	https://robot-ma.github.io/	Poster	Yes	Yes	Yes	Robot Learning; Multimodal Large Language Model; Data Generation; Imitation Learning; Behavior Cloning	Arm	CoppeliaSim, RLBench	Franka Panda	Kinect 2
Detect Everything with Few Examples	Xinyu Zhang, Yuhan Liu, Yuting Wang, Abdeslam Boularias	Rutgers University	https://mlzxy.github.io/devit/	Poster	Yes	Yes	Yes	Robot Vision, Object Detection and Recognition, Few-shot Learning	Arm	-	Kuka LBR iiwa	realsense
Autonomous Interactive Correction MLLM for Robust Robotic Manipulation	Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, Hao Dong	Peking University, Chinese Academy of Sciences	-	Poster	Yes	No	No	large language model, robotics	Arm	-	Franka Panda	realsense D415
Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping	Pinhao Song, Pengteng Li, Renaud Detry	KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images, HKUST (GZ), AI Thrust	https://gitlab.kuleuven.be/detry-lab/public/implicit-grasp-diffusion	Poster	No	Yes	No	Grasping, Implicit Neural Representations, Diffusion Models	Arm	Pybullet	Franka Research 3	-
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation	Chongkai Gao, Zhengrong Xue, Shuying Deng, Tianhai Liang, Siqi Yang, Lin Shao, Huazhe Xu	National Unversity of Singapore, Tsinghua University, Shanghai AI Lab , Shanghai Qi zhi Institute	null	Poster	Yes	Yes	Yes	SE(3)-Equivariance, Manipulation, Imitation Learning	Arm	SAPIEN	Franka Panda	realsense D435i
Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion	Tianyi Xiong, Jiayi Wu, Botao He, Cornelia Fermuller, Yiannis Aloimonos, Heng Huang, Christopher Metzler	University of Maryland, College Park	https://tyxiong23.github.io/event3dgs	Poster	Yes	No	Yes	Event-based 3D Reconstruction, Gaussian Splatting, High-speed Robot Egomotion	quadrotor	-	quadrotor	Iphone 13 pro max
Generative Image as Action Models	Mohit Shridhar, Yat Long Lo, Stephen James	Dyson Robot Learning Lab	https://genima-robot.github.io/	Poster	Yes	Yes	Yes	Diffusion Models, Image Generation, Behavior Cloning, Visuomotor	Arm	CoppeliaSim, RLBench	Franka Panda	realsense D415
Continuous Control with Coarse-to-fine Reinforcement Learning	Younggyo Seo, Jafar Uruç, Stephen James	Dyson Robot Learning Lab	https://younggyo.me/cqn/	Poster	Yes	Yes	Yes	Reinforcement Learning, Sample-Efficient, Action Discretization	Arm	CoppeliaSim, RLBench	UR5e, Robotiq 2F-140	realsense D435i
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics	Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox	University of Washington, NVIDIA, Allen Institute for Artifical Intelligence, Universidad Católica San Pablo	https://robo-point.github.io/	Poster	Yes	Yes	Yes	Foundation Model, Affordance Prediction, Open-world Manipulation	Arm, Mobile	CoppeliaSim	Franka Panda	-
Twisting Lids Off with Two Hands	Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, Jitendra Malik	UC Berkeley	https://toruowo.github.io/bimanual-twist/	Poster	Yes	No	Yes	Bimanual Manipulation, Sim-to-Real, Reinforcement Learning	Bimanual Arm	IsaacGym	UR5e, Allegro Hands	realsense D435
General Flow as Foundation Affordance for Scalable Robot Learning	Chengbo Yuan, Chuan Wen, Tong Zhang, Yang Gao	institute for Interdisciplinary Information Sciences, Tsinghua University, Shanghai Artificial Intelligence Laboratory, Shanghai Qi Zhi Institute	https://general-flow.github.io/	Poster	Yes	Yes	Yes	Flow, Transferable Affordance, Scalability	Arm	-	Franka Panda	realsense D455
TaMMa: Target-driven Multi-subscene Mobile Manipulation	Jiawei Hou, Tianyu Wang, Tongying Pan, Shouyan Wang, Xiangyang Xue, Yanwei Fu	Fudan University	-	Poster	Yes	No	No	Multi-subscene, 3D Gaussians, Scene Inpainting, Target-driven Mobile Manipulation	Mobile Manipulator	-	Franka Panda, SLAMTEC Hermes	realsense D435
Control with Patterns: A D-learning Method	Quan Quan, Kai-Yuan Cai, Chenyu Wang	Beihang University	-	Poster	Yes	No	No	Lyapunov Methods, Reinforcement Learning, Control with Patterns, D-learning, Visual Servoing	multicopter	RflySim	Tello EDU	on-board
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects	Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu, Ram Vasudevan	University of Michigan	https://roahmlab.github.io/DEFORM/	Poster	Yes	Yes	Yes	Deformable Linear Objects Modeling, Physics-Informed Learning, Differentiable Simulation	Arm	PyBullet	Franka Panda, Kinova gen3	OptiTrack, Azure Kinect DK,
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data	Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song	Stanford University, Columbia University, Toyota Research Institute	https://maniwav.github.io/	Poster	Yes	Yes	Yes	Robot Manipulation, Imitation Learning, Audio	Arm	-	UR5	GoPro, Elgato HD60 X
Large Scale Mapping of Indoor Magnetic Field by Local and Sparse Gaussian Processes	Iad ABDUL-RAOUF, Vincent Gay-Bellile, Cyril JOLY, Steve Bourgeois, Alexis Paljic	Universite Paris-Saclay, Centre de Robotique, MINES ParisTech, Universite PSL	https://github.com/CEA-LIST/large-scale-magnetic-mapping	Poster	Yes	No	No	Gaussian process regression, magnetic field maps, indoor localization	-	-	-	SBG-Ellipse-N rigidly, FLIR Blackfly S cameras
JA-TN: Pick-and-Place Towel Shaping from Crumpled States based on TransporterNet with Joint-Probability Action Inference	Halid Abdulrahim Kadi, Kasim Terzić	University of St Andrews	-	Poster	Yes	No	No	Cloth Manipulation, Imitation Learning, Sim2Real Transfer	Arm	SoftGym	UR3e	realsense D435i
Legolas: Deep Leg-Inertial Odometry	Justin Wasserman, Ananye Agarwal, Rishabh Jangir, Girish Chowdhary, Deepak Pathak, Abhinav Gupta	University of Illinois at Urbana-Champaign, Carnegie Mellon University	https://learned-odom.github.io/	Poster	Yes	Yes	No	State and Odometry Estimation, Quadruped robots, Sim-to-Real	quadruped	IsaacGym	Unitree go2, DEEP Robotics Lite3	RTK-GPS
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning	Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh	Stanford University	https://flow-retrieval.github.io/	Poster	Yes	Yes	Yes	Data Retrieval, Few-shot Learning, Imitation Learning	Arm	robomimic, LIBERO	Franka Panda	-
JointMotion: Joint Self-Supervision for Joint Motion Prediction	Royden Wagner, Omer Sahin Tas, Marvin Klemp, Carlos Fernandez	Karlsruhe Institute of Technology, FZI Research Center for Information Technology	https://github.com/kit-mrt/future-motion	Poster	Yes	Yes	No	Self-supervised learning, representation learning, multimodal pre-training, motion prediction, data-efficient learning	autonomus vehicle	-	-	-
Provably Safe Online Multi-Agent Navigation in Unknown Environments	Zhan Gao, Guang Yang, Jasmine Bayrooti, Amanda Prorok	University of Cambridge	-	Poster	Yes	No	No	Decentralized Multi-Agent Navigation, Unknown Environment, Support Vector Machine, Graph Attention Learning, Control Barrier Function	Multi-agent systems	-	-	-
Modeling the Real World with High-Density Visual Particle Dynamics	William F Whitney, Jake Varley, Deepali Jain, Krzysztof Marcin Choromanski, Sumeet Singh, Vikas Sindhwani	Google DeepMind	https://sites.google.com/view/hd-vpd	Poster	Yes	Yes	No	point clouds, particle dynamics, world models for control, Performers	Bimanual Arm	-	Kuka iiwa	realsense D415, realsense D405
Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detection	Huang-Yu Chen, Jia-Fong Yeh, Jiawei, Pin-Hsuan Peng, Winston H. Hsu	National Taiwan University, MobileDrive	https://github.com/Coolshanlan/DDFH-active-3Ddet	Poster	Yes	No	Yes	Active Learning, LiDAR 3D Object Detection, Autonomous Driving	autonomus vehicle	-	-	-
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation	Jan Bruedigam, Ali Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Georg Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h	TU Munich, Boston Dynamics AI Institute	https://jacta-manipulation.github.io/	Poster	Yes	Yes	No	Dexterous Manipulation Planning, Learning with Demonstrations	quadruped	-	spot	OptiTrack
Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving	Thomas Tian, Boyi Li, Xinshuo Weng, Yuxiao Chen, Edward Schmerling, Yue Wang, Boris Ivanovic, Marco Pavone	NVIDIA, University of California, UC Berkeley, University of Southern California, Stanford University	https://thomasrantian.github.io/TOKEN_MM-LLM_for_AutoDriving/	Poster	Yes	Yes	No	Multi-modal LLM, Autonomous Driving, Representation Alignment	autonomus vehicle	-	-	-
Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework	Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin	Munich Institute of Robotics and Machine Intelligence, Technical University of Munich	-	Poster	Yes	No	No	Learning from Demonstration, Online Adaptation, Tactile Skill, Teleoperation, Autonomy Allocation	Arm	-	Franka Panda	-
ANAVI: Audio Noise Awareness using Visual of Indoor environments for NAVIgation	Vidhi Jain, Rishi Veerapaneni, Yonatan Bisk	Carnegie Mellon University	https://anavi-corl24.github.io/	Poster	Yes	Yes	Yes	Robots, Acoustic Noise, Vision, Learning	quadruped, Mobile Manipulator	Habitat 2.0	Hello Robot Stretch, Unitree Go2	-
Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation	Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, David Fan, Wenshan Wang, Sebastian Scherer	Carnegie Mellon University Robotics Institute, Field AI	-	Poster	Yes	No	No	Field Robotics, Self-Supervised Learning, Visual Foundation Models	autonomus vehicle	-	-	-
Adaptive Language-Guided Abstraction from Contrastive Explanations	Andi Peng, Belinda Z. Li, Ilia Sucholutsky, Nishanth Kumar, Julie Shah, Jacob Andreas, Andreea Bobu	MIT, Princeton, The AI Institute	-	Poster	Yes	No	No	reward learning, language-guided abstraction, reward features	quadruped	PyBullet	spot	-
Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision	Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, Jens Lundell, Jeffrey Ichnowski, Mårten Björkman, Danica Kragic	KTH Royal Institute of Technology, Carnegie Mellon University	https://kth-rpl.github.io/cloth-splatting/	Poster	Yes	Yes	Yes	3D State Representations, Gaussian Splatting, Deformable Objects, Vision-based Tracking	Arm	NVIDIA Flex	Franka Panda	realsense D435
OrbitGrasp: SE(3)-Equivariant Grasp Learning	Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt	Northeastern University, Boston Dynamics AI Institute	https://orbitgrasp.github.io/	Poster	Yes	Yes	Yes	Grasp Detection, Equivariance, Symmetry, Grasp Learning	Arm	PyBullet	UR5, Robotiq 85	realsense D455
Learning Long-Horizon Action Dependencies in Sampling-Based Bilevel Planning	Bartłomiej Cieślar, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Jorge Mendez-Mendez	CSAIL MIT, Stony Brook University	-	Poster	Yes	No	No	task and motion planning, long-horizon, learning for planning	Arm	PyBullet	-	-
Reasoning Grasping via Multimodal Large Language Model	Shiyu Jin, JINXUAN XU, Yutian Lei, Liangjun Zhang	Baidu Research, Rutgers University	https://reasoning-grasping.github.io/	Poster	Yes	Yes	No	Robotics Grasping, Multimodal Large Language Model	Arm	-	Franka Panda	Azure Kinect
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations	Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki	Carnegie Mellon University	https://3d-diffuser-actor.github.io/	Poster	Yes	Yes	Yes	Diffusion models, 3D representations, manipulation, imitation learning	Arm	CoppeliaSim, RLBench	Franka Panda	Azure Kinect
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning	Jingyun Yang, Ziang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg	Stanford University	https://equi-bot.github.io/	Poster	Yes	Yes	Yes	Imitation Learning, Equivariance, Data Efficiency	Mobile Manipulator	PyBullet	Kinova Gen3	ZED 2
Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures	Kensuke Nakamura, Thomas Tian, Andrea Bajcsy	Carnegie Mellon University, UC Berkeley	https://cmu-intentlab.github.io/not-all-errors/	Poster	Yes	Yes	No	Human-Robot Interaction, Trajectory Prediction, Failure Detection	mobile	BITS	LoCoBot	realsense D455, RPLIDAR A2
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning	Yixiao Wang, Yifei Zhang, Mingxiao Huo, Thomas Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka	University of California, UC Berkeley, Carnegie Mellon University	https://forrest-110.github.io/sparse_diffusion_policy/	Poster	Yes	Yes	No	Robot Policy, Multitask, Continual learning, Mixture of Experts	Arm	MimicGen	FANUC LRMate 200iD/7L	-
Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications	Joe Eappen, Zikang Xiong, Dipam Patel, Aniket Bera, Suresh Jagannathan	Purdue University	https://www.jeappen.com/mastl-gcbf-website/	Poster	Yes	Yes	Yes	Multi-Robot Systems, Path Planning for Multiple Mobile Robots or Agents, Collision Avoidance, Hybrid Logical/Dynamical Planning and Verification, Deep Learning Methods	multicopter	-	DJI Tello	-
Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions	Zhenyu Jiang, Yuqi Xie, Jinhan Li, Ye Yuan, Yifeng Zhu, Yuke Zhu	The University of Texas at Austin, NVIDIA Research	https://ut-austin-rpl.github.io/Harmon/	Poster	Yes	Yes	No	Humanoid Robot, Whole-Body Motion Generation	Humanoid	IsaacSim	Fourier GR1	-
Learning Differentiable Tensegrity Dynamics using Graph Neural Networks	Nelson Chen, Kun Wang, William R. Johson III, Rebecca Kramer-Bottiglio, Kostas Bekris, Mridul Aanjaneya	Rutgers University, Amazon Robotics, Yale University	https://github.com/nchen9191/tensegrity_gnn_simulator_public/tree/main/simulators	Poster	Yes	No	Yes	graph neural networks, differentiable simulation, tensegrity robots	Tensegrity	MuJoCo	-	-
DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies	William Xie, Maria Valentini, Jensen Lavering, Nikolaus Correll	University of Colorado at Boulder	https://deligrasp.github.io/	Poster	Yes	Yes	Yes	contact-rich manipulation, adaptive grasping, force control, produce manipulation	Gripper	-	Dynamixel AX-12	realsense D405
SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning	Mohammadreza Kasaei, Hamidreza Kasaei, Mohsen Khadem	University of Edinburgh, University of Groningen,	https://github.com/MohammadKasaei/SoftManiSim	Poster	Yes	No	Yes	Simulation Framework, Soft Robotics, Mathematical Modelling, Robot Learning	Continuum Manipulator	PyBullet	Self Created	-
Learning to Look: Seeking Information for Decision Making via Policy Factorization	Shivin Dass, Jiaheng Hu, Ben Abbatematteo, Peter Stone, Roberto Martín-Martín	The University of Texas at Austin, Sony AI	https://robin-lab.cs.utexas.edu/learning2look/	Poster	Yes	Yes	No	Active Vision, Manipulation, Interactive Perception	Mobile Manipulator	-	TIAGo	-
VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning	Lei Huang, Weijia Cai, Zihan Zhu, Chen Feng, Helge Rhodin, Zhengbo Zou	Columbia University, Brown University,New York University, University of British Columbia	https://leihhhuang.github.io/VIRL/	Poster	Yes	Yes	No	Inverse Reinforcement Learning, Learning from Video, Graph Network	Arm	MimicGen	xArm 6	realsense D435
Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction	Jakob Thumm, Christopher Agia, Marco Pavone, Matthias Althoff	Technical University of Munich, Stanford University	https://sites.google.com/view/text2interaction/	Poster	Yes	Yes	Yes	Human-Robot Interaction, Human Preference Learning, Task and Motion Planning, Safe Control	Arm	-	Franka Research 3	-
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?	Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn, Karol Hausman	Stanford University, Google DeepMind	https://kayburns.github.io/segmentingfeatures/	Poster	Yes	Yes	Yes	representation learning, manipulation, visual features	Arm	franka kitchen, MetaWorld	-	-
Simple Masked Training Strategies Yield Control Policies That Are Robust to Sensor Failure	Skand Skand, Bikram Pandit, Chanho Kim, Li Fuxin, Stefan Lee	Oregon State University	https://pvskand.github.io/projects/RME	Poster	Yes	Yes	No	Reinforcement Learning, Robustness, Sensorimotor Learning	bipedal	ManiSkill2	Cassie	-
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation	Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao	Tsinghua University, Shanghai Qi Zhi Institute, Shanghai Artificial Intelligence Laboratory	https://sgrv2-robot.github.io/	Poster	Yes	Yes	Yes	Robotic Manipulation, Sample Efficiency	Arm	CoppeliaSim	Franka Panda	realsense L515
Bimanual Dexterity for Complex Tasks	Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, Deepak Pathak	Carnegie Mellon University	https://bidex-teleop.github.io/	Poster	Yes	Yes	Yes	Dexterous Manipulation, Bimanual, Behavior Cloning	Bimanual Arm	-	XArm 6, LEAP Hand	Apple Vision Pro
Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance	Mitsuhiko Nakamoto, Oier Mees, Aviral Kumar, Sergey Levine	UC Berkeley, Carnegie Mellon University, Google DeepMind	https://nakamotoo.github.io/V-GPS/	Poster	Yes	Yes	No	generalist policies, value functions, robot reinforcement learning	Arm	SIMPLER	WindowX 250	-
MBC: Multi-Brain Collaborative Control for Quadruped Robots	Hang Liu, Yi Cheng, Rankun Li, Xiaowen Hu, Linqi Ye, Houde Liu	Tsinghua University, University of Michigan, Shanghai University	https://quad-mbc.github.io/	Poster	Yes	Yes	No	Quadruped Robots, Perception Fails, Multi-Brain Collaborative	quadruped	IsaacGym	Unitree go2	-
Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation	Vivek Myers, Chunyuan Zheng, Oier Mees, Kuan Fang, Sergey Levine	University of California, UC Berkeley	https://palo-website.github.io/	Poster	Yes	Yes	Yes	Reinforcement Learning, Vision-Language Models, Manipulation	Arm	-	WindowX 250	-
Trajectory Improvement and Reward Learning from Comparative Language Feedback	Zhaojing Yang, Miru Jun, Jeremy Tien, Stuart Russell, Anca Dragan, Erdem Biyik	University of Southern California, University of California, UC Berkeley	https://liralab.usc.edu/comparative-language-feedback/	Poster	Yes	Yes	Yes	Learning from Human Language Feedback, Reward Learning, Human-Robot Interaction	Arm	Robosuite, MetaWorld	WindowX 250	-
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands	Yi Zhao, Le Chen, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler	Max Planck Institute for Intelligent Systems, Aalto University , University of Southern California , University of Oulu	https://rp1m.github.io/	Poster	Yes	Yes	Yes	Bi-manual dexterous robot hands, dataset for robot piano playing, imitation learning, robot learning at scale	Bimanual Arm	robopianist	-	-
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior	Ruihan Yang, Zhuoqun Chen, Jianhan Ma, Chongyi Zheng, Yiyu Chen, Quan Nguyen, Xiaolong Wang	UC San Diego, Carnegie Mellon University, USC	https://rchalyang.github.io/VIM/	Poster	Yes	Yes	No	Legged Robots, Imitation Learning, Agile Locomotion	quadruped	WASABI(Isaac Gym)	unitree a1	-
Visual Manipulation with Legs	Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang	University of Illinois Urbana-Champaign, UC San Diego, Carnegie Mellon University	https://legged-manipulation.github.io/	Poster	Yes	Yes	No	Legged robots, Non-prehensile manipulation, Reinforcement Learning	quadruped	IsaacGym	unitree a1	-
Learning Visual Parkour from Generated Images	Alan Yu, Ge Yang, Ran Choi, Yajvan Ravan, John Leonard, Phillip Isola	MIT CSAIL, Institute of AI and Fundamental Interactions (IAIFI)	https://lucidsim.github.io/	Poster	Yes	Yes	Yes	Generative AI, Simulation, Legged Locomotion, Sensory Motor-learning	quadruped	MuJoCo	unitree go1	-
Q-SLAM: Quadric Representations for Monocular SLAM	Chensheng Peng, Chenfeng Xu, Yue Wang, Mingyu Ding, Heng Yang, Masayoshi Tomizuka, Kurt Keutzer, Marco Pavone, Wei Zhan	UC Berkeley, NVIDIA	-	Poster	Yes	No	No	Neural Radiance Fields, Simultaneous Localization and Mapping	Mobile	Replica,ScanNet,TUM RGB-D	-	-
Pre-emptive Action Revision by Environmental Feedback for Embodied Instruction Following Agents	Jinyeon Kim, Cheolhong Min, Byeonghwi Kim, Jonghyun Choi	Seoul National University, Yonsei University	https://pred-agent.github.io/	Poster	Yes	Yes	Yes	Replanning, Environmental Feedback, Brain plasticity, Embodied AI	Arm	ALFRED, TEACh	UR5, on-robot gripper	-
Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving	Kairui Ding, Boyuan Chen, Yuchen Su, Huan-ang Gao, Bu Jin, Chonghao Sima, Xiaohui Li, Wuqiang Zhang, Paul Barsch, Hongyang Li, Hao Zhao	Institute for AI Industry Research (AIR), Tsinghua University, Mercedes-Benz Group China Ltd. Xingjian College, Tsinghua University, OpenDriveLab, Shanghai AI Lab	https://air-discover.github.io/Hint-AD/	Poster	Yes	Yes	Yes	Interpretability, Language alignment, Autonomous driving	autonomus vehicle	nuScenes	-	-
TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation	Junli Ren, Yikai Liu, Yingru Dai, Junfeng Long, Guijin Wang	Department of Electronic Engineering,Tsinghua University,ShanghaiTech University	https://top-nav-legged.github.io/TOP-Nav-Legged-page/	Poster	Yes	Yes	No	Navigation, Task Planning, Reinforcement Learning	quadruped	IsaacGym	unitree go1,unitree go2	realsense D435i
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation	Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto	New York University, Meta	https://open-teach.github.io/	Poster	Yes	Yes	Yes	Teleoperation, Robot Learning, Robotic Manipulation	Bimanual Arm	IsaacGym, LIBERO, Allegro Sim	Franka Panda, Allegro Hand, Kinova Jaco,xArm7, Hello Stretch	-
Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope	Haodi Hu, Feifei Qian, Daniel Seita	University of Southern California	https://sites.google.com/view/grain-corl2024/home	Poster	Yes	Yes	Yes	Granular media, Avalanche dynamics, Legged robots.	quadruped	-	Self Created	-
Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks	Jialiang Zhao, Yuxiang Ma, Lirui Wang, Edward Adelson	MIT CSAIL	https://t3.alanz.info/	Poster	Yes	Yes	Yes	Tactile Sensing, Representation Learning, Heterogeneous Learning, Robot Manipulation, Robot Learning	Arm	-	Franka Panda, 3-axis CNC mill	GelSight, Digit

Equivariant Diffusion Policy

Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt

Northeastern University, Boston Dynamics AI Institute

https://equidiff.github.io

Oral

Yes

Equivariance, Diffusion Model, Robotic Manipulation

Arm

Robomimic

Franka Panda

realsense D455

D³Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement

Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Rose Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li

Columbia University, University of Illinois Urbana-Champaign, National University of Singapore, Boston Dynamics AI Institute, Stanford University

https://robopil.github.io/d3fields/

Oral

Yes

Implicit 3D Representation, Visual Foundational Model, Zero-Shot Generalization, Robotic Manipulation

Arm

OmniGibson, BEHAVIOR-1K

Kinova Gen3

-

RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation

Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang

University of Southern California, Peking University, Stanford University

https://yuxuank.com/RAM/

Oral

Yes

Hierarchical Retrieval, Affordance Transfer, Zero-Shot Robotic Manipulation, Visual Foundation Models

Arm

IsaacGym

Franka Panda

realsense D415

Visual Whole-Body Control for Legged Loco-Manipulation

Minghuan Liu∗, Zixuan Chen∗ Xuxin Cheng, Yandong Ji, Rizhao Qiu, Ruihan Yang, Xiaolong Wang

UC San Diego,Shanghai Jiao Tong University,Fudan University

https://wholebody-b1.github.io/

Oral

Yes

Robot Learning, Whole-Body Control, Legged Loco-Manipulation

quadruped

IsaacGym

Unitree B1, Unitree H1

realsense D435

Bridging the Sim-to-Real Gap from the Information Bottleneck Perspective

Haoran He, Peilin Wu, Chenjia Bai, Hang Lai, Lingxiao Wang, Ling Pan, Xiaolin Hu, Weinan Zhang

Shanghai Jiao Tong University,Hong Kong University of Science and Technology,Institute of Artificial Intelligence (TeleAI), China Telecom,Northwestern University,Tsinghua University

https://sites.google.com/view/history-ib

Oral

Yes

Sim-to-Real, Information Bottleneck, Reinforcement Learning, Locomotion

quadruped

IsaacGym

Unitree A1

-

Environment Curriculum Generation via Large Language Models

William Liang, Sam Wang, Hung-Ju Wang, Osbert Bastani, Dinesh Jayaraman, Yecheng Jason Ma

University of Pennsylvania

https://eureka-research.github.io/eurekaverse/

Oral

Yes

Large Language Models, Environment Curriculum, Quadrupeds, Sim-To-Real Reinforcement Learning

quadruped

IsaacGym

Unitree Go1

realsense D435

Learning Quadruped Locomotion Using Differentiable Simulation

Yunlong Song, Sang bae Kim, Davide Scaramuzza

University of Zurich, MIT

-

Oral

Yes

No

Differentiable Simulation, Legged Locomotion, Reinforcement Learning

quadruped

IsaacGym

Mini Cheetah

-

Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation

Jean Pierre Sleiman, Mayank Mittal, Marco Hutter

ETH Zurich, NVIDIA

https://leggedrobotics.github.io/guided-rl-locoma/

Oral

Yes

No

Yes

Whole-body Loco-Manipulation, Reinforcement Learning, Legged Mobile Manipulators

quadruped

IsaacGym

Anymal

-

Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination

Duy Phuong Nguyen, Kai-Chieh Hsu, Wenhao Yu, Jie Tan, Jaime Fernández Fisac

Princeton University, Google DeepMind

https://saferobotics.org/research/gameplay-filter

Oral

Yes

No

Yes

Robust Safety, Adversarial Reinforcement Learning, Game Theory

quadruped

Pybullet

Ghost Robotics Spirit S40,Unitree go2

-

Differentiable Robot Rendering

Ruoshi Liu, Alper Canberk, Shuran Song, Carl Vondrick

Columbia University, Stanford University

https://drrobot.cs.columbia.edu/

Oral

Yes

Robot Representation, Visual Foundation Model

Humanoid, Arm, quadruped

MuJoCo

Franka Panda

realsense, Kinect 360, azure kinect DK

Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning

Dhruva Tirumala, Markus Wulfmeier, Ben Moran, Sandy Huang, Jan Humplik, Guy Lever, Tuomas Haarnoja, Leonard Hasenclever, Arunkumar Byravan, Nathan Batchelor, Neil sreendra, Kushal Patel, Marlon Gwira, Francesco Nori, Martin Riedmiller, Nicolas Heess

Google DeepMind, University College London

https://sites.google.com/view/vision-soccer

Oral

Yes

No

Yes

robotics, deep reinforcement learning

Humanoid

MuJoCo

Robotis OP3

Logitech C920

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts

Chong Zhang, Wenli Xiao, Tairan He, Guanya Shi

Carnegie Mellon University, Google DeepMind

https://lecar-lab.github.io/wococo/

Oral

Yes

Whole-Body Humanoid Control, Multi-Contact Control, Reinforcement Learning

Humanoid

IsaacGym

Unitree H1

-

OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models

Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor

University of Pennsylvania

https://hersh500.github.io/occam

Oral

Yes

Controller Adaptation, Robot Model Learning, Meta-Learning

race car, quadrotor, quadruped

OpenAI gym, RotorPy

Crazyflie quadrotor

-

Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration

Jennifer Grannen, Siddharth Karamcheti, Suvir Mirchandani, Percy Liang, Dorsa Sadigh

Stanford University

https://vocal-sandbox.github.io

Oral

Yes

No

Yes

Continual Learning, Multimodal Teaching, Human-Robot Interaction

Arm

MuJoCo

Franka Panda

ZED 2

OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation

Jinhan Li, Yifeng Zhu, Yuqi Xie, Zhenyu Jiang, Mingyo Seo, Georgios Pavlakos, Yuke Zhu

The University of Texas at Austin, Nvidia Research

https://ut-austin-rpl.github.io/OKAMI/

Oral

Yes

No

Yes

Humanoid Manipulation, Imitation From Videos, Motion Retargeting

Humanoid

RoboSuite

Fourier GR1

realsense D435i

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning

Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg

University of California, UC Berkeley, Toyota Research Institute, Physical Intelligence

https://rovi-aug.github.io/

Oral

Yes

Cross-Embodiment Learning, Viewpoint Robust, Data Augmentation

Arm

RoboSuite

Franka Panda, UR5, Sawyer, Kinova Jaco

ZED 2

Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction

Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa

UC Berkeley

https://robot-see-robot-do.github.io/

Oral

Yes

Feature Fields, Visual Imitation, Grasping, Articulated Objects

Bimanual Arm

-

ABB YuMi

ZED 2

Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks

Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger

Johns Hopkins University, Stanford University

https://surgical-robot-transformer.github.io/

Oral

Yes

No

Yes

Imitation Learning, Manipulation, Medical Robotics

Bimanual Arm

-

da Vinci Research Kit (dVRK) system

stereo camera

FREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality

Keyu Chen, Yuheng Lei, Hao Cheng, Haoran Wu, Wenchao Sun, Sifa Zheng

Tsinghua University, The University of Hong Kong

https://currychen77.github.io/FREA/

Oral

Yes

Feasibility, Scenario Generation, Autonomous Driving

autonomus vehicle

Carla

-

One Model to Drift Them All: Physics-Informed Conditional Diffusion Model for Driving at the Limits

Franck Djeumou, Thomas Jonathan Lew, NAN DING, Michael Thompson, Makoto Suminaka, Marcus Greiff, John Subosits

Toyota Research Institute,Rensselaer Polytechnic Institute

-

Oral

Yes

No

Diffusion Models, Learning for Control, Autonomous Drifting, Model Predictive Control

autonomus vehicle

-

Toyota Supra, Lexus LC500

-

Uncertainty-Aware Decision Transformer for Stochastic Driving Environments

Zenan Li, Fan Nie, Qiao Sun, Fang Da, Hang Zhao

Tsinghua university, Shanghai Qi Zhi Institute, Stanford university, QCraft

https://github.com/Emiyalzn/CoRL24-UNREST

Oral

Yes

No

Self-Driving, Decision Transformer, Uncertainty-Aware Planning

autonomus vehicle

CARLA

-

PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators

Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, Luca Weihs

Allen Institute for Artifical Intelligence

https://poliformer.allen.ai

Oral

Yes

Embodied Navigation, On-Policy RL, Transformer Policy

Mobile Manipulator

AI2-THOR

LoCoBot, Stretch RE-1

-

SELFI: Autonomous Self-Improvement with RL for Vision-Based Navigation around People

Noriaki Hirose, Dhruv Shah, Kyle Stachowicz, Ajay Sridhar, Sergey Levine

University of California, UC Berkeley, Toyota Motor North America

https://sites.google.com/view/selfi-rl/

Oral

Yes

No

Yes

online reinforcement learning, vision-based navigation

mobile

-

Self Created

Ricoh Theta S

Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation

Ria Doshi, Homer Rich Walke, Oier Mees, Sudeep Dasari, Sergey Levine

UC Berkeley, Carnegie Mellon University

https://crossformer-model.github.io/

Oral

Yes

Imitation Learning, Cross-Embodiment

Arm

-

WindowX 250, ALOHA, LoCoBot, unitree Go1, TELLO

-

Reinforcement Learning with Foundation Priors: Let Embodied Agent Efficiently Learn on Its Own

Weirui Ye, Yunsheng Zhang, Haoyang Weng, Xianfan Gu, Shengjie Wang, Tong Zhang, Mengchen Wang, Pieter Abbeel, Yang Gao

Tsinghua University, Shanghai Qi Zhi Institute, Shanghai Artificial Intelligence Laboratory, UC Berkeley

https://yewr.github.io/rlfp

Oral

Yes

No

Yes

Reinforcement Learning, Foundation Models, Robotics, VLMs

Arm

MetaWorld

Franka Panda

-

Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation

Ruoxuan Feng, Di Hu, Wenke Ma, Xuelong Li

Gaoling School of Artificial Intelligence, Renmin University of China, Shenzhen Taobotics Co., Ltd. Institute of Artificial Intelligence (TeleAI), China Telecom

https://gewu-lab.github.io/MS-Bot/

Oral

Yes

Multi-Sensory, Robotic Manipulation, Multi-Stage

Arm

-

xArm 6, Robotiq 2F-140

realsense D435i, GelSight

TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach

Weikun Peng, Jun Lv, Yuwei Zeng, Haonan Chen, Siheng Zhao, Jichen Sun, Cewu Lu, Lin Shao

National University of Singapore, Shanghai Jiao Tong University, Nanjing University

https://tiebots.github.io/

Oral

Yes

No

Yes

cloth manipulation, learning from demonstration, robot learning

dual arm

DiffClothAI

Flexiv Rizon, Kinova MOVO

realsense D435, Kinect

Physically Embodied Gaussian Splatting: A Visually Learnt and Physically Grounded 3D Representation for Robotics

Jad Abou-Chakra, Krishan Rana, Feras Dayoub, Niko Suenderhauf

QUT Centre for Robotics, University of Adelaide

https://embodied-gaussians.github.io/

Oral

Yes

No

Yes

3D Representation, Gaussian Splatting, Robotics, Tracking, Physics

Arm

-

Franka Panda

realsense D435

RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches

Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, Stefan Schaal

Stanford University, Google DeepMind, Intrinsic

https://rt-sketch.github.io/

Oral

Yes

No

Yes

Visual Imitation Learning, Goal-Conditioned Manipulation

Mobile Manipulator

-

RT-1 robot

-

ReMix: Optimizing Data Mixtures for Large Scale Imitation Learning

Joey Hejna, Chethan Anand Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh

Stanford university, UC Berkeley

https://github.com/jhejna/remix

Oral

No

Yes

No

Data Curation, Data Quality, Robot Imitation Learning

dual arm

Robomimic

WindowX 250, Franka Panda

-

HumanPlus: Humanoid Shadowing and Imitation from Humans

Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn

Stanford university

https://humanoid-ai.github.io/

Poster

Yes

Humanoids, Learning from Human Data, Whole-Body Control

Humanoid

-

Unitree H1

-

Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning

Zhecheng Yuan, Tianming Wei, Shuiqi Cheng, Gu Zhang, Yuanpei Chen, Huazhe Xu

Tsinghua University IIIS, Shanghai Jiao Tong University, The University of Hong Kong, Peking University, Shanghai Qi Zhi Institute, Shanghai AI Lab

https://gemcollector.github.io/maniwhere/

Poster

Yes

Visual Generalization, Sim2real, Reinforcement Learning

Arm

MuJoCo

UR5, Franka Panda, XArm

realsense L515

ACE: A Cross-platform and visual-Exoskeletons System for Low-Cost Dexterous Teleoperation

Shiqi Yang, Minghuan Liu, Yuzhe Qin, Runyu Ding, Jialong Li, Xuxin Cheng, Ruihan Yang, Sha Yi, Xiaolong Wang

UC San Diego

https://ace-teleop.github.io/

Poster

Yes

Teleopration System; Hardware; Imitation Learning; Robot Learning; Exoskeletons

Bimanual Arm

IsaacGym

Unitree H1, xArm7

-

Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer

Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron Ames, Mac Schwager, Jeannette Bohg

Stanford University, California Institute of Technology

https://sites.google.com/view/get-a-grip-dataset

Poster

Yes

Multi-Fingered Grasping, Large-Scale Grasp Dataset, Sim-to-Real

Arm

IsaacGym,Pybullet

Allegro hand, Franka Research 3

ZED 2i

LLARVA: Vision-Action Instruction Tuning Enhances Robot Learning

Dantong Niu, Yuvan Sharma, Giscard Biamby, Jerome Quenum, Yutong Bai, Baifeng Shi, Trevor Darrell, Roei Herzig

Berkeley AI Research, UC Berkeley

https://llarva24.github.io/

Poster

Yes

LMMs, Vision Action Instruction Tuning, Robot Learning

Arm

CoppeliaSim, RLBench

Franka Panda

Logitech BRIO 4K

Neural Attention Field: Emerging Point Relevance in 3D Scenes for One-Shot Dexterous Grasping

Qianxu Wang, Congyue Deng, Tyler Ga Wei Lum, Yuanpei Chen, Yaodong Yang, Jeannette Bohg, Yixin Zhu, Leonidas Guibas

Stanford University, Peking University

-

Poster

Yes

No

null

Arm

-

Shadow Dexterous Hand, UR10e

Femto Bolt

Manipulate-Anything: Automating Real-World Robots using Vision-Language Models

Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna

University of Washington, NVIDIA, Allen Institute for Artifical Intelligence, Universidad Católica San Pablo

https://robot-ma.github.io/

Poster

Yes

Robot Learning; Multimodal Large Language Model; Data Generation; Imitation Learning; Behavior Cloning

Arm

CoppeliaSim, RLBench

Franka Panda

Kinect 2

Detect Everything with Few Examples

Xinyu Zhang, Yuhan Liu, Yuting Wang, Abdeslam Boularias

Rutgers University

https://mlzxy.github.io/devit/

Poster

Yes

Robot Vision, Object Detection and Recognition, Few-shot Learning

Arm

-

Kuka LBR iiwa

realsense

Autonomous Interactive Correction MLLM for Robust Robotic Manipulation

Chuyan Xiong, Chengyu Shen, Xiaoqi Li, Kaichen Zhou, Jiaming Liu, Ruiping Wang, Hao Dong

Peking University, Chinese Academy of Sciences

-

Poster

Yes

No

large language model, robotics

Arm

-

Franka Panda

realsense D415

Implicit Grasp Diffusion: Bridging the Gap between Dense Prediction and Sampling-based Grasping

Pinhao Song, Pengteng Li, Renaud Detry

KU Leuven, Dept. Mechanical Engineering, Research unit Robotics, Automation and Mechatronics, KU Leuven, Dept. Electrical Engineering, Research unit Processing Speech and Images, HKUST (GZ), AI Thrust

https://gitlab.kuleuven.be/detry-lab/public/implicit-grasp-diffusion

Poster

No

Yes

No

Grasping, Implicit Neural Representations, Diffusion Models

Arm

Pybullet

Franka Research 3

-

RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation

Chongkai Gao, Zhengrong Xue, Shuying Deng, Tianhai Liang, Siqi Yang, Lin Shao, Huazhe Xu

National Unversity of Singapore, Tsinghua University, Shanghai AI Lab , Shanghai Qi zhi Institute

null

Poster

Yes

SE(3)-Equivariance, Manipulation, Imitation Learning

Arm

SAPIEN

Franka Panda

realsense D435i

Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion

Tianyi Xiong, Jiayi Wu, Botao He, Cornelia Fermuller, Yiannis Aloimonos, Heng Huang, Christopher Metzler

University of Maryland, College Park

https://tyxiong23.github.io/event3dgs

Poster

Yes

No

Yes

Event-based 3D Reconstruction, Gaussian Splatting, High-speed Robot Egomotion

quadrotor

-

quadrotor

Iphone 13 pro max

Generative Image as Action Models

Mohit Shridhar, Yat Long Lo, Stephen James

Dyson Robot Learning Lab

https://genima-robot.github.io/

Poster

Yes

Diffusion Models, Image Generation, Behavior Cloning, Visuomotor

Arm

CoppeliaSim, RLBench

Franka Panda

realsense D415

Continuous Control with Coarse-to-fine Reinforcement Learning

Younggyo Seo, Jafar Uruç, Stephen James

Dyson Robot Learning Lab

https://younggyo.me/cqn/

Poster

Yes

Reinforcement Learning, Sample-Efficient, Action Discretization

Arm

CoppeliaSim, RLBench

UR5e, Robotiq 2F-140

realsense D435i

RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics

Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox

University of Washington, NVIDIA, Allen Institute for Artifical Intelligence, Universidad Católica San Pablo

https://robo-point.github.io/

Poster

Yes

Foundation Model, Affordance Prediction, Open-world Manipulation

Arm, Mobile

CoppeliaSim

Franka Panda

-

Twisting Lids Off with Two Hands

Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, Jitendra Malik

UC Berkeley

https://toruowo.github.io/bimanual-twist/

Poster

Yes

No

Yes

Bimanual Manipulation, Sim-to-Real, Reinforcement Learning

Bimanual Arm

IsaacGym

UR5e, Allegro Hands

realsense D435

General Flow as Foundation Affordance for Scalable Robot Learning

Chengbo Yuan, Chuan Wen, Tong Zhang, Yang Gao

institute for Interdisciplinary Information Sciences, Tsinghua University, Shanghai Artificial Intelligence Laboratory, Shanghai Qi Zhi Institute

https://general-flow.github.io/

Poster

Yes

Flow, Transferable Affordance, Scalability

Arm

-

Franka Panda

realsense D455

TaMMa: Target-driven Multi-subscene Mobile Manipulation

Jiawei Hou, Tianyu Wang, Tongying Pan, Shouyan Wang, Xiangyang Xue, Yanwei Fu

Fudan University

-

Poster

Yes

No

Multi-subscene, 3D Gaussians, Scene Inpainting, Target-driven Mobile Manipulation

Mobile Manipulator

-

Franka Panda, SLAMTEC Hermes

realsense D435

Control with Patterns: A D-learning Method

Quan Quan, Kai-Yuan Cai, Chenyu Wang

Beihang University

-

Poster

Yes

No

Lyapunov Methods, Reinforcement Learning, Control with Patterns, D-learning, Visual Servoing

multicopter

RflySim

Tello EDU

on-board

Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects

Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu, Ram Vasudevan

University of Michigan

https://roahmlab.github.io/DEFORM/

Poster

Yes

Deformable Linear Objects Modeling, Physics-Informed Learning, Differentiable Simulation

Arm

PyBullet

Franka Panda, Kinova gen3

OptiTrack, Azure Kinect DK,

ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data

Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song

Stanford University, Columbia University, Toyota Research Institute

https://maniwav.github.io/

Poster

Yes

Robot Manipulation, Imitation Learning, Audio

Arm

-

UR5

GoPro, Elgato HD60 X

Large Scale Mapping of Indoor Magnetic Field by Local and Sparse Gaussian Processes

Iad ABDUL-RAOUF, Vincent Gay-Bellile, Cyril JOLY, Steve Bourgeois, Alexis Paljic

Universite Paris-Saclay, Centre de Robotique, MINES ParisTech, Universite PSL

https://github.com/CEA-LIST/large-scale-magnetic-mapping

Poster

Yes

No

Gaussian process regression, magnetic field maps, indoor localization

-

SBG-Ellipse-N rigidly, FLIR Blackfly S cameras

JA-TN: Pick-and-Place Towel Shaping from Crumpled States based on TransporterNet with Joint-Probability Action Inference

Halid Abdulrahim Kadi, Kasim Terzić

University of St Andrews

-

Poster

Yes

No

Cloth Manipulation, Imitation Learning, Sim2Real Transfer

Arm

SoftGym

UR3e

realsense D435i

Legolas: Deep Leg-Inertial Odometry

Justin Wasserman, Ananye Agarwal, Rishabh Jangir, Girish Chowdhary, Deepak Pathak, Abhinav Gupta

University of Illinois at Urbana-Champaign, Carnegie Mellon University

https://learned-odom.github.io/

Poster

Yes

No

State and Odometry Estimation, Quadruped robots, Sim-to-Real

quadruped

IsaacGym

Unitree go2, DEEP Robotics Lite3

RTK-GPS

FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning

Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh

Stanford University

https://flow-retrieval.github.io/

Poster

Yes

Data Retrieval, Few-shot Learning, Imitation Learning

Arm

robomimic, LIBERO

Franka Panda

-

JointMotion: Joint Self-Supervision for Joint Motion Prediction

Royden Wagner, Omer Sahin Tas, Marvin Klemp, Carlos Fernandez

Karlsruhe Institute of Technology, FZI Research Center for Information Technology

https://github.com/kit-mrt/future-motion

Poster

Yes

No

Self-supervised learning, representation learning, multimodal pre-training, motion prediction, data-efficient learning

autonomus vehicle

-

Provably Safe Online Multi-Agent Navigation in Unknown Environments

Zhan Gao, Guang Yang, Jasmine Bayrooti, Amanda Prorok

University of Cambridge

-

Poster

Yes

No

Decentralized Multi-Agent Navigation, Unknown Environment, Support Vector Machine, Graph Attention Learning, Control Barrier Function

Multi-agent systems

-

Modeling the Real World with High-Density Visual Particle Dynamics

William F Whitney, Jake Varley, Deepali Jain, Krzysztof Marcin Choromanski, Sumeet Singh, Vikas Sindhwani

Google DeepMind

https://sites.google.com/view/hd-vpd

Poster

Yes

No

point clouds, particle dynamics, world models for control, Performers

Bimanual Arm

-

Kuka iiwa

realsense D415, realsense D405

Distribution Discrepancy and Feature Heterogeneity for Active 3D Object Detection

Huang-Yu Chen, Jia-Fong Yeh, Jiawei, Pin-Hsuan Peng, Winston H. Hsu

National Taiwan University, MobileDrive

https://github.com/Coolshanlan/DDFH-active-3Ddet

Poster

Yes

No

Yes

Active Learning, LiDAR 3D Object Detection, Autonomous Driving

autonomus vehicle

-

Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation

Jan Bruedigam, Ali Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Georg Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h

TU Munich, Boston Dynamics AI Institute

https://jacta-manipulation.github.io/

Poster

Yes

No

Dexterous Manipulation Planning, Learning with Demonstrations

quadruped

-

spot

OptiTrack

Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving

Thomas Tian, Boyi Li, Xinshuo Weng, Yuxiao Chen, Edward Schmerling, Yue Wang, Boris Ivanovic, Marco Pavone

NVIDIA, University of California, UC Berkeley, University of Southern California, Stanford University

https://thomasrantian.github.io/TOKEN_MM-LLM_for_AutoDriving/

Poster

Yes

No

Multi-modal LLM, Autonomous Driving, Representation Alignment

autonomus vehicle

-

Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework

Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin

Munich Institute of Robotics and Machine Intelligence, Technical University of Munich

-

Poster

Yes

No

Learning from Demonstration, Online Adaptation, Tactile Skill, Teleoperation, Autonomy Allocation

Arm

-

Franka Panda

-

ANAVI: Audio Noise Awareness using Visual of Indoor environments for NAVIgation

Vidhi Jain, Rishi Veerapaneni, Yonatan Bisk

Carnegie Mellon University

https://anavi-corl24.github.io/

Poster

Yes

Robots, Acoustic Noise, Vision, Learning

quadruped, Mobile Manipulator

Habitat 2.0

Hello Robot Stretch, Unitree Go2

-

Velociraptor: Leveraging Visual Foundation Models for Label-Free, Risk-Aware Off-Road Navigation

Samuel Triest, Matthew Sivaprakasam, Shubhra Aich, David Fan, Wenshan Wang, Sebastian Scherer

Carnegie Mellon University Robotics Institute, Field AI

-

Poster

Yes

No

Field Robotics, Self-Supervised Learning, Visual Foundation Models

autonomus vehicle

-

Adaptive Language-Guided Abstraction from Contrastive Explanations

Andi Peng, Belinda Z. Li, Ilia Sucholutsky, Nishanth Kumar, Julie Shah, Jacob Andreas, Andreea Bobu

MIT, Princeton, The AI Institute

-

Poster

Yes

No

reward learning, language-guided abstraction, reward features

quadruped

PyBullet

spot

-

Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision

Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, Jens Lundell, Jeffrey Ichnowski, Mårten Björkman, Danica Kragic

KTH Royal Institute of Technology, Carnegie Mellon University

https://kth-rpl.github.io/cloth-splatting/

Poster

Yes

3D State Representations, Gaussian Splatting, Deformable Objects, Vision-based Tracking

Arm

NVIDIA Flex

Franka Panda

realsense D435

OrbitGrasp: SE(3)-Equivariant Grasp Learning

Boce Hu, Xupeng Zhu, Dian Wang, Zihao Dong, Haojie Huang, Chenghao Wang, Robin Walters, Robert Platt

Northeastern University, Boston Dynamics AI Institute

https://orbitgrasp.github.io/

Poster

Yes

Grasp Detection, Equivariance, Symmetry, Grasp Learning

Arm

PyBullet

UR5, Robotiq 85

realsense D455

Learning Long-Horizon Action Dependencies in Sampling-Based Bilevel Planning

Bartłomiej Cieślar, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Jorge Mendez-Mendez

CSAIL MIT, Stony Brook University

-

Poster

Yes

No

task and motion planning, long-horizon, learning for planning

Arm

PyBullet

-

Reasoning Grasping via Multimodal Large Language Model

Shiyu Jin, JINXUAN XU, Yutian Lei, Liangjun Zhang

Baidu Research, Rutgers University

https://reasoning-grasping.github.io/

Poster

Yes

No

Robotics Grasping, Multimodal Large Language Model

Arm

-

Franka Panda

Azure Kinect

3D Diffuser Actor: Policy Diffusion with 3D Scene Representations

Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki

Carnegie Mellon University

https://3d-diffuser-actor.github.io/

Poster

Yes

Diffusion models, 3D representations, manipulation, imitation learning

Arm

CoppeliaSim, RLBench

Franka Panda

Azure Kinect

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

Jingyun Yang, Ziang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg

Stanford University

https://equi-bot.github.io/

Poster

Yes

Imitation Learning, Equivariance, Data Efficiency

Mobile Manipulator

PyBullet

Kinova Gen3

ZED 2

Not All Errors Are Made Equal: A Regret Metric for Detecting System-level Trajectory Prediction Failures

Kensuke Nakamura, Thomas Tian, Andrea Bajcsy

Carnegie Mellon University, UC Berkeley

https://cmu-intentlab.github.io/not-all-errors/

Poster

Yes

No

Human-Robot Interaction, Trajectory Prediction, Failure Detection

mobile

BITS

LoCoBot

realsense D455, RPLIDAR A2

Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning

Yixiao Wang, Yifei Zhang, Mingxiao Huo, Thomas Tian, Xiang Zhang, Yichen Xie, Chenfeng Xu, Pengliang Ji, Wei Zhan, Mingyu Ding, Masayoshi Tomizuka

University of California, UC Berkeley, Carnegie Mellon University

https://forrest-110.github.io/sparse_diffusion_policy/

Poster

Yes

No

Robot Policy, Multitask, Continual learning, Mixture of Experts

Arm

MimicGen

FANUC LRMate 200iD/7L

-

Scaling Safe Multi-Agent Control for Signal Temporal Logic Specifications

Joe Eappen, Zikang Xiong, Dipam Patel, Aniket Bera, Suresh Jagannathan

Purdue University

https://www.jeappen.com/mastl-gcbf-website/

Poster

Yes

Multi-Robot Systems, Path Planning for Multiple Mobile Robots or Agents, Collision Avoidance, Hybrid Logical/Dynamical Planning and Verification, Deep Learning Methods

multicopter

-

DJI Tello

-

Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions

Zhenyu Jiang, Yuqi Xie, Jinhan Li, Ye Yuan, Yifeng Zhu, Yuke Zhu

The University of Texas at Austin, NVIDIA Research

https://ut-austin-rpl.github.io/Harmon/

Poster

Yes

No

Humanoid Robot, Whole-Body Motion Generation

Humanoid

IsaacSim

Fourier GR1

-

Learning Differentiable Tensegrity Dynamics using Graph Neural Networks

Nelson Chen, Kun Wang, William R. Johson III, Rebecca Kramer-Bottiglio, Kostas Bekris, Mridul Aanjaneya

Rutgers University, Amazon Robotics, Yale University

https://github.com/nchen9191/tensegrity_gnn_simulator_public/tree/main/simulators

Poster

Yes

No

Yes

graph neural networks, differentiable simulation, tensegrity robots

Tensegrity

MuJoCo

-

DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies

William Xie, Maria Valentini, Jensen Lavering, Nikolaus Correll

University of Colorado at Boulder

https://deligrasp.github.io/

Poster

Yes

contact-rich manipulation, adaptive grasping, force control, produce manipulation

Gripper

-

Dynamixel AX-12

realsense D405

SoftManiSim: A Fast Simulation Framework for Multi-Segment Continuum Manipulators Tailored for Robot Learning

Mohammadreza Kasaei, Hamidreza Kasaei, Mohsen Khadem

University of Edinburgh, University of Groningen,

https://github.com/MohammadKasaei/SoftManiSim

Poster

Yes

No

Yes

Simulation Framework, Soft Robotics, Mathematical Modelling, Robot Learning

Continuum Manipulator

PyBullet

Self Created

-

Learning to Look: Seeking Information for Decision Making via Policy Factorization

Shivin Dass, Jiaheng Hu, Ben Abbatematteo, Peter Stone, Roberto Martín-Martín

The University of Texas at Austin, Sony AI

https://robin-lab.cs.utexas.edu/learning2look/

Poster

Yes

No

Active Vision, Manipulation, Interactive Perception

Mobile Manipulator

-

TIAGo

-

VIRL: Self-Supervised Visual Graph Inverse Reinforcement Learning

Lei Huang, Weijia Cai, Zihan Zhu, Chen Feng, Helge Rhodin, Zhengbo Zou

Columbia University, Brown University,New York University, University of British Columbia

https://leihhhuang.github.io/VIRL/

Poster

Yes

No

Inverse Reinforcement Learning, Learning from Video, Graph Network

Arm

MimicGen

xArm 6

realsense D435

Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction

Jakob Thumm, Christopher Agia, Marco Pavone, Matthias Althoff

Technical University of Munich, Stanford University

https://sites.google.com/view/text2interaction/

Poster

Yes

Human-Robot Interaction, Human Preference Learning, Task and Motion Planning, Safe Control

Arm

-

Franka Research 3

-

What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?

Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn, Karol Hausman

Stanford University, Google DeepMind

https://kayburns.github.io/segmentingfeatures/

Poster

Yes

representation learning, manipulation, visual features

Arm

franka kitchen, MetaWorld

-

Simple Masked Training Strategies Yield Control Policies That Are Robust to Sensor Failure

Skand Skand, Bikram Pandit, Chanho Kim, Li Fuxin, Stefan Lee

Oregon State University

https://pvskand.github.io/projects/RME

Poster

Yes

No

Reinforcement Learning, Robustness, Sensorimotor Learning

bipedal

ManiSkill2

Cassie

-

Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation

Tong Zhang, Yingdong Hu, Jiacheng You, Yang Gao

Tsinghua University, Shanghai Qi Zhi Institute, Shanghai Artificial Intelligence Laboratory

https://sgrv2-robot.github.io/

Poster

Yes

Robotic Manipulation, Sample Efficiency

Arm

CoppeliaSim

Franka Panda

realsense L515

Bimanual Dexterity for Complex Tasks

Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, Deepak Pathak

Carnegie Mellon University

https://bidex-teleop.github.io/

Poster

Yes

Dexterous Manipulation, Bimanual, Behavior Cloning

Bimanual Arm

-

XArm 6, LEAP Hand

Apple Vision Pro

Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance

Mitsuhiko Nakamoto, Oier Mees, Aviral Kumar, Sergey Levine

UC Berkeley, Carnegie Mellon University, Google DeepMind

https://nakamotoo.github.io/V-GPS/

Poster

Yes

No

generalist policies, value functions, robot reinforcement learning

Arm

SIMPLER

WindowX 250

-

MBC: Multi-Brain Collaborative Control for Quadruped Robots

Hang Liu, Yi Cheng, Rankun Li, Xiaowen Hu, Linqi Ye, Houde Liu

Tsinghua University, University of Michigan, Shanghai University

https://quad-mbc.github.io/

Poster

Yes

No

Quadruped Robots, Perception Fails, Multi-Brain Collaborative

quadruped

IsaacGym

Unitree go2

-

Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation

Vivek Myers, Chunyuan Zheng, Oier Mees, Kuan Fang, Sergey Levine

University of California, UC Berkeley

https://palo-website.github.io/

Poster

Yes

Reinforcement Learning, Vision-Language Models, Manipulation

Arm

-

WindowX 250

-

Trajectory Improvement and Reward Learning from Comparative Language Feedback

Zhaojing Yang, Miru Jun, Jeremy Tien, Stuart Russell, Anca Dragan, Erdem Biyik

University of Southern California, University of California, UC Berkeley

https://liralab.usc.edu/comparative-language-feedback/

Poster

Yes

Learning from Human Language Feedback, Reward Learning, Human-Robot Interaction

Arm

Robosuite, MetaWorld

WindowX 250

-

RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands

Yi Zhao, Le Chen, Jan Schneider, Quankai Gao, Juho Kannala, Bernhard Schölkopf, Joni Pajarinen, Dieter Büchler

Max Planck Institute for Intelligent Systems, Aalto University , University of Southern California , University of Oulu

https://rp1m.github.io/

Poster

Yes

Bi-manual dexterous robot hands, dataset for robot piano playing, imitation learning, robot learning at scale

Bimanual Arm

robopianist

-

Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior

Ruihan Yang, Zhuoqun Chen, Jianhan Ma, Chongyi Zheng, Yiyu Chen, Quan Nguyen, Xiaolong Wang

UC San Diego, Carnegie Mellon University, USC

https://rchalyang.github.io/VIM/

Poster

Yes

No

Legged Robots, Imitation Learning, Agile Locomotion

quadruped

WASABI(Isaac Gym)

unitree a1

-

Visual Manipulation with Legs

Xialin He, Chengjing Yuan, Wenxuan Zhou, Ruihan Yang, David Held, Xiaolong Wang

University of Illinois Urbana-Champaign, UC San Diego, Carnegie Mellon University

https://legged-manipulation.github.io/

Poster

Yes

No

Legged robots, Non-prehensile manipulation, Reinforcement Learning

quadruped

IsaacGym

unitree a1

-

Learning Visual Parkour from Generated Images

Alan Yu, Ge Yang, Ran Choi, Yajvan Ravan, John Leonard, Phillip Isola

MIT CSAIL, Institute of AI and Fundamental Interactions (IAIFI)

https://lucidsim.github.io/

Poster

Yes

Generative AI, Simulation, Legged Locomotion, Sensory Motor-learning

quadruped

MuJoCo

unitree go1

-

Q-SLAM: Quadric Representations for Monocular SLAM

Chensheng Peng, Chenfeng Xu, Yue Wang, Mingyu Ding, Heng Yang, Masayoshi Tomizuka, Kurt Keutzer, Marco Pavone, Wei Zhan

UC Berkeley, NVIDIA

-

Poster

Yes

No

Neural Radiance Fields, Simultaneous Localization and Mapping

Mobile

Replica,ScanNet,TUM RGB-D

-

Pre-emptive Action Revision by Environmental Feedback for Embodied Instruction Following Agents

Jinyeon Kim, Cheolhong Min, Byeonghwi Kim, Jonghyun Choi

Seoul National University, Yonsei University

https://pred-agent.github.io/

Poster

Yes

Replanning, Environmental Feedback, Brain plasticity, Embodied AI

Arm

ALFRED, TEACh

UR5, on-robot gripper

-

Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving

Kairui Ding, Boyuan Chen, Yuchen Su, Huan-ang Gao, Bu Jin, Chonghao Sima, Xiaohui Li, Wuqiang Zhang, Paul Barsch, Hongyang Li, Hao Zhao

Institute for AI Industry Research (AIR), Tsinghua University, Mercedes-Benz Group China Ltd. Xingjian College, Tsinghua University, OpenDriveLab, Shanghai AI Lab

https://air-discover.github.io/Hint-AD/

Poster

Yes

Interpretability, Language alignment, Autonomous driving

autonomus vehicle

nuScenes

-

TOP-Nav: Legged Navigation Integrating Terrain, Obstacle and Proprioception Estimation

Junli Ren, Yikai Liu, Yingru Dai, Junfeng Long, Guijin Wang

Department of Electronic Engineering,Tsinghua University,ShanghaiTech University

https://top-nav-legged.github.io/TOP-Nav-Legged-page/

Poster

Yes

No

Navigation, Task Planning, Reinforcement Learning

quadruped

IsaacGym

unitree go1,unitree go2

realsense D435i

OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto

New York University, Meta

https://open-teach.github.io/

Poster

Yes

Teleoperation, Robot Learning, Robotic Manipulation

Bimanual Arm

IsaacGym, LIBERO, Allegro Sim

Franka Panda, Allegro Hand, Kinova Jaco,xArm7, Hello Stretch

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Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope

Haodi Hu, Feifei Qian, Daniel Seita

University of Southern California

https://sites.google.com/view/grain-corl2024/home

Poster

Yes

Granular media, Avalanche dynamics, Legged robots.

quadruped

-

Self Created

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Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks

Jialiang Zhao, Yuxiang Ma, Lirui Wang, Edward Adelson

MIT CSAIL

https://t3.alanz.info/

Poster

Yes

Tactile Sensing, Representation Learning, Heterogeneous Learning, Robot Manipulation, Robot Learning

Arm

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Franka Panda, 3-axis CNC mill

GelSight, Digit