Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing

Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construction. However, this procedure is conducted with dangerous, time and labor intensive operations, and specialized machinery. We envision a scalable robotic solution inspired by advancements in force-controlled and Cable Driven Parallel Robots (CDPRs); this solution can address the challenges inherent in this transportation problem, achieving fast, efficient, and safe deployment and field operations. We introduce the embodied vision in Co3MaNDR, a solution to the military gap crossing problem, a distributed robot consisting of several modules simultaneously pulling on a central payload, controlling the cables' tensions to achieve complex objectives, such as precise trajectory tracking or force amplification. Hardware experiments demonstrate teleoperation of a payload, trajectory following, and the sensing and amplification of operators' applied physical forces during slow operations. An operator was shown to manipulate a 27.2 kg (60 lb) payload with an average force utilization of 14.5\% of its weight. Results indicate that the system can be scaled up to heavier payloads without compromising performance or introducing superfluous complexity. This research lays a foundation to expand CDPR technology to uncoordinated and unstable mobile platforms in unknown environments.

BlackJAX: Composable Bayesian inference in JAX

BlackJAX is a library implementing sampling and variational inference algorithms commonly used in Bayesian computation. It is designed for ease of use, speed, and modularity by taking a functional approach to the algorithms' implementation. BlackJAX is written in Python, using JAX to compile and run NumpPy-like samplers and variational methods on CPUs, GPUs, and TPUs. The library integrates well with probabilistic programming languages by working directly with the (un-normalized) target log density function. BlackJAX is intended as a collection of low-level, composable implementations of basic statistical 'atoms' that can be combined to perform well-defined Bayesian inference, but also provides high-level routines for ease of use. It is designed for users who need cutting-edge methods, researchers who want to create complex sampling methods, and people who want to learn how these work.

SPAE: Semantic Pyramid AutoEncoder for Multimodal Generation with Frozen LLMs

In this work, we introduce Semantic Pyramid AutoEncoder (SPAE) for enabling frozen LLMs to perform both understanding and generation tasks involving non-linguistic modalities such as images or videos. SPAE converts between raw pixels and interpretable lexical tokens (or words) extracted from the LLM's vocabulary. The resulting tokens capture both the semantic meaning and the fine-grained details needed for visual reconstruction, effectively translating the visual content into a language comprehensible to the LLM, and empowering it to perform a wide array of multimodal tasks. Our approach is validated through in-context learning experiments with frozen PaLM 2 and GPT 3.5 on a diverse set of image understanding and generation tasks. Our method marks the first successful attempt to enable a frozen LLM to generate image content while surpassing state-of-the-art performance in image understanding tasks, under the same setting, by over 25%.

Low-rank extended Kalman filtering for online learning of neural networks from streaming data

We propose an efficient online approximate Bayesian inference algorithm for estimating the parameters of a nonlinear function from a potentially non-stationary data stream. The method is based on the extended Kalman filter (EKF), but uses a novel low-rank plus diagonal decomposition of the posterior precision matrix, which gives a cost per step which is linear in the number of model parameters. In contrast to methods based on stochastic variational inference, our method is fully deterministic, and does not require step-size tuning. We show experimentally that this results in much faster (more sample efficient) learning, which results in more rapid adaptation to changing distributions, and faster accumulation of reward when used as part of a contextual bandit algorithm.

Muse: Text-To-Image Generation via Masked Generative Transformers

We present Muse, a text-to-image Transformer model that achieves state-of-the-art image generation performance while being significantly more efficient than diffusion or autoregressive models. Muse is trained on a masked modeling task in discrete token space: given the text embedding extracted from a pre-trained large language model (LLM), Muse is trained to predict randomly masked image tokens. Compared to pixel-space diffusion models, such as Imagen and DALL-E 2, Muse is significantly more efficient due to the use of discrete tokens and requiring fewer sampling iterations; compared to autoregressive models, such as Parti, Muse is more efficient due to the use of parallel decoding. The use of a pre-trained LLM enables fine-grained language understanding, translating to high-fidelity image generation and the understanding of visual concepts such as objects, their spatial relationships, pose, cardinality etc. Our 900M parameter model achieves a new SOTA on CC3M, with an FID score of 6.06. The Muse 3B parameter model achieves an FID of 7.88 on zero-shot COCO evaluation, along with a CLIP score of 0.32. Muse also directly enables a number of image editing applications without the need to fine-tune or invert the model: inpainting, outpainting, and mask-free editing. More results are available at https://muse-model.github.io

Beyond Invariance: Test-Time Label-Shift Adaptation for Distributions with "Spurious" Correlations

Spurious correlations, or correlations that change across domains where a model can be deployed, present significant challenges to real-world applications of machine learning models. However, such correlations are not always "spurious"; often, they provide valuable prior information for a prediction beyond what can be extracted from the input alone. Here, we present a test-time adaptation method that exploits the spurious correlation phenomenon, in contrast to recent approaches that attempt to eliminate spurious correlations through invariance. We consider situations where the prior distribution $p(y, z)$, which models the marginal dependence between the class label $y$ and the nuisance factors $z$, may change across domains, but the generative model for features $p(\mathbf{x}|y, z)$ is constant. We note that this is an expanded version of the label shift assumption, where the labels now also include the nuisance factors $z$. Based on this observation, we train a classifier to predict $p(y, z|\mathbf{x})$ on the source distribution, and implement a test-time label shift correction that adapts to changes in the marginal distribution $p(y, z)$ using unlabeled samples from the target domain. We call our method "Test-Time Label-Shift Adaptation" or TTLSA. We apply our method to two different image datasets -- the CheXpert chest X-ray dataset and the colored MNIST dataset -- and show that it gives better downstream results than methods that try to train classifiers which are invariant to the changes in prior distribution. Code reproducing experiments is available at https://github.com/nalzok/test-time-label-shift .

Language Model Cascades

Prompted models have demonstrated impressive few-shot learning abilities. Repeated interactions at test-time with a single model, or the composition of multiple models together, further expands capabilities. These compositions are probabilistic models, and may be expressed in the language of graphical models with random variables whose values are complex data types such as strings. Cases with control flow and dynamic structure require techniques from probabilistic programming, which allow implementing disparate model structures and inference strategies in a unified language. We formalize several existing techniques from this perspective, including scratchpads / chain of thought, verifiers, STaR, selection-inference, and tool use. We refer to the resulting programs as language model cascades.

Plex: Towards Reliability using Pretrained Large Model Extensions

A recent trend in artificial intelligence is the use of pretrained models for language and vision tasks, which have achieved extraordinary performance but also puzzling failures. Probing these models' abilities in diverse ways is therefore critical to the field. In this paper, we explore the reliability of models, where we define a reliable model as one that not only achieves strong predictive performance but also performs well consistently over many decision-making tasks involving uncertainty (e.g., selective prediction, open set recognition), robust generalization (e.g., accuracy and proper scoring rules such as log-likelihood on in- and out-of-distribution datasets), and adaptation (e.g., active learning, few-shot uncertainty). We devise 10 types of tasks over 40 datasets in order to evaluate different aspects of reliability on both vision and language domains. To improve reliability, we developed ViT-Plex and T5-Plex, pretrained large model extensions for vision and language modalities, respectively. Plex greatly improves the state-of-the-art across reliability tasks, and simplifies the traditional protocol as it improves the out-of-the-box performance and does not require designing scores or tuning the model for each task. We demonstrate scaling effects over model sizes up to 1B parameters and pretraining dataset sizes up to 4B examples. We also demonstrate Plex's capabilities on challenging tasks including zero-shot open set recognition, active learning, and uncertainty in conversational language understanding.

Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation

Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building rubble to push it aside. Here we introduce a teleoperation system that targets the realization of these tasks using human whole-body motor skills. We describe a new wheeled humanoid platform, SATYRR, and a novel hands-free teleoperation architecture using a whole-body Human Machine Interface (HMI). This system enables telelocomotion of the humanoid robot using the operator body motion, freeing their arms for manipulation tasks. In this study we evaluate the efficacy of the proposed system on hardware, and explore the control of SATYRR using two teleoperation mappings that map the operators body pitch and twist to the robot velocity or acceleration. Through experiments and user feedback we showcase our preliminary findings of the pilot-system response. Results suggest that the HMI is capable of effectively telelocomoting SATYRR, that pilot preferences should dictate the appropriate motion mapping and gains, and finally that the pilot can better learn to control the system over time. This study represents a fundamental step towards the realization of combined manipulation and locomotion via teleoperation.