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Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Exploration

Sirui Xu, Yu-Wei Chao, Liuyu Bian, Arsalan Mousavian, Yu-Xiong Wang, Liangyan Gui, Wei Yang

Fail2Progress: Learning from Real-World Robot Failures with Stein Variational Inference

Yixuan Huang, Novella Alvina, Mohanraj Devendran Shanthi, Tucker Hermans

Neural Robot Dynamics

Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies

Pranav Atreya, Karl Pertsch, Tony Lee, Moo Jin Kim, Arhan Jain, Artur Kuramshin, Clemens Eppner, Cyrus Neary, Edward Hu, Fabio Ramos, Jonathan Tremblay, Kanav Arora, Kirsty Ellis, Luca Macesanu, Matthew Leonard, Meedeum Cho, Ozgur Aslan, Shivin Dass, Jie Wang, Xingfang Yuan, Xuning Yang, Abhishek Gupta, Dinesh Jayaraman, Glen Berseth, Kostas Daniilidis, Roberto Martin-Martin, Youngwoon Lee, Percy Liang, Chelsea Finn, Sergey Levine

VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning

Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam, Rowland O'Flaherty, Dieter Fox, Xiaolong Wang, Arsalan Mousavian, Yu-Wei Chao, Yunzhu Li*

Deformable Cluster Manipulation via Whole-Arm Policy Learning

Jayadeep Jacob, Wenzheng Zhang, Houston Warren, Tirthankar Bandyopadhyay, Paulo Vinicius Koerich Borges, Fabio Ramos

3D-MVP: 3D Multiview Pretraining for Robotic Manipulation

Shengyi Qian, Kaichun Mo, Valts Blukis, David Fouhey, Dieter Fox, Ankit Goyal

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