CoRL 2024 Workshop on Mastering Robot Manipulation in a World of Abundant Data

Accepted papers (49)

Fetched from OpenReview (v2) on 2026-06-10.

1. ActionFlow: Equivariant, Accurate, and Efficient Manipulation Policies with Flow Matching

   Niklas Funk, Julen Urain, Joao Carvalho, Vignesh Prasad, Georgia Chalvatzaki, Jan Peters · PDF

2. AnySkin: Plug-and-play Skin Sensing for Robotic Touch

   Raunaq Bhirangi, Venkatesh Pattabiraman, Mehmet Enes Erciyes, Yifeng Cao, Tess Hellebrekers, Lerrel Pinto · PDF

3. ATK: Automatic Task-driven Keypoint selection for Policy Transfer from Simulation to Real World

   Yunchu Zhang, Zhengyu Zhang, Liyiming Ke, Siddhartha Srinivasa, Abhishek Gupta · PDF

4. BAKU: An Efficient Transformer for Multi-Task Policy Learning

   Siddhant Haldar, Zhuoran Peng, Lerrel Pinto · PDF

5. Bi3D Diffuser Actor: 3D Policy Diffusion for Bi-manual Robot Manipulation

   Tsung-Wei Ke, Nikolaos Gkanatsios, Jiahe Xu, Katerina Fragkiadaki · PDF

6. ClutterGen: A Cluttered Scene Generator for Robot Learning

   Yinsen Jia, Boyuan Chen · PDF

7. Diff-DAgger: Uncertainty Estimation with Diffusion Policy for Robotic Manipulation

   Sung-Wook Lee, Yen-Ling Kuo · PDF

8. Diffusion Policy Policy Optimization

   Allen Z. Ren, Justin Lidard, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz · PDF

9. 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 · PDF

10. DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control

    Zichen Jeff Cui, Hengkai Pan, Aadhithya Iyer, Siddhant Haldar, Lerrel Pinto · PDF

11. Efficient and Scalable Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning

    Moritz Reuss, Jyothish Pari, Pulkit Agrawal, Rudolf Lioutikov · PDF

12. Enhancing Probabilistic Imitation Learning with Robotic Perception for Self-Organising Robot Workstation

    Daniel Barros, Christoph Willibald, Abhishek Padalkar, João Silvério · PDF

13. Fast Reinforcement Learning without Rewards or Demonstrations via Auxiliary Task Examples

    Trevor Ablett, Bryan Chan, Jayce Haoran Wang, Jonathan Kelly · PDF

14. From Imitation to Refinement – Residual RL for Precise Visual Assembly

    Lars Lien Ankile, Anthony Simeonov, Idan Shenfeld, Marcel Torne Villasevil, Pulkit Agrawal · PDF

15. GHIL-Glue: Hierarchical Control with Filtered Subgoal Images

    Kyle Beltran Hatch, Ashwin Balakrishna, Oier Mees, Suraj Nair, Seohong Park, Blake Wulfe, Masha Itkina, Benjamin Eysenbach, Sergey Levine, Thomas Kollar, Benjamin Burchfiel · PDF

16. Interactive Visuo-Tactile Learning to Estimate Properties of Articulated Objects

    Anirvan Dutta, Etienne Burdet, Mohsen Kaboli · PDF

17. Just Add Force for Delicate Robot Policies

    William Xie, Stefan Caldararu, Nikolaus Correll · PDF

18. Latent Action Pretraining From Videos

    Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Se June Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo · PDF

19. Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins

    Venkatesh Pattabiraman, Yifeng Cao, Siddhant Haldar, Lerrel Pinto, Raunaq Bhirangi · PDF

20. Local Policies Enable Zero-shot Long-horizon Manipulation

    Murtaza Dalal, Min Liu, Walter Talbott, Chen Chen, Deepak Pathak, Jian Zhang, Russ Salakhutdinov · PDF

21. ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data

    Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, Shuran Song · PDF

22. Multi-constrained robot motion generation

    Masato Miyahara, Tomoki Nakao, Tatsuya Ishihara, Motohiro Takagi, Kouhei Takahashi, Taichi Kanada, Narimune Matsumura, Hitoshi Seshimo · PDF

23. Neural MP: A Generalist Neural Motion Planner

    Murtaza Dalal, Jiahui Yang, Russell Mendonca, Youssef Khaky, Russ Salakhutdinov, Deepak Pathak · PDF

24. Offline-to-online Reinforcement Learning for Image-based Grasping with Scarce Demonstrations

    Bryan Chan, Anson Leung, James Bergstra · PDF

25. OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

    Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, Lerrel Pinto · PDF

26. Parental Guidance: Evolutionary Distillation for Non-Prehensile Mobile Manipulation

    Zhengyu Zhang, Quanquan Peng, Rosario Scalise, Byron Boots · PDF

27. PokeFlex: A Real-World Dataset of Deformable Objects for Robotics.

    Jan Obrist, Miguel Angel Zamora Mora, Hehui Zheng, Ronan Hinchet, Firat Ozdemir, Juan Jose Zarate, Robert K. Katzschmann, Stelian Coros · PDF

28. RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation

    Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, Yue Wang · PDF

29. Rapidly Adapting Policies to the Real-World via Simulation-Guided Fine-Tuning

    Patrick Yin, Tyler Westenbroek, Simran Bagaria, Kevin Huang, Ching-An Cheng, Andrey Kolobov, Abhishek Gupta · PDF

30. RoboCrowd: Scaling Robot Data Collection through Crowdsourcing

    Suvir Mirchandani, David D. Yuan, Kaylee Burns, Md Sazzad Islam, Tony Z. Zhao, Chelsea Finn, Dorsa Sadigh · PDF

31. Robot Manipulation with Flow Matching

    Fan Zhang, Michael Gienger · PDF

32. 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 · PDF

33. RT-Affordance: Reasoning about Robotic Manipulation with Affordances

    Soroush Nasiriany, Sean Kirmani, Tianli Ding, Laura Smith, Yuke Zhu, Danny Driess, Dorsa Sadigh, Ted Xiao · PDF

34. Safe and stable motion primitives via imitation learning and geometric fabrics

    Saray Bakker, Rodrigo Pérez-Dattari, Cosimo Della Santina, Wendelin Boehmer, Javier Alonso-Mora · PDF

35. ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real

    Jiangran Lyu, Yuxing Chen, Tao Du, Feng Zhu, Huiquan Liu, Yizhou Wang, He Wang · PDF

36. SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment

    Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox · PDF

37. SonicSense: Object Perception from In-Hand Acoustic Vibration

    Jiaxun Liu, Boyuan Chen · PDF

38. SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting

    Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandun, David Held, George Kantor, Abhisesh Silwal · PDF

39. STEER: Bridging VLMs and Low-Level Control for Adaptable Robotic Manipulation

    Laura Smith, Alex Irpan, Montserrat Gonzalez Arenas, Sean Kirmani, Dmitry Kalashnikov, Dhruv Shah, Ted Xiao · PDF

40. STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

    Marius Memmel, Jacob Berg, Bingqing Chen, Abhishek Gupta, Jonathan Francis · PDF

41. Student-Informed Teacher Training

    Nico Messikommer, Jiaxu Xing, Elie Aljalbout, Davide Scaramuzza · PDF

42. Subtask-Aware Visual Reward Learning from Segmented Demonstrations

    Changyeon Kim, Minho Heo, Doohyun Lee, Honglak Lee, Jinwoo Shin, Joseph J Lim, Kimin Lee · PDF

43. TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

    Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, Szymon Rusinkiewicz, Jeannette Bohg · PDF

44. Towards Benchmarking Robotic Manipulation in Space

    Andrej Orsula, Antoine Richard, Matthieu Geist, Miguel Olivares-Mendez, Carol Martinez · PDF

45. Towards Standards and Guidelines for Developing Open-Source and Benchmarking Learning for Robot Manipulation in the COMPARE Ecosystem

    Adam Norton, Ricardo Digiovanni Frumento, Kostas Bekris, Berk Calli, Aaron Dollar, Yu Sun, Holly Yanco · PDF

46. UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation

    Yihe Tang, Wenlong Huang, Yingke Wang, Chengshu Li, Roy Yuan, Ruohan Zhang, Jiajun Wu, Li Fei-Fei · PDF

47. Versatile and Generalizable Manipulation via Goal-Conditioned Reinforcement Learning with Grounded Object Detection

    HUIYI WANG, Fahim Shahriar, Seyed Alireza Azimi, Gautham Vasan, A. Rupam Mahmood, Colin Bellinger · PDF

48. 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 · PDF

49. What Matters in Learning from Large-Scale Datasets for Robot Manipulation

    Vaibhav Saxena, Matthew Bronars, Nadun Ranawaka Arachchige, Kuancheng Wang, Woo Chul Shin, Soroush Nasiriany, Ajay Mandlekar, Danfei Xu · PDF