RSS 2024 Accepted Papers

The full list of 133 papers accepted at RSS 2024. Click any title for details, similar papers, and links to the original source. You can also search these papers by meaning, not just keywords.

1. Octo: An Open-Source Generalist Robot PolicyPoster327 citations
2. Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild RobotsPoster235 citations
3. DROID: A Large-Scale In-The-Wild Robot Manipulation DatasetPoster216 citations
4. 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D RepresentationsPoster148 citations
5. DexCap: Scalable and Portable Mocap Data Collection System for Dexterous ManipulationPoster120 citations
6. Any-point Trajectory Modeling for Policy LearningPoster102 citations
7. Expressive Whole-Body Control for Humanoid RobotsPoster94 citations
8. Demonstrating OK-Robot: What Really Matters in Integrating Open-Knowledge Models for RoboticsPoster92 citations
9. RT-H: Action Hierarchies using LanguagePoster90 citations
10. RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Multi-Modal Large Language Model LearningPoster83 citations
11. NaVid: Video-based VLM Plans the Next Step for Vision-and-Language NavigationPoster80 citations
12. Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot NavigationPoster79 citations
13. Agile But Safe: Learning Collision-Free High-Speed Legged LocomotionPoster66 citations
14. Reconciling Reality through Simulation: A Real-To-Sim-to-Real Approach for Robust ManipulationPoster55 citations
15. Consistency Policy: Accelerated Visuomotor Policies via Consistency DistillationPoster53 citations
16. RVT-2: Learning Precise Manipulation from Few DemonstrationsPoster52 citations
17. Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal GoalsPoster50 citations
18. DrEureka: Language Model Guided Sim-To-Real TransferPoster49 citations
19. HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and ManipulationPoster46 citations
20. Pushing the Limits of Cross-Embodiment Learning for Manipulation and NavigationPoster43 citations
21. THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic ManipulationPoster41 citations
22. Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model LearningPoster40 citations
23. Explore until Confident: Efficient Exploration for Embodied Question AnsweringPoster39 citations
24. Real-Time Anomaly Detection and Reactive Planning with Large Language ModelsPoster38 citations
25. Keypoint Action Tokens Enable In-Context Imitation Learning in RoboticsPoster35 citations
26. Learning to Learn Faster from Human Feedback with Language Model Predictive ControlPoster35 citations
27. PoCo: Policy Composition from and for Heterogeneous Robot LearningPoster35 citations
28. Vid2Robot: End-to-end Video-conditioned Policy Learning with Cross-Attention TransformersPoster35 citations
29. Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic EnvironmentsPoster32 citations
30. INTERPRET: Interactive Predicate Learning from Language Feedback for Generalizable Task PlanningPoster31 citations
31. Imitation Bootstrapped Reinforcement LearningPoster30 citations
32. Octopi: Object Property Reasoning with Large Tactile-Language ModelsPoster27 citations
33. Learning Manipulation by Predicting InteractionPoster25 citations
34. Demonstrating Agile Flight from Pixels without State EstimationPoster24 citations
35. Practice Makes Perfect: Planning to Learning Skill Parameter PoliciesPoster23 citations
36. Towards Tight Convex Relaxations for Contact-Rich ManipulationPoster22 citations
37. Model Predictive Control for Aggressive Driving Over Uneven TerrainPoster21 citations
38. Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion ControllersPoster21 citations
39. URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World ImagesPoster21 citations
40. AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic ManipulationPoster19 citations
41. MIRAGE: Cross-Embodiment Zero-Shot Policy Transfer with Cross-PaintingPoster18 citations
42. ScrewMimic: Bimanual Imitation from Human Videos with Screw Space ProjectionPoster17 citations
43. HRP: Human affordances for Robotic Pre-trainingPoster16 citations
44. MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety ConstraintsPoster16 citations
45. AutoMate: Specialist and Generalist Assembly Policies over Diverse GeometriesPoster15 citations
46. Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation LearningPoster15 citations
47. Efficient Data Collection for Robotic Manipulation via Compositional GeneralizationPoster15 citations
48. Event-based Visual Inertial VelometerPoster15 citations
49. Configuration Space Distance Fields for Manipulation PlanningPoster14 citations
50. FLAIR: Feeding via Long-Horizon AcquIsition of Realistic dishesPoster13 citations
51. Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour CloningPoster13 citations
52. Human-oriented Representation Learning for Robotic ManipulationPoster12 citations
53. One-Shot Imitation Learning with Invariance Matching for Robotic ManipulationPoster12 citations
54. RoboPack: Learning Tactile-Informed Dynamics Models for Dense PackingPoster12 citations
55. Design and Control of a Bipedal Robotic CharacterPoster11 citations
56. Dynamic Adversarial Attacks on Autonomous Driving SystemsPoster11 citations
57. Dynamic On-Palm Manipulation via Controlled SlidingPoster11 citations
58. Language-Augmented Symbolic Planner for Open-World Task PlanningPoster11 citations
59. Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface RenderingPoster11 citations
60. Partially Observable Task and Motion Planning with Uncertainty and Risk AwarenessPoster11 citations
61. From Compliant to Rigid Contact Simulation: a Unified and Efficient ApproachPoster10 citations
62. Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHandPoster10 citations
63. Blending Data-Driven Priors in Dynamic GamesPoster9 citations
64. VLMPC: Vision-Language Model Predictive Control for Robotic ManipulationPoster9 citations
65. CLOSURE: Fast Quantification of Pose Uncertainty SetsPoster8 citations
66. Demonstrating Arena 3.0: Advancing Social Navigation in Collaborative and Highly Dynamic EnvironmentsPoster8 citations
67. Differentiable Robust Model Predictive ControlPoster8 citations
68. Leveraging Large Language Model for Heterogeneous Ad Hoc Teamwork CollaborationPoster8 citations
69. Natural Language Can Help Bridge the Sim2Real GapPoster8 citations
70. Offline Imitation Learning Through Graph Search and RetrievalPoster8 citations
71. SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection TasksPoster8 citations
72. Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex OptimizationPoster8 citations
73. AutoGPT+P: Affordance-based Task Planning using Large Language ModelsPoster7 citations
74. Don't Start From Scratch: Behavioral Refinement via Interpolant-based Policy DiffusionPoster7 citations
75. Implicit Graph Search for Planning on Graphs of Convex SetsPoster7 citations
76. POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard ConstraintsPoster7 citations
77. RACER: Epistemic Risk-Sensitive RL Enables Fast Driving with Fewer CrashesPoster7 citations
78. Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode ControlPoster7 citations
79. Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-ManipulationPoster6 citations
80. JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical EnvironmentsPoster6 citations
81. Logic-Skill Programming: An Optimization-based Approach to Sequential Skill PlanningPoster6 citations
82. MOKA: Open-World Robotic Manipulation through Mark-Based Visual PromptingPoster6 citations
83. RL2AC: Reinforcement Learning-based Rapid Online Adaptive Control for Legged Robot Robust LocomotionPoster6 citations
84. Risk-Calibrated Human-Robot Interaction via Set-Valued Intent PredictionPoster6 citations
85. Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With SpheresPoster6 citations
86. AnyFeature-VSLAM: Automating the Usage of Any Feature into Visual SLAMPoster5 citations
87. Broadcasting Support Relations Recursively from Local Dynamics for Object Retrieval in CluttersPoster5 citations
88. Demonstrating Adaptive Mobile Manipulation in Retail EnvironmentsPoster5 citations
89. Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic DrivingPoster5 citations
90. You’ve Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property PredictionPoster5 citations
91. Conformalized Teleoperation: Confidently Mapping Human Inputs to High-Dimensional Robot ActionsPoster4 citations
92. Evolution and learning in differentiable robotsPoster4 citations
93. HACMan++: Spatially-Grounded Motion Primitives for ManipulationPoster4 citations
94. Stein Variational Ergodic SearchPoster4 citations
95. Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many RobotsPoster4 citations
96. A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven CranesPoster3 citations
97. Demonstrating CropFollow++: Robust Under-Canopy Navigation with KeypointsPoster3 citations
98. Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced TransitionsPoster3 citations
99. Safe & Accurate at Speed with Tendons: A Robot Arm for Exploring Dynamic MotionPoster3 citations
100. Collaborative Planar Pushing of Polytopic Objects with Multiple Robots in Complex ScenesPoster2 citations
101. Computation-Aware Learning for Stable Control with Gaussian ProcessPoster2 citations
102. Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid ComputationPoster2 citations
103. Set It Up!: Functional Object Arrangement with Compositional Generative ModelsPoster2 citations
104. SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape UncertaintyPoster2 citations
105. World Models for General Surgical GraspingPoster2 citations
106. Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Motion Planning with PointcloudsPoster1 citations
107. Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under UncertaintyPoster1 citations
108. Demonstrating HumanTHOR: A Simulation Platform and Benchmark for Human-Robot Collaboration in a Shared WorkspacePoster1 citations
109. Function Based Sim-to-Real Learning for Shape Control of Deformable Free-form SurfacesPoster1 citations
110. Homotopic Path Set Planning for Robot Manipulation and NavigationPoster1 citations
111. Linear-time Differential Inverse Kinematics: an Augmented Lagrangian PerspectivePoster1 citations
112. POAM: Probabilistic Online Attentive Mapping for Efficient Robotic Information GatheringPoster1 citations
113. Parallel and Proximal Linear-Quadratic Methods for Real-Time Constrained Model-Predictive ControlPoster1 citations
114. RoboCasa: Large-Scale Simulation of Household Tasks for Generalist RobotsPoster1 citations
115. The Benefits of Sound Resound: An In-Person Replication of the Ability of Character-Like Robot Sound to Improve Perceived Social WarmthPoster1 citations
116. iHERO: Interactive Human-oriented Exploration and Supervision Under Scarce CommunicationPoster1 citations
117. iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and MappingPoster1 citations
118. A Single Motor Nano Aerial Vehicle with Novel Peer-to-Peer Communication and Sensing MechanismPoster
119. An abstract theory of sensor eventificationPoster
120. ConTac: Continuum-Emulated Soft Skinned Arm with Vision-based Shape Sensing and Contact-aware ManipulationPoster
121. Construction of a Multiple-DOF Underactuated Gripper with Force-Sensing via Deep LearningPoster
122. CraterGrader: Autonomous Robotic Terrain Manipulation for Lunar Site Preparation and EarthmovingPoster
123. Demonstrating Event-Triggered Investigation and Sample Collection for Human Scientists using Field Robots and Large Foundation ModelsPoster
124. Demonstrating Language-Grounded Motion ControllerPoster
125. Demonstrating Learning from Humans on Open-Source Dexterous Robot HandsPoster
126. Developing Design Guidelines for Older Adults with Robot Learning from DemonstrationPoster
127. Experience-based multi-agent path finding with narrow corridorsPoster
128. GOAT: GO to Any ThingPoster
129. GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional GraspsPoster
130. Motion Planning in Foliated Manifolds using Repetition RoadmapPoster
131. Optimal Non-Redundant Manipulator Surface Coverage with Rank-Deficient Manipulability ConstraintsPoster
132. SAGE: Bridging Semantic and Actionable Parts for GEneralizable Articulated-Object Manipulation under Language InstructionsPoster
133. Task Adaptation in Industrial Human-Robot Interaction: Leveraging Riemannian Motion PoliciesPoster

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