1

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

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

DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning

Zhenyu Jiang, Yuqi Xie, Kevin Lin, Zhenjia Xu, Weikang Wan, Ajay Mandlekar, Linxi Fan*, Yuke Zhu

Diverse Motion Planning with Stein Diffusion Trajectory Inference

Zeya Yin, Tin Lai, Lucas Barcelos, Jayadeep Jacob, Yonghui Li, Fabio Ramos

Ergodic Trajectory Optimization on Generalized Domains using Maximum Mean Discrepancy

Christian Hughes, Houston Warren, Darrick Lee, Fabio Ramos, Ian Abraham

Guiding Long-Horizon Task and Motion Planning with Vision Language Models

Zhutian Yang, Caelan Garrett, Tomás Lozano-Pérez, Leslie Kaelbling, Dieter Fox

Inference-Time Policy Steering through Human Interactions

Yanwei Wang, Lirui Wang, Yilun Du, Balakumar Sundaralingam, Xuning Yang, Yu-Wei Chao, Claudia Pérez D’Arpino, Dieter Fox, Julie Shah

MatchMaker: Automated Robotic Assembly Asset Generation for Policy Learning in Simulation

Yian Wang, Iretiayo Akinola, Kaichun Mo, Bingjie Tang, Chuang Gan, Dieter Fox, Yashraj Narang

Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics

Yixuan Huang, Christopher Agia, Jimmy Wu, Tucker Hermans, Jeannette Bohg

SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation

Cheng-Chun Hsu, Bowen Wen, Jie Xu, Yashraj Narang, Xiaolong Wang, Yuke Zhu, Joydeep Biswas, Stan Birchfield