CoRL 2023 Workshop LEAP Submissions

Towards efficient and scalable planning: Learning search heuristics for multi-agent planning frameworks
Ashwin Misra, Viraj Parimi, Mansi Agarwal, Zachary B. Rubinstein, Stephen F Smith
- Published: 23 Oct 2023, Last Modified: 29 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Parameter-efficient Tuning of Pretrained Visual-Language Models in Multitask Robot Learning
Marcel Mittenbuehler, Ahmed Hendawy, Carlo D'Eramo, Georgia Chalvatzaki
- Published: 23 Oct 2023, Last Modified: 06 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
MP3: Movement Primitive-Based (Re-)Planning Policy
Hongyi Zhou, Fabian Otto, Onur Celik, Ge Li, Rudolf Lioutikov, Gerhard Neumann
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation
Sourav Garg, Krishan Rana, Mehdi Hosseinzadeh, Lachlan Mares, Niko Suenderhauf, Feras Dayoub, Ian Reid
- Published: 23 Oct 2023, Last Modified: 27 Oct 2023
- CoRL23-WS-LEAP Oral
- Readers: Everyone
Imagined Subgoals for Hierarchical Goal-Conditioned Policies
Xuhui Kang, Wenqian Ye, Yen-Ling Kuo
- Published: 23 Oct 2023, Last Modified: 01 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Yewon Lee, Yizhou Huang, Krishna Murthy Jatavallabhula, Andrew Zou Li, Fabian Damken, Eric Heiden, Kevin A. Smith, Derek Nowrouzezahrai, Fabio Ramos, Florian Shkurti
- Published: 23 Oct 2023, Last Modified: 05 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Subgoal Proposition Using a Vision-Language Model
Jianhai Su, Qi Zhang
- Published: 23 Oct 2023, Last Modified: 25 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Obtaining Hierarchy from Human Instructions: an LLMs-based Approach
Xusheng Luo, Shaojun Xu, Changliu Liu
- Published: 23 Oct 2023, Last Modified: 05 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
COPlanner: Plan to Roll Out Conservatively but to Explore Optimistically for Model-Based RL
Xiyao Wang, Ruijie Zheng, Yanchao Sun, Ruonan Jia, Wichayaporn Wongkamjan, Huazhe Xu, Furong Huang
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
Xiaolin Fang, Caelan Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Kaelbling, Dieter Fox
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Lifelong Robot Learning with Human Assisted Language Planners
Meenal Parakh, Alisha Fong, Anthony Simeonov, Tao Chen, Abhishek Gupta, Pulkit Agrawal
- Published: 23 Oct 2023, Last Modified: 24 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Universal Visual Decomposer: Long-Horizon Manipulation Made Easy
Zichen Zhang, Yunshuang Li, Osbert Bastani, Abhishek Gupta, Dinesh Jayaraman, Yecheng Jason Ma, Luca Weihs
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Oral
- Readers: Everyone
Agent-Centric State Discovery for Finite-Memory POMDPs
Lili Wu, Ben Evans, Riashat Islam, Raihan Seraj, Yonathan Efroni, Alex Lamb
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Exploiting MDP Symmetries for Offline Reinforcement Learning
Jinzhu Luo, Qi Zhang
- Published: 23 Oct 2023, Last Modified: 02 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Skill Transfer for Temporal Task Specification
Jason Liu, Ankit Shah, Eric Rosen, Mingxi Jia, George Konidaris, Stefanie Tellex
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Tasks
Murtaza Dalal, Tarun Chiruvolu, Devendra Singh Chaplot, Ruslan Salakhutdinov
- Published: 23 Oct 2023, Last Modified: 02 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
SceneScore: Learning a Cost Function for Object Arrangement
Ivan Kapelyukh, Edward Johns
- Published: 23 Oct 2023, Last Modified: 05 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play
Lili Chen, Shikhar Bahl, Deepak Pathak
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
- Published: 23 Oct 2023, Last Modified: 02 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Learning Orbitally Stable Systems for Diagrammatic Teaching
Weiming Zhi, Kangni Liu, Tianyi Zhang, Matthew Johnson-Roberson
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
Zero-Shot Option Invention for Robot Planning Under Uncertainty
Naman Shah, Siddharth Srivastava
- Published: 23 Oct 2023, Last Modified: 03 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
SCALE: Causal Learning and Discovery of Robot Manipulation Skills using Simulation
Tabitha Edith Lee, Shivam Vats, Siddharth Girdhar, Oliver Kroemer
- Published: 23 Oct 2023, Last Modified: 04 Nov 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning
Jianlan Luo, Charles Xu, Liam Tan, Jeffrey Wu, Zipeng Lin, Sergey Levine
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone
NOD-TAMP: Multi-Step Manipulation Planning with Neural Object Descriptors
Shuo Cheng, Caelan Reed Garrett, Ajay Mandlekar, Danfei Xu
- Published: 23 Oct 2023, Last Modified: 02 Nov 2023
- CoRL23-WS-LEAP Oral
- Readers: Everyone
ReorientDiff : Diffusion Model based Reorientation for Object Manipulation
Utkarsh Mishra, Yongxin Chen
- Published: 23 Oct 2023, Last Modified: 23 Oct 2023
- CoRL23-WS-LEAP Poster
- Readers: Everyone