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Refinery: Active Fine-Tuning and Deployment-Time Optimization for Contact-Rich Policies

Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Michael Lin, Dieter Fox, Gaurav Sukhatme, Fabio Ramos, Abhishek Gupta, Yashraj Narang

ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling

Caelan Garrett, Fabio Ramos

SPARR: Simulation-based Policies with Asymmetric Real-world Residuals for Assembly

Yijie Guo, Iretiayo Akinola, Lars Johannsmeier, Hugo Hadfield, Abhishek Gupta, Yashraj Narang

Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints

Nishanth Kumar, William Shen, Fabio Ramos, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Caelan Reed Garrett

Diversifying Parallel Ergodic Search: A Signature Kernel Evolution Strategy

Sreevardhan Sirigiri, Christian Hughes, Ian Abraham, Fabio Ramos

Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training

Shuo Cheng, Liqian Ma, Zhenyang Chen, Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu

Harnessing Bounded-Support Evolution Strategies for Policy Refinement

Ethan Hirschowitz, Fabio Ramos

RobotSmith: Generative Robotic Tool Design for Acquisition of Complex Manipulation Skills

Chunru Lin, Haotian Yuan, Yian Wang, Xiaowen Qiu, Tsun-Hsuan Wang, Minghao Guo, Bohan Wang, Yashraj Narang, Dieter Fox, Chuang Gan

Robust Bayesian Scene Reconstruction by Leveraging Retrieval-Augmented Priors

Herbert Wright, Weiming Zhi, Martin Matak, Matthew Johnson-Roberson, Tucker Hermans

ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation

Krishnan Srinivasan, Jie Xu, Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, Animesh Garg