Unifying 3D Representation and Control of Diverse Robots with a Single Camera

Mirroring the complex structures and diverse functions of natural organisms is a long-standing challenge in robotics. Modern fabrication techniques have dramatically expanded feasible hardware, yet deploying these systems requires control software to translate desired motions into actuator commands. While conventional robots can easily be modeled as rigid links connected via joints, it remains an open challenge to model and control bio-inspired robots that are often multi-material or soft, lack sensing capabilities, and may change their material properties with use. Here, we introduce Neural Jacobian Fields, an architecture that autonomously learns to model and control robots from vision alone. Our approach makes no assumptions about the robot's materials, actuation, or sensing, requires only a single camera for control, and learns to control the robot without expert intervention by observing the execution of random commands. We demonstrate our method on a diverse set of robot manipulators, varying in actuation, materials, fabrication, and cost. Our approach achieves accurate closed-loop control and recovers the causal dynamic structure of each robot. By enabling robot control with a generic camera as the only sensor, we anticipate our work will dramatically broaden the design space of robotic systems and serve as a starting point for lowering the barrier to robotic automation.

Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks

Simulators are powerful tools for autonomous robot learning as they offer scalable data generation, flexible design, and optimization of trajectories. However, transferring behavior learned from simulation data into the real world proves to be difficult, usually mitigated with compute-heavy domain randomization methods or further model fine-tuning. We present a method to improve generalization and robustness to distribution shifts in sim-to-real visual quadrotor navigation tasks. To this end, we first build a simulator by integrating Gaussian Splatting with quadrotor flight dynamics, and then, train robust navigation policies using Liquid neural networks. In this way, we obtain a full-stack imitation learning protocol that combines advances in 3D Gaussian splatting radiance field rendering, crafty programming of expert demonstration training data, and the task understanding capabilities of Liquid networks. Through a series of quantitative flight tests, we demonstrate the robust transfer of navigation skills learned in a single simulation scene directly to the real world. We further show the ability to maintain performance beyond the training environment under drastic distribution and physical environment changes. Our learned Liquid policies, trained on single target manoeuvres curated from a photorealistic simulated indoor flight only, generalize to multi-step hikes onboard a real hardware platform outdoors.

ABNet: Attention BarrierNet for Safe and Scalable Robot Learning

Safe learning is central to AI-enabled robots where a single failure may lead to catastrophic results. Barrier-based method is one of the dominant approaches for safe robot learning. However, this method is not scalable, hard to train, and tends to generate unstable signals under noisy inputs that are challenging to be deployed for robots. To address these challenges, we propose a novel Attention BarrierNet (ABNet) that is scalable to build larger foundational safe models in an incremental manner. Each head of BarrierNet in the ABNet could learn safe robot control policies from different features and focus on specific part of the observation. In this way, we do not need to one-shotly construct a large model for complex tasks, which significantly facilitates the training of the model while ensuring its stable output. Most importantly, we can still formally prove the safety guarantees of the ABNet. We demonstrate the strength of ABNet in 2D robot obstacle avoidance, safe robot manipulation, and vision-based end-to-end autonomous driving, with results showing much better robustness and guarantees over existing models.

Text-to-Drive: Diverse Driving Behavior Synthesis via Large Language Models

Generating varied scenarios through simulation is crucial for training and evaluating safety-critical systems, such as autonomous vehicles. Yet, the task of modeling the trajectories of other vehicles to simulate diverse and meaningful close interactions remains prohibitively costly. Adopting language descriptions to generate driving behaviors emerges as a promising strategy, offering a scalable and intuitive method for human operators to simulate a wide range of driving interactions. However, the scarcity of large-scale annotated language-trajectory data makes this approach challenging. To address this gap, we propose Text-to-Drive (T2D) to synthesize diverse driving behaviors via Large Language Models (LLMs). We introduce a knowledge-driven approach that operates in two stages. In the first stage, we employ the embedded knowledge of LLMs to generate diverse language descriptions of driving behaviors for a scene. Then, we leverage LLM's reasoning capabilities to synthesize these behaviors in simulation. At its core, T2D employs an LLM to construct a state chart that maps low-level states to high-level abstractions. This strategy aids in downstream tasks such as summarizing low-level observations, assessing policy alignment with behavior description, and shaping the auxiliary reward, all without needing human supervision. With our knowledge-driven approach, we demonstrate that T2D generates more diverse trajectories compared to other baselines and offers a natural language interface that allows for interactive incorporation of human preference. Please check our website for more examples: https://text-to-drive.github.io/

Message-Passing Monte Carlo: Generating low-discrepancy point sets via Graph Neural Networks

Discrepancy is a well-known measure for the irregularity of the distribution of a point set. Point sets with small discrepancy are called low-discrepancy and are known to efficiently fill the space in a uniform manner. Low-discrepancy points play a central role in many problems in science and engineering, including numerical integration, computer vision, machine perception, computer graphics, machine learning, and simulation. In this work, we present the first machine learning approach to generate a new class of low-discrepancy point sets named Message-Passing Monte Carlo (MPMC) points. Motivated by the geometric nature of generating low-discrepancy point sets, we leverage tools from Geometric Deep Learning and base our model on Graph Neural Networks. We further provide an extension of our framework to higher dimensions, which flexibly allows the generation of custom-made points that emphasize the uniformity in specific dimensions that are primarily important for the particular problem at hand. Finally, we demonstrate that our proposed model achieves state-of-the-art performance superior to previous methods by a significant margin. In fact, MPMC points are empirically shown to be either optimal or near-optimal with respect to the discrepancy for every dimension and the number of points for which the optimal discrepancy can be determined.

DETAIL: Task DEmonsTration Attribution for Interpretable In-context Learning

In-context learning (ICL) allows transformer-based language models that are pre-trained on general text to quickly learn a specific task with a few "task demonstrations" without updating their parameters, significantly boosting their flexibility and generality. ICL possesses many distinct characteristics from conventional machine learning, thereby requiring new approaches to interpret this learning paradigm. Taking the viewpoint of recent works showing that transformers learn in context by formulating an internal optimizer, we propose an influence function-based attribution technique, DETAIL, that addresses the specific characteristics of ICL. We empirically verify the effectiveness of our approach for demonstration attribution while being computationally efficient. Leveraging the results, we then show how DETAIL can help improve model performance in real-world scenarios through demonstration reordering and curation. Finally, we experimentally prove the wide applicability of DETAIL by showing our attribution scores obtained on white-box models are transferable to black-box models in improving model performance.

LLM and Simulation as Bilevel Optimizers: A New Paradigm to Advance Physical Scientific Discovery

Large Language Models have recently gained significant attention in scientific discovery for their extensive knowledge and advanced reasoning capabilities. However, they encounter challenges in effectively simulating observational feedback and grounding it with language to propel advancements in physical scientific discovery. Conversely, human scientists undertake scientific discovery by formulating hypotheses, conducting experiments, and revising theories through observational analysis. Inspired by this, we propose to enhance the knowledge-driven, abstract reasoning abilities of LLMs with the computational strength of simulations. We introduce Scientific Generative Agent (SGA), a bilevel optimization framework: LLMs act as knowledgeable and versatile thinkers, proposing scientific hypotheses and reason about discrete components, such as physics equations or molecule structures; meanwhile, simulations function as experimental platforms, providing observational feedback and optimizing via differentiability for continuous parts, such as physical parameters. We conduct extensive experiments to demonstrate our framework's efficacy in constitutive law discovery and molecular design, unveiling novel solutions that differ from conventional human expectations yet remain coherent upon analysis.

Probing Multimodal LLMs as World Models for Driving

We provide a sober look at the application of Multimodal Large Language Models (MLLMs) within the domain of autonomous driving and challenge/verify some common assumptions, focusing on their ability to reason and interpret dynamic driving scenarios through sequences of images/frames in a closed-loop control environment. Despite the significant advancements in MLLMs like GPT-4V, their performance in complex, dynamic driving environments remains largely untested and presents a wide area of exploration. We conduct a comprehensive experimental study to evaluate the capability of various MLLMs as world models for driving from the perspective of a fixed in-car camera. Our findings reveal that, while these models proficiently interpret individual images, they struggle significantly with synthesizing coherent narratives or logical sequences across frames depicting dynamic behavior. The experiments demonstrate considerable inaccuracies in predicting (i) basic vehicle dynamics (forward/backward, acceleration/deceleration, turning right or left), (ii) interactions with other road actors (e.g., identifying speeding cars or heavy traffic), (iii) trajectory planning, and (iv) open-set dynamic scene reasoning, suggesting biases in the models' training data. To enable this experimental study we introduce a specialized simulator, DriveSim, designed to generate diverse driving scenarios, providing a platform for evaluating MLLMs in the realms of driving. Additionally, we contribute the full open-source code and a new dataset, "Eval-LLM-Drive", for evaluating MLLMs in driving. Our results highlight a critical gap in the current capabilities of state-of-the-art MLLMs, underscoring the need for enhanced foundation models to improve their applicability in real-world dynamic environments.

Growing Q-Networks: Solving Continuous Control Tasks with Adaptive Control Resolution

Recent reinforcement learning approaches have shown surprisingly strong capabilities of bang-bang policies for solving continuous control benchmarks. The underlying coarse action space discretizations often yield favourable exploration characteristics while final performance does not visibly suffer in the absence of action penalization in line with optimal control theory. In robotics applications, smooth control signals are commonly preferred to reduce system wear and energy efficiency, but action costs can be detrimental to exploration during early training. In this work, we aim to bridge this performance gap by growing discrete action spaces from coarse to fine control resolution, taking advantage of recent results in decoupled Q-learning to scale our approach to high-dimensional action spaces up to dim(A) = 38. Our work indicates that an adaptive control resolution in combination with value decomposition yields simple critic-only algorithms that yield surprisingly strong performance on continuous control tasks.

Toward Efficient Visual Gyroscopes: Spherical Moments, Harmonics Filtering, and Masking Techniques for Spherical Camera Applications

Unlike a traditional gyroscope, a visual gyroscope estimates camera rotation through images. The integration of omnidirectional cameras, offering a larger field of view compared to traditional RGB cameras, has proven to yield more accurate and robust results. However, challenges arise in situations that lack features, have substantial noise causing significant errors, and where certain features in the images lack sufficient strength, leading to less precise prediction results. Here, we address these challenges by introducing a novel visual gyroscope, which combines an analytical method with a neural network approach to provide a more efficient and accurate rotation estimation from spherical images. The presented method relies on three key contributions: an adapted analytical approach to compute the spherical moments coefficients, introduction of masks for better global feature representation, and the use of a multilayer perceptron to adaptively choose the best combination of masks and filters. Experimental results demonstrate superior performance of the proposed approach in terms of accuracy. The paper emphasizes the advantages of integrating machine learning to optimize analytical solutions, discusses limitations, and suggests directions for future research.