A Magnetic Millirobot Walks on Slippery Biological Surfaces for Targeted Cargo Delivery

Small-scale robots hold great potential for targeted cargo delivery in minimally-inv asive medicine. However, current robots often face challenges to locomote efficiently on slip pery biological tissue surfaces, especially when loaded with heavy cargos. Here, we report a magnetic millirobot that can walk on rough and slippery biological tissues by anchoring itself on the soft tissue surface alternatingly with two feet and reciprocally rotating the body to mov e forward. We experimentally studied the locomotion, validated it with numerical simulations and optimized the actuation parameters to fit various terrains and loading conditions. Further more, we developed a permanent magnet set-up to enable wireless actuation within a huma n-scale volume which allows precise control of the millirobot to follow complex trajectories, cl imb vertical walls, and carry cargo up to four times of its own weight. Upon reaching the targ et location, it performs a deployment sequence to release the liquid drug into tissues. The ro bust gait of our millirobot on rough biological terrains, combined with its heavy load capacity, make it a versatile and effective miniaturized vehicle for targeted cargo delivery.

Gemini: A Family of Highly Capable Multimodal Models

This report introduces a new family of multimodal models, Gemini, that exhibit remarkable capabilities across image, audio, video, and text understanding. The Gemini family consists of Ultra, Pro, and Nano sizes, suitable for applications ranging from complex reasoning tasks to on-device memory-constrained use-cases. Evaluation on a broad range of benchmarks shows that our most-capable Gemini Ultra model advances the state of the art in 30 of 32 of these benchmarks - notably being the first model to achieve human-expert performance on the well-studied exam benchmark MMLU, and improving the state of the art in every one of the 20 multimodal benchmarks we examined. We believe that the new capabilities of Gemini models in cross-modal reasoning and language understanding will enable a wide variety of use cases and we discuss our approach toward deploying them responsibly to users.

Creating Multimodal Interactive Agents with Imitation and Self-Supervised Learning

A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial agents that can interact naturally with humans using the simplification of a virtual environment. We show that imitation learning of human-human interactions in a simulated world, in conjunction with self-supervised learning, is sufficient to produce a multimodal interactive agent, which we call MIA, that successfully interacts with non-adversarial humans 75% of the time. We further identify architectural and algorithmic techniques that improve performance, such as hierarchical action selection. Altogether, our results demonstrate that imitation of multi-modal, real-time human behaviour may provide a straightforward and surprisingly effective means of imbuing agents with a rich behavioural prior from which agents might then be fine-tuned for specific purposes, thus laying a foundation for training capable agents for interactive robots or digital assistants. A video of MIA's behaviour may be found at https://youtu.be/ZFgRhviF7mY

Payment Rules through Discriminant-Based Classifiers

In mechanism design it is typical to impose incentive compatibility and then derive an optimal mechanism subject to this constraint. By replacing the incentive compatibility requirement with the goal of minimizing expected ex post regret, we are able to adapt statistical machine learning techniques to the design of payment rules. This computational approach to mechanism design is applicable to domains with multi-dimensional types and situations where computational efficiency is a concern. Specifically, given an outcome rule and access to a type distribution, we train a support vector machine with a special discriminant function structure such that it implicitly establishes a payment rule with desirable incentive properties. We discuss applications to a multi-minded combinatorial auction with a greedy winner-determination algorithm and to an assignment problem with egalitarian outcome rule. Experimental results demonstrate both that the construction produces payment rules with low ex post regret, and that penalizing classification errors is effective in preventing failures of ex post individual rationality.

Sum of Us: Strategyproof Selection from the Selectors

We consider directed graphs over a set of n agents, where an edge (i,j) is taken to mean that agent i supports or trusts agent j. Given such a graph and an integer k\leq n, we wish to select a subset of k agents that maximizes the sum of indegrees, i.e., a subset of k most popular or most trusted agents. At the same time we assume that each individual agent is only interested in being selected, and may misreport its outgoing edges to this end. This problem formulation captures realistic scenarios where agents choose among themselves, which can be found in the context of Internet search, social networks like Twitter, or reputation systems like Epinions. Our goal is to design mechanisms without payments that map each graph to a k-subset of agents to be selected and satisfy the following two constraints: strategyproofness, i.e., agents cannot benefit from misreporting their outgoing edges, and approximate optimality, i.e., the sum of indegrees of the selected subset of agents is always close to optimal. Our first main result is a surprising impossibility: for k \in {1,...,n-1}, no deterministic strategyproof mechanism can provide a finite approximation ratio. Our second main result is a randomized strategyproof mechanism with an approximation ratio that is bounded from above by four for any value of k, and approaches one as k grows.