Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of implicit control policies combining the benefits of imitation learning with the robust handling of system constraints from Model Predictive Control (MPC). Our approach, called Performer-MPC, uses a learned cost function parameterized by vision context embeddings provided by Performers -- a low-rank implicit-attention Transformer. We jointly train the cost function and construct the controller relying on it, effectively solving end-to-end the corresponding bi-level optimization problem. We show that the resulting policy improves standard MPC performance by leveraging a few expert demonstrations of the desired navigation behavior in different challenging real-world scenarios. Compared with a standard MPC policy, Performer-MPC achieves >40% better goal reached in cluttered environments and >65% better on social metrics when navigating around humans.
Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this paper, we develop NLMap, an open-vocabulary and queryable scene representation to address this problem. NLMap serves as a framework to gather and integrate contextual information into LLM planners, allowing them to see and query available objects in the scene before generating a context-conditioned plan. NLMap first establishes a natural language queryable scene representation with Visual Language models (VLMs). An LLM based object proposal module parses instructions and proposes involved objects to query the scene representation for object availability and location. An LLM planner then plans with such information about the scene. NLMap allows robots to operate without a fixed list of objects nor executable options, enabling real robot operation unachievable by previous methods. Project website: https://nlmap-saycan.github.io
Large language models (LLMs) trained on code completion have been shown to be capable of synthesizing simple Python programs from docstrings [1]. We find that these code-writing LLMs can be re-purposed to write robot policy code, given natural language commands. Specifically, policy code can express functions or feedback loops that process perception outputs (e.g.,from object detectors [2], [3]) and parameterize control primitive APIs. When provided as input several example language commands (formatted as comments) followed by corresponding policy code (via few-shot prompting), LLMs can take in new commands and autonomously re-compose API calls to generate new policy code respectively. By chaining classic logic structures and referencing third-party libraries (e.g., NumPy, Shapely) to perform arithmetic, LLMs used in this way can write robot policies that (i) exhibit spatial-geometric reasoning, (ii) generalize to new instructions, and (iii) prescribe precise values (e.g., velocities) to ambiguous descriptions ("faster") depending on context (i.e., behavioral commonsense). This paper presents code as policies: a robot-centric formalization of language model generated programs (LMPs) that can represent reactive policies (e.g., impedance controllers), as well as waypoint-based policies (vision-based pick and place, trajectory-based control), demonstrated across multiple real robot platforms. Central to our approach is prompting hierarchical code-gen (recursively defining undefined functions), which can write more complex code and also improves state-of-the-art to solve 39.8% of problems on the HumanEval [1] benchmark. Code and videos are available at https://code-as-policies.github.io
We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted by textureless surfaces, image degradation, and presence of repetitive and highly ambiguous structures. When naively deployed, the state-of-the-art methods can fail in those scenarios as confirmed by our empirical analysis. In this paper, we attempt to make camera relocalization work in these extreme situations. To this end, we propose: (i) a hierarchical localization system, where we leverage temporal information and (ii) a novel environment-aware image enhancement method to boost the robustness and accuracy. Our extensive experimental results demonstrate superior performance in favor of our method under two extreme settings: localizing an autonomous underwater vehicle and localizing a planetary rover in a Mars-like desert. In addition, our method achieves comparable performance with state-of-the-art methods on the indoor benchmark (7-Scenes dataset) using only 20% training data.
Recent works have shown how the reasoning capabilities of Large Language Models (LLMs) can be applied to domains beyond natural language processing, such as planning and interaction for robots. These embodied problems require an agent to understand many semantic aspects of the world: the repertoire of skills available, how these skills influence the world, and how changes to the world map back to the language. LLMs planning in embodied environments need to consider not just what skills to do, but also how and when to do them - answers that change over time in response to the agent's own choices. In this work, we investigate to what extent LLMs used in such embodied contexts can reason over sources of feedback provided through natural language, without any additional training. We propose that by leveraging environment feedback, LLMs are able to form an inner monologue that allows them to more richly process and plan in robotic control scenarios. We investigate a variety of sources of feedback, such as success detection, scene description, and human interaction. We find that closed-loop language feedback significantly improves high-level instruction completion on three domains, including simulated and real table top rearrangement tasks and long-horizon mobile manipulation tasks in a kitchen environment in the real world.
Robots excel in performing repetitive and precision-sensitive tasks in controlled environments such as warehouses and factories, but have not been yet extended to embodied AI agents providing assistance in household tasks. Inspired by the catalyzing effect that benchmarks have played in the AI fields such as computer vision and natural language processing, the community is looking for new benchmarks for embodied AI. Prior work in embodied AI benchmark defines tasks using a different formalism, often specific to one environment, simulator or domain, making it hard to develop general and comparable solutions. In this work, we bring a subset of BEHAVIOR activities into Habitat 2.0 to benefit from its fast simulation speed, as a first step towards demonstrating the ease of adapting activities defined in the logic space into different simulators.
Optical imaging through complex media, such as biological tissues or fog, is challenging due to light scattering. In the multiple scattering regime, wavefront shaping provides an effective method to retrieve information; it relies on measuring how the propagation of different optical wavefronts are impacted by scattering. Based on this principle, several wavefront shaping techniques were successfully developed, but most of them are highly invasive and limited to proof-of-principle experiments. Here, we propose to use a neural network approach to non-invasively characterize and control light scattering inside the medium and also to retrieve information of hidden objects buried within it. Unlike most of the recently-proposed approaches, the architecture of our neural network with its layers, connected nodes and activation functions has a true physical meaning as it mimics the propagation of light in our optical system. It is trained with an experimentally-measured input/output dataset built from a series of incident light patterns and corresponding camera snapshots. We apply our physics-based neural network to a fluorescence microscope in epi-configuration and demonstrate its performance through numerical simulations and experiments. This flexible method can include physical priors and we show that it can be applied to other systems as, for example, non-linear or coherent contrast mechanisms.
The medical conversational system can relieve the burden of doctors and improve the efficiency of healthcare, especially during the pandemic. This paper presents a medical conversational question answering (CQA) system based on the multi-modal knowledge graph, namely "LingYi", which is designed as a pipeline framework to maintain high flexibility. Our system utilizes automated medical procedures including medical triage, consultation, image-text drug recommendation and record. To conduct knowledge-grounded dialogues with patients, we first construct a Chinese Medical Multi-Modal Knowledge Graph (CM3KG) and collect a large-scale Chinese Medical CQA (CMCQA) dataset. Compared with the other existing medical question-answering systems, our system adopts several state-of-the-art technologies including medical entity disambiguation and medical dialogue generation, which is more friendly to provide medical services to patients. In addition, we have open-sourced our codes which contain back-end models and front-end web pages at https://github.com/WENGSYX/LingYi. The datasets including CM3KG at https://github.com/WENGSYX/CM3KG and CMCQA at https://github.com/WENGSYX/CMCQA are also released to further promote future research.
The last decade has witnessed enormous improvements in science and technology, stimulating the growing demand for economic and cultural exchanges in various countries. Building a neural machine translation (NMT) system has become an urgent trend, especially in the low-resource setting. However, recent work tends to study NMT systems for low-resource languages centered on English, while few works focus on low-resource NMT systems centered on other languages such as Chinese. To achieve this, the low-resource multilingual translation challenge of the 2021 iFLYTEK AI Developer Competition provides the Chinese-centric multilingual low-resource NMT tasks, where participants are required to build NMT systems based on the provided low-resource samples. In this paper, we present the winner competition system that leverages monolingual word embeddings data enhancement, bilingual curriculum learning, and contrastive re-ranking. In addition, a new Incomplete-Trust (In-trust) loss function is proposed to replace the traditional cross-entropy loss when training. The experimental results demonstrate that the implementation of these ideas leads better performance than other state-of-the-art methods. All the experimental codes are released at: https://github.com/WENGSYX/Low-resource-text-translation.
Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/