CoRL 2024 Workshop LFDM Submissions

Object-Centric Dexterous Manipulation from Human Motion Data
Yuanpei Chen, Chen Wang, Yaodong Yang, Karen Liu
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks
Janis Lenz, Theo Gruner, Daniel Palenicek, Tim Schneider, Inga Pfenning, Jan Peters
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
ATK: Automatic Task-driven Keypoint selection for Policy Transfer from Simulation to Real World
Yunchu Zhang, Zhengyu Zhang, Liyiming Ke, Siddhartha Srinivasa, Abhishek Gupta
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning
Zhen Zhang, Xiangyu Chu, TANG Yunxi, K. W. Samuel Au
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Bimanual Dexterity for Complex Tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Muxin Liu, Haoyu Xiong, Russell Mendonca, Deepak Pathak
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
Zhenyu Jiang, Yuqi Xie, Kevin Lin, Zhenjia Xu, Weikang Wan, Ajay Mandlekar, Linxi Fan, Yuke Zhu
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
DROP: Dexterous Reorientation via Online Planning
Albert H. Li, Preston Culbertson, Vince Kurtz, Aaron Ames
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
GeoMatch++: Morphology Conditioned Geometry Matching for Multi-Embodiment Grasping
Yunze Wei, Maria Attarian, Igor Gilitschenski
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
TacEx: GelSight Tactile Simulation in Isaac Sim – Combining Soft-Body and Visuotactile Simulators
Duc Huy Nguyen, Guillaume Duret, Tim Schneider, Alap Kshirsagar, Boris Belousov, Jan Peters
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Probabilistic Contact Mode Planning for Multi-Finger Manipulation using Diffusion Models
Thomas Power, Abhinav Kumar, Fan Yang, Sergio Francisco Aguilera Marinovic, Soshi Iba, Rana Soltani Zarrin, Dmitry Berenson
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
MILES: Making Imitation Learning Easy with Self-Supervision
Georgios Papagiannis, Edward Johns
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Diffusion Policy Policy Optimization
Allen Z. Ren, Justin Lidard, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Diff-HySAC: Diffusion-Based Hybrid Soft Actor-Critic for 6D Non-Prehensile Manipulation
Huy Le, Miroslav Gabriel, Tai Hoang, Gerhard Neumann, Vien Anh Ngo
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Learning to Accurately Throw Paper Planes
Marcus Kornmann, Qimeng He, Alap Kshirsagar, Kai Ploeger, Jan Peters
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
Max Yang, chenghua lu, Alex Church, Yijiong Lin, Christopher J. Ford, Haoran Li, Efi Psomopoulou, David A.W. Barton, Nathan F. Lepora
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Decomposing the Configuration of an Articulated Object via Graph Neural Network
Seunghyeon Lim, Kisung Shin, Nakul Gopalan, Jun Ki Lee, Byoung-Tak Zhang
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Catch It! Learning to Catch in Flight with Mobile Dexterous Hands
Yuanhang Zhang, Tianhai Liang, Zhenyang Chen, Yanjie Ze, Huazhe Xu
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
DexiTac: Soft Dexterous Tactile Gripping
chenghua lu, Kailuan Tang, Max Yang, Haoran Li, Tianqi Yue, Nathan F. Lepora
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control
Tan-Dzung Do, Gireesh Nandiraju, Jilong Wang, He Wang
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation
Zhaoliang Wan, Zida Zhou, YANGZEHUI, Hao Ding, Senlin Yi, Zetong Bi, Hui Cheng
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, Yunzhu Li
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control
Zichen Jeff Cui, Hengkai Pan, Aadhithya Iyer, Siddhant Haldar, Lerrel Pinto
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
From Imitation to Refinement – Residual RL for Precise Visual Assembly
Lars Lien Ankile, Anthony Simeonov, Idan Shenfeld, Marcel Torne Villasevil, Pulkit Agrawal
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone
The Role of Action Abstractions in Robot Manipulation Learning and Sim-to-Real Transfer
Elie Aljalbout, Felix Frank, Maximilian Karl, Patrick van der Smagt
- Published: 26 Oct 2024, Last Modified: 10 Nov 2024
- LFDM
- Readers: Everyone