Robotics: Science and Systems 2024 Conference Logo

Accepted Papers


The overview of the conference program is available [here]. Please refer to the conference program for additional information. Check the list of paper sessions [here].

ID Session Title Authors
1 Perception and Navigation Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation Pascal Roth, Jonas Frey, Cesar Cadena, Marco Hutter
2 Perception and Navigation Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid Parv Kapoor, Ian Higgins, Nikhil Varma Keetha, Jay Patrikar, Brady Moon, Zelin Ye, Yao He, Ivan Cisneros, Changliu Liu, Eunsuk Kang, Sebastian Scherer
3 Perception and Navigation Self-supervised Multi-future Occupancy Forecasting for Autonomous Driving Bernard Lange, Masha Itkina, Jiachen Li, Mykel Kochenderfer
4 Perception and Navigation MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction Yulun Tian, Hanwen Cao, Sunghwan Kim, Nikolay Atanasov
5 Perception and Navigation Doppler Correspondence: Non-Iterative Scan Matching With Doppler Velocity-Based Correspondence Jiwoo Kim, Geunsik Bae, Changseung Kim, Jinwoo Lee, Woojae Shin, Hyondong Oh
6 Perception and Navigation DRO: Doppler-Aware Direct Radar Odometry with Gyroscope Cedric Le Gentil, Leonardo Brizi, Daniil Lisus, Xinyuan Qiao, Giorgio Grisetti, Timothy Barfoot
7 Perception and Navigation Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift Devansh R. Agrawal, Rajiv Govindjee, Taekyung Kim, Trushant Adeshara, Jiangbo Yu, Anurekha Ravikumar, Dimitra Panagou
8 Perception and Navigation Kinodynamic Trajectory Following with STELA: Simultaneous Trajectory Estimation & Local Adaptation Edgar Granados, Sumanth Tangirala, Kostas Bekris
9 Perception and Navigation Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics Ben Liu, Tzu-Yuan Lin, Wei Zhang, Maani Ghaffari
10 VLA Models π₀: A Vision-Language-Action Flow Model for General Robot Control Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Robert Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Lucy Xiaoyang Shi, 
11 VLA Models SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Models Delin Qu, Haoming Song, Qizhi Chen, Yuanqi Yao, Xinyi Ye, Jiayuan Gu, Zhigang Wang, Yan Ding, Bin Zhao, Dong Wang, Xuelong Li
12 VLA Models FAST: Efficient Action Tokenization for Vision-Language-Action Models Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, Sergey Levine
13 VLA Models Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang, He Wang
14 VLA Models Learning to Act Anywhere with Task-centric Latent Actions Qingwen Bu, Yanting Yang, Jisong Cai, Shenyuan Gao, Guanghui Ren, Maoqing Yao, Ping Luo, Hongyang Li
15 VLA Models Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets Chuning Zhu, Raymond Yu, Siyuan Feng, Benjamin Burchfiel, Paarth Shah, Abhishek Gupta
16 VLA Models CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language Supervision Gi-Cheon Kang, Junghyun Kim, Kyuhwan Shim, Jun Ki Lee, Byoung-Tak Zhang
17 VLA Models Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success Moo Jin Kim, Chelsea Finn, Percy Liang
18 VLA Models NaVILA: Legged Robot Vision-Language-Action Model for Navigation An-Chieh Cheng, Yandong Ji, Zhaojing Yang, Zaitian Gongye, Xueyan Zou, Jan Kautz, Erdem Biyik, Hongxu Yin, Sifei Liu, Xiaolong Wang
19 VLA Models ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy Yuhui Chen, Shuai Tian, Shugao Liu, Yingting Zhou, Haoran Li, Dongbin Zhao
20 Scaling Robot Learning Demonstrating MuJoCo Playground Kevin Zakka, Baruch Tabanpour, Qiayuan Liao, Mustafa Haiderbhai, Samuel Holt, Jing Yuan Luo, Arthur Allshire, Erik Frey, Koushil Sreenath, Lueder Alexander Kahrs, Carmelo Sferrazza, Yuval Tassa, Pieter Abbeel
21 Scaling Robot Learning Demonstrating GPU Parallelized Robot Simulation and Rendering for Generalizable Embodied AI with ManiSkill3 Stone Tao, Fanbo Xiang, Arth Shukla, Yuzhe Qin, Xander Hinrichsen, Xiaodi Yuan, Chen Bao, Xinsong Lin, Yulin Liu, Tse-Kai Chan, Yuan Gao, Xuanlin Li, Tongzhou Mu, Nan Xiao, Arnav Gurha, Viswesh N., Yong Woo Choi, Yen-Ru Chen, Zhiao Huang, Roberto 
22 Scaling Robot Learning RoboVerse: A Unified Platform, Benchmark and Dataset for Scalable and Generalizable Robot Learning Haoran Geng, Feishi Wang, Songlin Wei, Yuyang Li, Bangjun Wang, Boshi An, Haozhe Lou, Charlie Tianyue Cheng, Peihao Li, Haozhe Chen, Yutong Liang, Yuxi Qian, Jiageng Mao, Weikang Wan, Yiran Geng, Mingtong Zhang, Jiangran Lyu, Siheng Zhao, Jiazhao Zhang, Chaoyi 
23 Scaling Robot Learning Robot Data Curation with Mutual Information Estimators Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna, Annie Xie, Ayzaan Wahid, Jonathan Tompson, Pannag R. Sanketi, Dhruv Shah, Coline Manon Devin, Dorsa Sadigh
24 Scaling Robot Learning Coherance-based Approximate Derivatives via Web of Affine Spaces Optimization Daniel Rakita, Chen Liang, Qian Wang
25 Scaling Robot Learning Robot Learning with Super-Linear Scaling Marcel Torne Villasevil, Arhan Jain, Jiayi Yuan, Vidyaaranya Macha, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Abhishek Gupta
26 Scaling Robot Learning Action Flow Matching for Lifelong Learning Alejandro Murillo-González, Lantao Liu
27 Scaling Robot Learning Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL Songyuan Zhang, Oswin So, Mitchell Black, Zachary Serlin, Chuchu Fan
28 Scaling Robot Learning RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning Charles Xu, Qiyang Li, Jianlan Luo, Sergey Levine
29 Perception ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization Mason Peterson, Yixuan Jia, Yulun Tian, Annika Thomas, Jonathan P. How
30 Perception GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction Yuhan Xie, Yixi Cai, Yinqiang Zhang, Lei Yang, Jia Pan
31 Perception LiDAR Registration with Visual Foundation Models Niclas Vödisch, Giovanni Cioffi, Marco Cannici, Wolfram Burgard, Davide Scaramuzza
32 Perception Building Rome with Convex Optimization Haoyu Han, Heng Yang
33 Perception Demonstrating MOSART: Opening Articulated Structures in the Real World Arjun Gupta, Michelle Zhang, Rishik Sathua, Saurabh Gupta
34 Perception Vysics: Object Reconstruction Under Occlusion by Fusing Vision and Contact-Rich Physics Bibit Bianchini, Minghan Zhu, Mengti Sun, Bowen Jiang, Camillo Jose Taylor, Michael Posa
35 Perception Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulations Jeongho Ha, Minseok Song, Bonggyeong Park, Daehyung Park
36 Perception Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li
37 Perception V-HOP: Visuo-Haptic 6D Object Pose Tracking Hongyu Li, Mingxi Jia, Mete Tuluhan Akbulut, Yu Xiang, George Konidaris, Srinath Sridhar
38 Perception Joint State and Noise Covariance Estimation Kasra Khosoussi, Iman Shames
39 Perception Map Space Belief Prediction for Manipulation-Enhanced Mapping Joao Marcos Correia Marques, Nils Dengler, Jesper Mücke, Tobias Zaenker, Shenlong Wang, Maren Bennewitz, Kris Hauser
40 Perception PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map Yue Pan, Xingguang Zhong, Liren Jin, Louis Wiesmann, Marija Popovic, Jens Behley, Cyrill Stachniss
41 Perception RAMEN: Real-time Asynchronous Multi-agent Neural Implicit Mapping Hongrui Zhao, Boris Ivanovic, Negar Mehr
42 Perception RoboPanoptes: The All-Seeing Robot with Whole-body Dexterity Xiaomeng Xu, Dominik Bauer, Shuran Song
43 Planning Bilevel Learning for Bilevel Planning Bowen Li, Tom Silver, Sebastian Scherer, Alexander G. Gray
44 Planning A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex Sets Tobia Marcucci, Mathew Halm, William Yang, Dongchan Lee, Andrew Marchese
45 Planning Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning Peter Werner, Richard Cheng, Tom Stewart, Russ Tedrake, Daniela Rus
46 Planning Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations Shucheng Kang, Guorui Liu, Heng Yang
47 Planning On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning Yulin Li, Haoyu Han, Shucheng Kang, Jun Ma, Heng Yang
48 Planning Effective Sampling for Robot Motion Planning Through the Lens of Lattices Itai Panasoff, Kiril Solovey
49 Planning Efficient Hierarchical Any-Angle Path Planning on Multi-Resolution 3D Grids Victor Reijgwart, Cesar Cadena, Roland Siegwart, Lionel Ott
50 Planning Differentiable GPU-Parallelized Task and Motion Planning William Shen, Caelan Reed Garrett, Nishanth Kumar, Ankit Goyal, Tucker Hermans, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Fabio Ramos
51 Planning Flow Matching Ergodic Coverage Max Muchen Sun, Allison Pinosky, Todd Murphey
52 Manipulation I Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Fang Yuan, Guoying Gu, Huazhe Xu, Cewu Lu
53 Manipulation I Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang, H.j. Terry Suh, Tong Zhao, Bernhard Paus Graesdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake
54 Manipulation I ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation Jayjun Lee, Nima Fazeli
55 Manipulation I Design of a low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation Jaehyung Kim, Jiho Kim, Dongryung Lee, Yujin Jang, Beomjoon Kim
56 Manipulation I PP-Tac: Paper Picking Using Omnidirectional Tactile Feedback in Dexterous Robotic Hands Pei Lin, Yuzhe Huang, Jianpeng Ma, Chenxi Xiao, Wanlin Li, Ziyuan Jiao
57 Manipulation I GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty Sirui Chen, Sergio Francisco Aguilera Marinovic, Soshi Iba, Rana Soltani Zarrin
58 Manipulation I Demonstrating the Octopi-1.5 Visual-Tactile-Language Model Samson Yu, Lin Kelvin, Harold Soh
59 Manipulation I Demonstrating REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly Daniel Sliwowski, Shail Jadav, Sergej Stanovcic, Jędrzej Orbik, Johannes Heidersberger, Dongheui Lee
60 Manipulation I Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang
61 Humanoids AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control Jialong Li, Xuxin Cheng, Tianshu Huang, Shiqi Yang, Ri-Zhao Qiu, Xiaolong Wang
62 Humanoids Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot Yufeng Chi, Qiayuan Liao, Junfeng Long, Xiaoyu Huang, Sophia Shao, Borivoje Nikolic, Zhongyu Li, Koushil Sreenath
63 Humanoids Learning Getting-Up Policies for Real-World Humanoid Robots Xialin He, Runpei Dong, Zixuan Chen, Saurabh Gupta
64 Humanoids Learning Humanoid Standing-up Control across Diverse Postures Tao Huang, Junli Ren, Huayi Wang, Zirui Wang, Qingwei Ben, Muning Wen, Xiao Chen, Jianan Li, Jiangmiao Pang
65 Humanoids LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning Yiyang Shao, Bike Zhang, Qiayuan Liao, Xiaoyu Huang, Yuman Gao, Yufeng Chi, Zhongyu Li, Sophia Shao, Koushil Sreenath
66 Humanoids ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbabu, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica K. Hodgins, Linxi Fan, Yuke Zhu, Changliu Liu, Guanya Shi
67 Humanoids A Unified and General Humanoid Whole-Body Controller for Fine-Grained Locomotion Yufei Xue, Wentao Dong, Minghuan Liu, Weinan Zhang, Jiangmiao Pang
68 Humanoids BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds Huayi Wang, Zirui Wang, Junli Ren, Qingwei Ben, Tao Huang, Weinan Zhang, Jiangmiao Pang
69 Humanoids Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains Junheng Li, Ziwei Duan, Junchao Ma, Quan Nguyen
70 Humanoids HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit Qingwei Ben, Feiyu Jia, Jia Zeng, Junting Dong, Dahua Lin, Jiangmiao Pang
71 Imitation Learning I Curating Demonstrations using Online Experience Annie S. Chen, Alec M. Lessing, Yuejiang Liu, Chelsea Finn
72 Imitation Learning I CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity Guang Yin, Yitong Li, Yixuan Wang, Dale Mcconachie, Paarth Shah, Kunimatsu Hashimoto, Huan Zhang, Katherine Liu, Yunzhu Li
73 Imitation Learning I Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies Chen Xu, Tony Khuong Nguyen, Emma Dixon, Christopher Rodriguez, Patrick Miller, Robert Lee, Paarth Shah, Rares Andrei Ambrus, Haruki Nishimura, Masha Itkina
74 Imitation Learning I Unified Video Action Model Shuang Li, Yihuai Gao, Dorsa Sadigh, Shuran Song
75 Imitation Learning I DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies Tony Tao, Mohan Kumar Srirama, Jason Jingzhou Liu, Kenneth Shaw, Deepak Pathak
76 Imitation Learning I From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment Yilin Wu, Thomas Tian, Gokul Swamy, Andrea Bajcsy
77 Imitation Learning I Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping David Snyder, Asher James Hancock, Apurva Badithela, Emma Dixon, Patrick Miller, Rares Andrei Ambrus, Anirudha Majumdar, Masha Itkina, Haruki Nishimura
78 Imitation Learning I DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier, Kanghyun Ryu, Qiayuan Liao, Koushil Sreenath, Negar Mehr
79 Imitation Learning I FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning Jason Jingzhou Liu, Yulong Li, Kenneth Shaw, Tony Tao, Russ Salakhutdinov, Deepak Pathak
80 HRI Morpheus: A Neural-driven Animatronic Face with Hybrid Actuation and Diverse Emotion Control Zongzheng Zhang, Jiawen Yang, Ziqiao Peng, Meng Yang, Jianzhu Ma, Lin Cheng, Huazhe Xu, Hang Zhao, Hao Zhao
81 HRI Interface-level Intent Inference for Environment-agnostic Robot Teleoperation Assistance Larisa Y.c. Loke, Brenna Argall
82 HRI Sense and Sensibility: What makes an social robot convincing to high-school students? Pablo Gonzalez-Oliveras, Olov Engwall, Ali Reza Majlesi
83 HRI FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song, Yuting Yang, Ziang Liu, Benjamin Howe, Aimee Whitneck, Tapomayukh Bhattacharjee
84 HRI Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue, Gentiane Venture
85 HRI Users and Wizards in Conversations: How WoZ Interface Choices Define Human-Robot Interactions Ekaterina Torubarova, Jura Miniotaite, Andre Pereira
86 HRI Demonstrating Shared Force-Language Embeddings for Natural Human-Robot Communication Ravi Tejwani, Karl Angel Velazquez, John Payne, Paolo Bonato, Haruhiko Asada
87 HRI Optimal Interactive Learning on the Job via Facility Location Planning Shivam Vats, Michelle D. Zhao, Patrick Callaghan, Mingxi Jia, Maxim Likhachev, Oliver Kroemer, George Konidaris
88 HRI A Robot-Assisted Approach to Small Talk Training for Adults with ASD Rebecca Ramnauth, Dražen Brščić, Brian Scassellati
89 HRI Interruption Handling for Conversational Robots Shiye Cao, Jiwon Moon, Amama Mahmood, Victor Nikhil Antony, Ziang Xiao, Anqi Liu, Chien-Ming Huang
90 HRI ASTRID: A Robotic Tutor for Nurse Training to Reduce Healthcare-Associated Infections Peizhu Qian, Filip Bajraktari, Carlos Quintero-Pena, Qingxi Meng, Shannan Hamlin, Lydia E. Kavraki, Vaibhav V. Unhelkar
91 HRI Towards Uncertainty Unification: A Case Study for Preference Learning Shaoting Peng, Haonan Chen, Katherine Rose Driggs-Campbell
92 HRI Demonstrating Arena 5.0: A Photorealistic ROS2 Simulation Framework for Developing and Benchmarking Social Navigation Linh Kästner, Volodymyr Shcherbyna, Harold Soh, Giang Nguyen Huu Truong, Do Duc Anh, Ton Manh Kien, Tim Seeger, Ahmed Martban, Vu Thanh Lam, Nguyen Quoc Hung, Pham Thai Hoang Tung, Tran Dang An, Eva Wiese, Maximilian Ho-Kyoung Schreff
93 HRI Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports Donggeon David Oh, Justin Lidard, Haimin Hu, Himani Sinhmar, Elle Lazarski, Deepak Edakkattil Gopinath, Emily Sumner, Jonathan Decastro, Guy Rosman, Naomi Leonard, Jaime Fernández Fisac
94 Multi-Robot Systems Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety Jasmine Jerry Aloor, Jason Jangho Choi, Jingqi Li, Maria G. Mendoza, Hamsa Balakrishnan, Claire Tomlin
95 Multi-Robot Systems FERMI: Flexible Radio Mapping with a Hybrid Propagation Model and Scalable Autonomous Data Collection Yiming Luo, Yunfei Wang, Hongming Chen, Chengkai Wu, Ximin Lyu, Jinni Zhou, Jun Ma, Fu Zhang, Boyu Zhou
96 Multi-Robot Systems Online Competitive Information Gathering for Partially Observable Trajectory Games Mel Krusniak, Hang Xu, Forrest John Laine
97 Multi-Robot Systems Collaborative Object Transportation in Space via Impact Interactions Joris Verhagen, Jana Tumova
98 Multi-Robot Systems APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly Philip Huang, Ruixuan Liu, Shobhit Aggarwal, Changliu Liu, Jiaoyang Li
99 Multi-Robot Systems Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems Zhongqi Wei, Xusheng Luo, Changliu Liu
100 Multi-Robot Systems A Probabilistic Measure of Multi-Robot Connectivity and Ergodic Optimal Control Yongce Liu, Zhongqiang Ren
101 Multi-Robot Systems How to Coordinate UAVs and UGVs for Efficient Mission Planning? Optimizing Energy-Constrained Cooperative Routing with a DRL Framework Mohammad Safwan Mondal, Subramanian Ramasamy, Pranav Bhounsule
102 Multi-Robot Systems Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems Anoop Kiran, Nora Ayanian, Kenneth Breuer
103 Manipulation II DexterityGen: Foundation Controller for Unprecedented Dexterity Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Robert Hogan, Chaithanya Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
104 Manipulation II DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu
105 Manipulation II Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen, Yubin Ke, Lin Peng, He Wang
106 Manipulation II Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation Jianglong Ye, Keyi Wang, Chengjing Yuan, Ruihan Yang, Yiquan Li, Jiyue Zhu, Yuzhe Qin, Xueyan Zou, Xiaolong Wang
107 Manipulation II Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success Che Wang, Jeroen Vanbaar, Chaitanya Mitash, Shuai Li, Dylan Randle, Weiyao Wang, Sumedh Anand Sontakke, Kostas Bekris, Kapil Katyal
108 Manipulation II Vib2Move: In-hand Object Reconfiguration via Fingertip Micro-vibrations Xili Yi, Nima Fazeli
109 Manipulation II Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen, Soroush Nasiriany, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, Scott Reed, Ken Goldberg, Ajay Mandlekar, Linxi Fan, Yuke Zhu
110 Manipulation II CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World Yankai Fu, Ning Chen, Qiuxuan Feng, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang
111 Manipulation II Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation Wanxin Jin
112 Control and Dynamics Safe Beyond the Horizon: Efficient Sampling-based MPC with Neural Control Barrier Functions Ji Yin, Oswin So, Eric Yang Yu, Chuchu Fan, Panagiotis Tsiotras
113 Control and Dynamics Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson’s Equation Gilbert Bahati, Ryan M. Bena, Aaron Ames
114 Control and Dynamics Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis Zeyuan Feng, Le Qiu, Somil Bansal
115 Control and Dynamics Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey Julius Jankowski, Ante Marić, Puze Liu, Davide Tateo, Jan Peters, Sylvain Calinon
116 Control and Dynamics Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking Pratik Kunapuli, Jake Welde, Dinesh Jayaraman, Vijay Kumar
117 Control and Dynamics A Generic Continuous Multi-Joint Spinal Robotic System for Agile and Accurate Behaviors with GNN-MPC method Ying Wu, Zida Zhou, Renmingliu, Lanxiang Zheng, Hui Cheng
118 Control and Dynamics Behavior Synthesis via Contact-Aware Fisher Information Maximization Hrishikesh Sathyanarayan, Ian Abraham
119 Control and Dynamics Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator Yanhao Yang, Ross Hatton
120 Control and Dynamics Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng, Tzu-Yuan Lin, William A. Clark, Ram Vasudevan, Maani Ghaffari
121 Control and Dynamics Provably-Safe, Online System Identification Bohao Zhang, Zichang Zhou, Ram Vasudevan
122 Mobile Manipulation and Locomotion Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining Yaru Niu, Yunzhe Zhang, Mingyang Yu, Changyi Lin, Chenhao Li, Yikai Wang, Yuxiang Yang, Wenhao Yu, Tingnan Zhang, Zhenzhen Li, Jonathan Francis, Bingqing Chen, Jie Tan, Ding Zhao
123 Mobile Manipulation and Locomotion Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning Arthicha Srisuchinnawong, Poramate Manoonpong
124 Mobile Manipulation and Locomotion SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning Li Peizhuo, Hongyi Li, Ge Sun, Jin Cheng, Xinrong Yang, Guillaume Bellegarda, Milad Shafiee Ashtiani, Yuhong Cao, Auke Ijspeert, Guillaume Adrien Sartoretti
125 Mobile Manipulation and Locomotion Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey, Gabriel B. Margolis, Martin Peticco, Pulkit Agrawal
126 Mobile Manipulation and Locomotion Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties Shipeng Liu, Jiaze Tang, Siyuan Meng, Feifei Qian
127 Mobile Manipulation and Locomotion Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu, Sangli Teng, Ben Liu, Wei Zhang, Maani Ghaffari
128 Mobile Manipulation and Locomotion SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile Manipulation Arpit Bahety, Arnav Balaji, Ben Abbatematteo, Roberto Martín-Martín
129 Mobile Manipulation and Locomotion DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks Zijie Zheng, Zeshun Li, Yunpeng Wang, Qinghongbing Xie, Long Zeng
130 Mobile Manipulation and Locomotion Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning Guanqi He, Xiaofeng Guo, Luyi Tang, Yuanhang Zhang, Mohammadreza Mousaei, Jiahe Xu, Junyi Geng, Sebastian Scherer, Guanya Shi
131 Robot Design RUKA: Rethinking the Design of Humanoid Hands with Learning Anya Zorin, Irmak Guzey, Nikhil X. Bhattasali, Lerrel Pinto
132 Robot Design Demonstrating LEAP Hand V3: Low-Cost, Easy-to-Assemble, High-Performance Hand for Robot Learning Kenneth Shaw, Deepak Pathak
133 Robot Design Tactile sensing enables vertical obstacle negotiation for elongate many-legged robots Juntao He, Baxi Chong, Massimiliano Iaschi, Vincent R. Nienhusser, Sehoon Ha, Daniel Goldman
134 Robot Design Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter
135 Robot Design emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands Sagar Verma
136 Navigation CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidance Arthur Zhang, Harshit Sikchi, Joydeep Biswas, Amy Zhang
137 Navigation Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis Kensuke Nakamura, Lasse Peters, Andrea Bajcsy
138 Navigation Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain Tong Xu, Chenhui Pan, Madhan B. Rao, Aniket Datar, Anuj Pokhrel, Yuanjie Lu, Xuesu Xiao
139 Navigation Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving Jacob Levy, Jason Gibson, Bogdan Vlahov, Erica Tevere, Evangelos Theodorou, David Fridovich-Keil, Patrick Spieler
140 Navigation Enhancing Autonomous Driving Systems with On-Board Deployed Large Language Models Nicolas Baumann, Cheng Hu, Paviththiren Sivasothilingam, Haotong Qin, Lei Xie, Michele Magno, Luca Benini
141 Navigation Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance Alankrit Gupta, Adnan Abdullah, Xianyao Li, Vaishnav Ramesh, Ioannis Rekleitis, Md Jahidul Islam
142 Navigation RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation Minwoo Kim, Geunsik Bae, Jinwoo Lee, Woojae Shin, Changseung Kim, Myongyol Choi, Heejung Shin, Hyongdong Oh
143 Navigation Neural Inertial Odometry from Lie Events Royina Karegoudra Jayanth, Yinshuang Xu, Evangelos Chatzipantazis, Kostas Daniilidis, Daniel Gehrig
144 Navigation Uncertainty-Aware Trajectory Prediction via Rule-Regularized Heteroscedastic Deep Classification Kumar Manas, Christian Schlauch, Adrian Paschke, Christian Wirth, Nadja Klein
145 Manipulation III Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins Chuanruo Ning, Kuan Fang, Wei-Chiu Ma
146 Manipulation III Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation Sizhe Yang, Wenye Yu, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang
147 Manipulation III STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot Manipulation Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran Zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang
148 Manipulation III PartInstruct: Part-level Instruction Following for Fine-grained Robot Manipulation Yifan Yin, Zhengtao Han, Shivam Aarya, Shuhang Xu, Jianxin Wang, Jiawei Peng, Angtian Wang, Alan Yuille, Tianmin Shu
149 Manipulation III You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations Huayi Zhou, Ruixiang Wang, Yunxin Tai, Yueci Deng, Guiliang Liu, Kui Jia
150 Manipulation III Manual2Skill: Learning to Read Manuals and Acquire Robotic Skills for Furniture Assembly Using Vision-Language Models Chenrui Tie, Shengxiang Sun, Jinxuan Zhu, Yiwei Liu, Jingxiang Guo, Yue Hu, Haonan Chen, Junting Chen, Ruihai Wu, Lin Shao
151 Manipulation III Sketch-to-Skill: Bootstrapping Robot Learning with Human Drawn Trajectory Sketches Peihong Yu, Amisha Bhaskar, Anukriti Singh, Zahiruddin Mahammad, Pratap Tokekar
152 Manipulation III RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation Kun Wu, Chengkai Hou, Jiaming Liu, Zhengping Che, Xiaozhu Ju, Zhuqin Yang, Meng Li, Yinuo Zhao, Zhiyuan Xu, Guang Yang, Shichao Fan, Xinhua Wang, Fei Liao, Zhen Zhao, Guangyu Li, Zhao Jin, Lecheng Wang, Jilei Mao, Ning Liu, Pei Ren, 
153 Manipulation III PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li, Hang Zhao, Zhiyuan Yu, Yu Du, Qin Zou, Ruizhen Hu, Kai Xu
154 Manipulation III Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments Yoonyoung Cho, Junhyek Han, Jisu Han, Beomjoon Kim
155 Imitation Learning II Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization Jonathan Heewon Yang, Chuyuan Fu, Dhruv Shah, Dorsa Sadigh, Fei Xia, Tingnan Zhang
156 Imitation Learning II ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation Yufei Wang, Ziyu Wang, Mino Nakura, Pratik Bhowal, Chia-Liang Kuo, Yi-Ting Chen, Zackory Erickson, David Held
157 Imitation Learning II DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning Zhengrong Xue, Shuying Deng, Zhenyang Chen, Yixuan Wang, Zhecheng Yuan, Huazhe Xu
158 Imitation Learning II IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation Krishan Rana, Robert Lee, David Pershouse, Niko Suenderhauf
159 Imitation Learning II Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan (Edgar) Liang, Daniel Rakita
160 Imitation Learning II Gripper Pose and Object Pointflow as Interfaces for Robotic Bimanual Manipulation Yuyin Yang, Zetao Cai, Yang Tian, Jia Zeng, Jiangmiao Pang
161 Imitation Learning II SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation Shengjie Wang, Jiacheng You, Yihang Hu, Jiongye Li, Yang Gao
162 Imitation Learning II Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations Ken-Joel Simmoteit, Philipp Schillinger, Leonel Rozo
163 Imitation Learning II Learning Interpretable Features from Interventions Erin Hedlund-Botti, Julianna Schalkwyk, Nina Marie Moorman, Chuxuan Yang, Lakshmi Seelam, Sanne Van Waveren, Russell Perkins, Paul Robinette, Matthew Craig Gombolay