Papers

Spotlights

• CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory

Nur Muhammad Mahi Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, Arthur Szlam

• SPRINT: Scalable Semantic Policy Pre-Training via Language Instruction Relabeling

Jesse Zhang, Karl Pertsch, Jiahui Zhang, Taewook Nam, Sung Ju Hwang, Xiang Ren, Joseph J Lim

• RoboReport: Summarizing a virtual robot's past actions in natural language

Chad DeChant, Iretiayo Akinola, Daniel Bauer

• ARNOLD: A Benchmark for Language-Grounded Task Learning with Continuous States in Realistic Scenes

Ran Gong, Yizhou Zhao, Xiaofeng Gao, Jiangyong Huang, Qingyang Wu, Wensi Ai, Baoxiong Jia, Zhou Ziheng, Song-Chun Zhu, Siyuan Huang

Posters

• CLIP-Nav: Using CLIP for Zero-Shot Vision-and-Language Navigation

Vishnu Sashank Dorbala, Gunnar A Sigurdsson, Jesse Thomason, Robinson Piramuthu, Gaurav S. Sukhatme

• Code as Policies: Language Model Programs for Embodied Control

Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng

• Differentiable Parsing and Visual Grounding of Verbal Instructions for Object Placement

Zirui Zhao, Wee Sun Lee, David Hsu

• End-to-End Learning to Follow Language Instructions with Compositional Policies

Vanya Cohen, Geraud Nangue Tasse, Nakul Gopalan, Steven James, Ray Mooney, Benjamin Rosman

• Lang2LTL: Translating Natural Language Commands to Temporal Specification with Large Language Models

Jason Xinyu Liu, Ziyi Yang, Benjamin Schornstein, Sam Liang, Ifrah Idrees, Stefanie Tellex, Ankit Shah

• Leveraging Language for Accelerated Learning of Tool Manipulation

Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik R Narasimhan, Anirudha Majumdar

• More Than Eleven Thousand Words: Towards Using Language Models for Robotic Sorting of Unseen Objects into Arbitrary Categories

Sigmund Hennum Høeg, Lars Tingelstad

• ProgPrompt: Generating Situated Robot Task Plans using Large Language Models

Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg

• Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models

Ted Xiao, Harris Chan, Pierre Sermanet, Ayzaan Wahid, Anthony Brohan, Karol Hausman, Sergey Levine, Jonathan Tompson

• StructDiffusion: Object-Centric Diffusion for Semantic Rearrangement of Novel Objects

Weiyu Liu, Tucker Hermans, Sonia Chernova, Chris Paxton