CoRL 2024 Workshop LEAP Submissions

Efficient long-horizon planning and learning for locomotion and object manipulation
Victor Dhédin, Huaijiang Zhu, Ludovic Righetti, Majid Khadiv
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
Elie Aljalbout, Felix Frank, Maximilian Karl, Patrick van der Smagt
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulation
Peiqi Liu, Zhanqiu Guo, Mohit Warke, Soumith Chintala, Chris Paxton, Nur Muhammad Mahi Shafiullah, Lerrel Pinto
- Published: 24 Oct 2024, Last Modified: 12 Nov 2024
- LEAP 2024 Oral
- Readers: Everyone
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Wenlong Huang, Chen Wang, Yunzhu Li, Ruohan Zhang, Li Fei-Fei
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Oral
- Readers: Everyone
Language Models can Infer Action Semantics for Symbolic Planners from Environment Feedback
Wang Bill Zhu, Ishika Singh, Robin Jia, Jesse Thomason
- Published: 24 Oct 2024, Last Modified: 19 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Local Policies Enable Zero-shot Long-horizon Manipulation
Murtaza Dalal, Min Liu, Walter Talbott, Chen Chen, Deepak Pathak, Jian Zhang, Russ Salakhutdinov
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Oral
- Readers: Everyone
Learning Compositional Behaviors from Demonstration and Language
Weiyu Liu, Neil Nie, Jiayuan Mao, Ruohan Zhang, Jiajun Wu
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Oral
- Readers: Everyone
FLIP: Flow-Centric Generative Planning for General-Purpose Manipulation Tasks
Chongkai Gao, Haozhuo Zhang, Zhixuan Xu, Cai Zhehao, Lin Shao
- Published: 24 Oct 2024, Last Modified: 08 Nov 2024
- LEAP 2024 Oral
- Readers: Everyone
ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter
Yaoyao Qian, Xupeng Zhu, Ondrej Biza, Shuo Jiang, Linfeng Zhao, Haojie Huang, Yu Qi, Robert Platt
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Environment as Policy: Learning to Race in Unseen Tracks
Hongze Wang, Jiaxu Xing, Nico Messikommer, Davide Scaramuzza
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight
Jiaxu Xing, Leonard Bauersfeld, Yunlong Song, Chunwei Xing, Davide Scaramuzza
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments
Haritheja Etukuru, Norihito Naka, Zijin Hu, Seungjae Lee, Chris Paxton, Soumith Chintala, Lerrel Pinto, Nur Muhammad Mahi Shafiullah
- Published: 24 Oct 2024, Last Modified: 18 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
LTL-Transfer: Skill Transfer for Temporal Task Specification
Jason Xinyu Liu, Ankit Shah, Eric Rosen, Mingxi Jia, George Konidaris, Stefanie Tellex
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Representing Positional Information in Generative World Models for Object Manipulation
Stefano Ferraro, Pietro Mazzaglia, Tim Verbelen, Bart Dhoedt, Sai Rajeswar
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
MotIF: Motion Instruction Fine-tuning
Minyoung Hwang, Joey Hejna, Dorsa Sadigh, Yonatan Bisk
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Learning Contact-rich Abstractions using Tensor Factorization
Teng Xue, Amirreza Razmjoo, Suhan Shetty, Sylvain Calinon
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Sequential Object-Centric Relative Placement Prediction for Long-horizon Imitation Learning
Ben Eisner, Eric Cai, Octavian Donca, Teeratham Vitchutripop, David Held
- Published: 24 Oct 2024, Last Modified: 24 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
One-Shot Manipulation Strategy Learning by Making Contact Analogies
Yuyao Liu, Jiayuan Mao, Joshua B. Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling
- Published: 24 Oct 2024, Last Modified: 15 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Constrained Latent Action Policies for Model-Based Offline Reinforcement Learning
Marvin Alles, Philip Becker-Ehmck, Patrick van der Smagt, Maximilian Karl
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Say-REAPEx: An LLM-Modulo UAV Online Planning Framework for Search and Rescue
Björn Döschl, Jane Jean Kiam
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics
Yixuan Huang, Christopher Agia, Jimmy Wu, Tucker Hermans, Jeannette Bohg
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Oral
- Readers: Everyone
Neural MP: A Generalist Neural Motion Planner
Murtaza Dalal, Jiahui Yang, Russell Mendonca, Youssef Khaky, Russ Salakhutdinov, Deepak Pathak
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models
Yuchen Liu, Luigi Palmieri, Ilche Georgievski, Marco Aiello
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Oral
- Readers: Everyone
Safe Multi-Agent Navigation guided by Goal-Conditioned Safe Reinforcement Learning
Meng Feng, Viraj Parimi, Brian C. Williams
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone