CoRL 2024 Workshop on Whole-body Control and Bimanual Manipulation: Applications in Humanoids and Beyond

Accepted papers (25)

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

1. ☆A Comparison of Imitation Learning Algorithms for Bimanual Manipulation

   Michael Drolet, Simon Stepputtis, Siva Kailas, Ajinkya Jain, Jan Peters, Stefan Schaal, Heni Ben Amor · PDF

2. ☆Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation

   Ian Chuang, Andrew Lee, Dechen Gao, Mahdi Naddaf, Iman Soltani · PDF

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

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

4. ☆AsymDex: Leveraging Asymmetry and Relative Motion in Learning Bimanual Dexterity

   Zhaodong Yang, Yunhai Han, Harish Ravichandar · PDF

5. ☆Augmented Action-space Whole-Body Teleoperation of Mobile Manipulation Robots

   Sophie C. Lueth, Georgia Chalvatzaki · PDF

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

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

7. ☆Continuously Improving Mobile Manipulation with Autonomous Real-World RL

   Russell Mendonca, Emmanuel Panov, Bernadette Bucher, Jiuguang Wang, Deepak Pathak · PDF

8. ☆CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics

   Jiawei Gao, Ziqin Wang, Zeqi Xiao, Jingbo Wang, Tai Wang, Jinkun Cao, Xiaolin Hu, Si Liu, Jifeng Dai, Jiangmiao Pang · PDF

9. ☆DexHub and DART: Towards Internet Scale Robot Data Collection

   Younghyo Park, Jagdeep Singh Bhatia, Lars Lien Ankile, Pulkit Agrawal · PDF

10. ☆DynSyn: Dynamical Synergistic Representation for Efficient Learning and Control in Overactuated Embodied Systems

    Kaibo He, Chenhui Zuo, Chengtian Ma, Yanan Sui · PDF

11. ☆EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

    Jingyun Yang, Ziang Cao, Congyue Deng, Rika Antonova, Shuran Song, Jeannette Bohg · PDF

12. ☆Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing

    Haoru Xue, Chaoyi Pan, Zeji Yi, Guannan Qu, Guanya Shi · PDF

13. ☆Goal Achievement Guided Exploration: Mitigating Premature Convergence in Learning Robot Control

    Shengchao Yan, Baohe Zhang, Joschka Boedecker, Wolfram Burgard · PDF

14. ☆Hierarchical World Models as Visual Whole-Body Humanoid Controllers

    Nicklas Hansen, Jyothir S V, Vlad Sobal, Yann LeCun, Xiaolong Wang, Hao Su · PDF

15. ☆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

16. ☆Learning Autonomous Humanoid Loco-manipulation Through Foundation Models

    Jin Wang, Rui Dai, Weijie Wang · PDF

17. ☆Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck

    Bipasha Sen, Michelle Wang, Nandini Thakur, Aditya Agarwal, Pulkit Agrawal · PDF

18. ☆OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

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

19. ☆PerAct2: Benchmarking and Learning for Robotic Bimanual Manipulation Tasks

    Markus Grotz, Mohit Shridhar, Yu-Wei Chao, Tamim Asfour, Dieter Fox · PDF

20. ☆Reinforcement Learning with Action Sequence for Data-Efficient Robot Learning

    Younggyo Seo, Pieter Abbeel · PDF

21. ☆SkillBlender: Towards Versatile Humanoid Whole-Body Control via Skill Blending

    Yuxuan Kuang, Amine Elhafsi, Haoran Geng, Marco Pavone, Yue Wang · PDF

22. ☆Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks

    Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger · PDF

23. ☆The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control

    Oleg Kaidanov, Firas Al-Hafez, Yusuf Süvari, Boris Belousov, Jan Peters · PDF

24. ☆Time Your Rewards: Learning Temporally Consistent Rewards from a Single Video Demonstration

    Huaxiaoyue Wang, William Huey, Anne Wu, Yoav Artzi, Sanjiban Choudhury · PDF

25. ☆UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

    Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, Shuran Song · PDF