CoRL 2024 Workshop LEAP Submissions

Structured Exploration in Reinforcement Learning by Hypothesizing Linear Temporal Logic Formulas
Yichen Wei, Xiaochen Li, Jason Xinyu Liu, Naman Shah, Benedict Quartey, George Konidaris, Stefanie Tellex, Akhil Bagaria
- Published: 24 Oct 2024, Last Modified: 27 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
SkillWrapper: Skill Abstraction in the Era of Foundation Models
Shreyas Sundara Raman, Ziyi Yang, Benned Hedegaard, Stefanie Tellex, David Paulius, Naman Shah
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
TOP-ERL: Transformer-based Off-Policy Episodic Reinforcement Learning
Ge Li, Dong Tian, Hongyi Zhou, Xinkai Jiang, Rudolf Lioutikov, Gerhard Neumann
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics
Keyi Shen, Jiangwei Yu, Huan Zhang, Yunzhu Li
- Published: 24 Oct 2024, Last Modified: 20 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Enhancing Object Search by Augmenting Planning with Predictions from Large Language Models
Shahriar Hossain, Abhishek Paudel, Gregory J. Stein
- Published: 24 Oct 2024, Last Modified: 12 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Least Commitment Planning for the Object Scouting Problem - Preliminary Results
Max Merlin, David Paulius, George Konidaris
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
FlowNav: Learning Efficient Navigation Policies via Conditional Flow Matching
Samiran Gode, Abhijeet Nayak, Wolfram Burgard
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Latent Space Exploration and Trajectory Space Update in Temporally-Correlated Episodic Reinforcement Learning
Ge Li, Hongyi Zhou, Dominik Roth, Serge Thilges, Fabian Otto, Rudolf Lioutikov, Gerhard Neumann
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
VQ-CNMP: Neuro-Symbolic Skill Learning for Bi-Level Planning
Hakan Aktas, Emre Ugur
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Learning to Act for Perceiving in Partially Unknown Environments
Leonardo Lamanna, Mohamadreza Faridghasemnia, Alfonso Gerevini, Alessandro Saetti, Alessandro Saffiotti, Luciano Serafini, Paolo Traverso
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Zero-Shot Offline Imitation Learning via Optimal Transport
Thomas Rupf, Marco Bagatella, Nico Gürtler, Jonas Frey, Georg Martius
- Published: 24 Oct 2024, Last Modified: 27 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation
Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph
Yixuan Wang, Leonor Fermoselle, Tarik Kelestemur, Jiuguang Wang, Yunzhu Li
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
TAMPering with RLBench: Enabling joint developments in Task and Motion Planning and Reinforcement Learning research
Alexander Dürr, Elin A. Topp, Jacek Malec
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
BMP: Bridging the Gap between B-Spline and Movement Primitives
Weiran Liao, Ge Li, Hongyi Zhou, Rudolf Lioutikov, Gerhard Neumann
- Published: 24 Oct 2024, Last Modified: 15 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Illustrated Landmark Graphs for Long-Horizon Policy Learning
Christopher Watson, Arjun Krishna, Rajeev Alur, Dinesh Jayaraman
- Published: 24 Oct 2024, Last Modified: 08 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Successor Representations Enable Emergent Compositional Instruction Following
Vivek Myers, Chunyuan Zheng, Anca Dragan, Kuan Fang, Sergey Levine
- Published: 24 Oct 2024, Last Modified: 09 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
SPIRE: Synergistic Planning, Imitation, and Reinforcement for Long-Horizon Manipulation
Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, Ajay Mandlekar
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards
Shivansh Patel, Xinchen Yin, Wenlong Huang, Shubham Garg, Hooshang Nayyeri, Li Fei-Fei, Svetlana Lazebnik, Yunzhu Li
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Online Neuro-Symbolic Predicate Invention for High-Level Planning
Yichao Liang, Nishanth Kumar, Hao Tang, Adrian Weller, Joshua B. Tenenbaum, Tom Silver, Joao F. Henriques, Kevin Ellis
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat
Jonathan Michaux, Seth Isaacson, Challen Enninful Adu, Adam Li, Parker Ewen, Katherine A. Skinner, Ram Vasudevan
- Published: 24 Oct 2024, Last Modified: 21 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Guiding Long-Horizon Task and Motion Planning with Vision Language Models
Zhutian Yang, Caelan Reed Garrett, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph
Utkarsh Aashu Mishra, Yongxin Chen, Danfei Xu
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone
Language Guided Operator Learning for Goal Inference
Zachary S Siegel, Jiayuan Mao, Nishanth Kumar, Tianmin Shu, Jacob Andreas
- Published: 24 Oct 2024, Last Modified: 06 Nov 2024
- LEAP 2024 Poster
- Readers: Everyone