Daily Papers

The capability to transfer mastered skills to accomplish a range of similar yet novel tasks is crucial for intelligent robots. In this work, we introduce Diff-Transfer, a novel framework leveraging differentiable physics simulation to efficiently transfer robotic skills. Specifically, Diff-Transfer discovers a feasible path within the task space that brings the source task to the target task. At each pair of adjacent points along this task path, which is two sub-tasks, Diff-Transfer adapts known actions from one sub-task to tackle the other sub-task successfully. The adaptation is guided by the gradient information from differentiable physics simulations. We propose a novel path-planning method to generate sub-tasks, leveraging Q-learning with a task-level state and reward. We implement our framework in simulation experiments and execute four challenging transfer tasks on robotic manipulation, demonstrating the efficacy of Diff-Transfer through comprehensive experiments. Supplementary and Videos are on the website https://sites.google.com/view/difftransfer

Social simulation is transforming traditional social science research by modeling human behavior through interactions between virtual individuals and their environments. With recent advances in large language models (LLMs), this approach has shown growing potential in capturing individual differences and predicting group behaviors. However, existing methods face alignment challenges related to the environment, target users, interaction mechanisms, and behavioral patterns. To this end, we introduce SocioVerse, an LLM-agent-driven world model for social simulation. Our framework features four powerful alignment components and a user pool of 10 million real individuals. To validate its effectiveness, we conducted large-scale simulation experiments across three distinct domains: politics, news, and economics. Results demonstrate that SocioVerse can reflect large-scale population dynamics while ensuring diversity, credibility, and representativeness through standardized procedures and minimal manual adjustments.

In this paper, we introduce a simulacrum of hospital called Agent Hospital that simulates the entire process of treating illness. All patients, nurses, and doctors are autonomous agents powered by large language models (LLMs). Our central goal is to enable a doctor agent to learn how to treat illness within the simulacrum. To do so, we propose a method called MedAgent-Zero. As the simulacrum can simulate disease onset and progression based on knowledge bases and LLMs, doctor agents can keep accumulating experience from both successful and unsuccessful cases. Simulation experiments show that the treatment performance of doctor agents consistently improves on various tasks. More interestingly, the knowledge the doctor agents have acquired in Agent Hospital is applicable to real-world medicare benchmarks. After treating around ten thousand patients (real-world doctors may take over two years), the evolved doctor agent achieves a state-of-the-art accuracy of 93.06% on a subset of the MedQA dataset that covers major respiratory diseases. This work paves the way for advancing the applications of LLM-powered agent techniques in medical scenarios.

How can a robot efficiently extract a desired object from a shelf when it is fully occluded by other objects? Prior works propose geometric approaches for this problem but do not consider object semantics. Shelves in pharmacies, restaurant kitchens, and grocery stores are often organized such that semantically similar objects are placed close to one another. Can large language models (LLMs) serve as semantic knowledge sources to accelerate robotic mechanical search in semantically arranged environments? With Semantic Spatial Search on Shelves (S^4), we use LLMs to generate affinity matrices, where entries correspond to semantic likelihood of physical proximity between objects. We derive semantic spatial distributions by synthesizing semantics with learned geometric constraints. S^4 incorporates Optical Character Recognition (OCR) and semantic refinement with predictions from ViLD, an open-vocabulary object detection model. Simulation experiments suggest that semantic spatial search reduces the search time relative to pure spatial search by an average of 24% across three domains: pharmacy, kitchen, and office shelves. A manually collected dataset of 100 semantic scenes suggests that OCR and semantic refinement improve object detection accuracy by 35%. Lastly, physical experiments in a pharmacy shelf suggest 47.1% improvement over pure spatial search. Supplementary material can be found at https://sites.google.com/view/s4-rss/home.

Large language models are being widely used across industries to generate content that contributes directly to key performance metrics, such as conversion rates. Pretrained models, however, often fall short when it comes to aligning with human preferences or optimizing for business objectives. As a result, fine-tuning with good-quality labeled data is essential to guide models to generate content that achieves better results. Controlled experiments, like A/B tests, can provide such data, but they are often expensive and come with significant engineering and logistical challenges. Meanwhile, companies have access to a vast amount of historical (observational) data that remains underutilized. In this work, we study the challenges and opportunities of fine-tuning LLMs using observational data. We show that while observational outcomes can provide valuable supervision, directly fine-tuning models on such data can lead them to learn spurious correlations. We present empirical evidence of this issue using various real-world datasets and propose DeconfoundLM, a method that explicitly removes the effect of known confounders from reward signals. Using simulation experiments, we demonstrate that DeconfoundLM improves the recovery of causal relationships and mitigates failure modes found in fine-tuning methods that ignore or naively incorporate confounding variables. Our findings highlight that while observational data presents risks, with the right causal corrections, it can be a powerful source of signal for LLM alignment. Please refer to the project page for code and related resources.

Learning from human feedback has gained traction in fields like robotics and natural language processing in recent years. While prior works mostly rely on human feedback in the form of comparisons, language is a preferable modality that provides more informative insights into user preferences. In this work, we aim to incorporate comparative language feedback to iteratively improve robot trajectories and to learn reward functions that encode human preferences. To achieve this goal, we learn a shared latent space that integrates trajectory data and language feedback, and subsequently leverage the learned latent space to improve trajectories and learn human preferences. To the best of our knowledge, we are the first to incorporate comparative language feedback into reward learning. Our simulation experiments demonstrate the effectiveness of the learned latent space and the success of our learning algorithms. We also conduct human subject studies that show our reward learning algorithm achieves a 23.9% higher subjective score on average and is 11.3% more time-efficient compared to preference-based reward learning, underscoring the superior performance of our method. Our website is at https://liralab.usc.edu/comparative-language-feedback/

In this paper, we present a simulation system called AgentCourt that simulates the entire courtroom process. The judge, plaintiff's lawyer, defense lawyer, and other participants are autonomous agents driven by large language models (LLMs). Our core goal is to enable lawyer agents to learn how to argue a case, as well as improving their overall legal skills, through courtroom process simulation. To achieve this goal, we propose an adversarial evolutionary approach for the lawyer-agent. Since AgentCourt can simulate the occurrence and development of court hearings based on a knowledge base and LLM, the lawyer agents can continuously learn and accumulate experience from real court cases. The simulation experiments show that after two lawyer-agents have engaged in a thousand adversarial legal cases in AgentCourt (which can take a decade for real-world lawyers), compared to their pre-evolutionary state, the evolved lawyer agents exhibit consistent improvement in their ability to handle legal tasks. To enhance the credibility of our experimental results, we enlisted a panel of professional lawyers to evaluate our simulations. The evaluation indicates that the evolved lawyer agents exhibit notable advancements in responsiveness, as well as expertise and logical rigor. This work paves the way for advancing LLM-driven agent technology in legal scenarios. Code is available at https://github.com/relic-yuexi/AgentCourt.

We develop a Multi-Agent Reinforcement Learning (MARL) method to learn scalable control policies for target tracking. Our method can handle an arbitrary number of pursuers and targets; we show results for tasks consisting up to 1000 pursuers tracking 1000 targets. We use a decentralized, partially-observable Markov Decision Process framework to model pursuers as agents receiving partial observations (range and bearing) about targets which move using fixed, unknown policies. An attention mechanism is used to parameterize the value function of the agents; this mechanism allows us to handle an arbitrary number of targets. Entropy-regularized off-policy RL methods are used to train a stochastic policy, and we discuss how it enables a hedging behavior between pursuers that leads to a weak form of cooperation in spite of completely decentralized control execution. We further develop a masking heuristic that allows training on smaller problems with few pursuers-targets and execution on much larger problems. Thorough simulation experiments, ablation studies, and comparisons to state of the art algorithms are performed to study the scalability of the approach and robustness of performance to varying numbers of agents and targets.

Over the past year, research in various domains, including Natural Language Processing (NLP), has been accelerated to fight against the COVID-19 pandemic, yet such research has just started on dialogue systems. In this paper, we introduce an end-to-end dialogue system which aims to ease the isolation of people under self-quarantine. We conduct a control simulation experiment to assess the effects of the user interface, a web-based virtual agent called Nora vs. the android ERICA via a video call. The experimental results show that the android offers a more valuable user experience by giving the impression of being more empathetic and engaging in the conversation due to its nonverbal information, such as facial expressions and body gestures.

To reduce the cost and consumption of computing resources caused by computational redundancy and delayed reward assignment in long CoT, this research proposes the dynamic chain-of-thought (D-CoT) with adaptive reasoning time and steps. The researcher used simulation experiment to simulate the integration of D-CoT through Python 3.13 IDLE combined with a Python simulator based on GPTs. At the same time, the researcher used DeepSeek R1 as a control group to test and compare the performance of the D-CoT simulator in processing MIT OpenCourseWare's linear algebra exam questions. Experimental results show that D-CoT is better than DeepSeek R1 based on long CoT in three indicators: reasoning time, CoT length (reasoning steps) and token count, which achieves a significant reduction in computing resource consumption. In addition, this research has potential value in deep reasoning optimization that is used as a reference for future dynamic deep reasoning frameworks.

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots to also demonstrate expressive behaviors in human-robot interaction. Prior work proposes rule-based methods that struggle to scale to new communication modalities or social situations, while data-driven methods require specialized datasets for each social situation the robot is used in. We propose to leverage the rich social context available from large language models (LLMs) and their ability to generate motion based on instructions or user preferences, to generate expressive robot motion that is adaptable and composable, building upon each other. Our approach utilizes few-shot chain-of-thought prompting to translate human language instructions into parametrized control code using the robot's available and learned skills. Through user studies and simulation experiments, we demonstrate that our approach produces behaviors that users found to be competent and easy to understand. Supplementary material can be found at https://generative-expressive-motion.github.io/.

The pre-train and fine-tune paradigm in machine learning has had dramatic success in a wide range of domains because the use of existing data or pre-trained models on the internet enables quick and easy learning of new tasks. We aim to enable this paradigm in robotic reinforcement learning, allowing a robot to learn a new task with little human effort by leveraging data and models from the Internet. However, reinforcement learning often requires significant human effort in the form of manual reward specification or environment resets, even if the policy is pre-trained. We introduce RoboFuME, a reset-free fine-tuning system that pre-trains a multi-task manipulation policy from diverse datasets of prior experiences and self-improves online to learn a target task with minimal human intervention. Our insights are to utilize calibrated offline reinforcement learning techniques to ensure efficient online fine-tuning of a pre-trained policy in the presence of distribution shifts and leverage pre-trained vision language models (VLMs) to build a robust reward classifier for autonomously providing reward signals during the online fine-tuning process. In a diverse set of five real robot manipulation tasks, we show that our method can incorporate data from an existing robot dataset collected at a different institution and improve on a target task within as little as 3 hours of autonomous real-world experience. We also demonstrate in simulation experiments that our method outperforms prior works that use different RL algorithms or different approaches for predicting rewards. Project website: https://robofume.github.io

Diffusion Policies have demonstrated impressive performance in robotic manipulation tasks. However, their long inference time, resulting from an extensive iterative denoising process, and the need to execute an action chunk before the next prediction to maintain consistent actions limit their applicability to latency-critical tasks or simple tasks with a short cycle time. While recent methods explored distillation or alternative policy structures to accelerate inference, these often demand additional training, which can be resource-intensive for large robotic models. In this paper, we introduce a novel approach inspired by the Real-Time Iteration (RTI) Scheme, a method from optimal control that accelerates optimization by leveraging solutions from previous time steps as initial guesses for subsequent iterations. We explore the application of this scheme in diffusion inference and propose a scaling-based method to effectively handle discrete actions, such as grasping, in robotic manipulation. The proposed scheme significantly reduces runtime computational costs without the need for distillation or policy redesign. This enables a seamless integration into many pre-trained diffusion-based models, in particular, to resource-demanding large models. We also provide theoretical conditions for the contractivity which could be useful for estimating the initial denoising step. Quantitative results from extensive simulation experiments show a substantial reduction in inference time, with comparable overall performance compared with Diffusion Policy using full-step denoising. Our project page with additional resources is available at: https://rti-dp.github.io/.

This paper addresses a multi-echelon inventory management problem with a complex network topology where deriving optimal ordering decisions is difficult. Deep reinforcement learning (DRL) has recently shown potential in solving such problems, while designing the neural networks in DRL remains a challenge. In order to address this, a DRL model is developed whose Q-network is based on radial basis functions. The approach can be more easily constructed compared to classic DRL models based on neural networks, thus alleviating the computational burden of hyperparameter tuning. Through a series of simulation experiments, the superior performance of this approach is demonstrated compared to the simple base-stock policy, producing a better policy in the multi-echelon system and competitive performance in the serial system where the base-stock policy is optimal. In addition, the approach outperforms current DRL approaches.

Visuomotor robot policies, increasingly pre-trained on large-scale datasets, promise significant advancements across robotics domains. However, aligning these policies with end-user preferences remains a challenge, particularly when the preferences are hard to specify. While reinforcement learning from human feedback (RLHF) has become the predominant mechanism for alignment in non-embodied domains like large language models, it has not seen the same success in aligning visuomotor policies due to the prohibitive amount of human feedback required to learn visual reward functions. To address this limitation, we propose Representation-Aligned Preference-based Learning (RAPL), an observation-only method for learning visual rewards from significantly less human preference feedback. Unlike traditional RLHF, RAPL focuses human feedback on fine-tuning pre-trained vision encoders to align with the end-user's visual representation and then constructs a dense visual reward via feature matching in this aligned representation space. We first validate RAPL through simulation experiments in the X-Magical benchmark and Franka Panda robotic manipulation, demonstrating that it can learn rewards aligned with human preferences, more efficiently uses preference data, and generalizes across robot embodiments. Finally, our hardware experiments align pre-trained Diffusion Policies for three object manipulation tasks. We find that RAPL can fine-tune these policies with 5x less real human preference data, taking the first step towards minimizing human feedback while maximizing visuomotor robot policy alignment.

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate communication channel exists between the human expert and the robot to describe critical aspects of the task, such as the properties of the target object or the intended shape of the motion. Motivated by insights into the human teaching process, we introduce a method for incorporating unstructured natural language into imitation learning. At training time, the expert can provide demonstrations along with verbal descriptions in order to describe the underlying intent (e.g., "go to the large green bowl"). The training process then interrelates these two modalities to encode the correlations between language, perception, and motion. The resulting language-conditioned visuomotor policies can be conditioned at runtime on new human commands and instructions, which allows for more fine-grained control over the trained policies while also reducing situational ambiguity. We demonstrate in a set of simulation experiments how our approach can learn language-conditioned manipulation policies for a seven-degree-of-freedom robot arm and compare the results to a variety of alternative methods.

We propose a reinforcement learning (RL) framework under a broad class of risk objectives, characterized by convex scoring functions. This class covers many common risk measures, such as variance, Expected Shortfall, entropic Value-at-Risk, and mean-risk utility. To resolve the time-inconsistency issue, we consider an augmented state space and an auxiliary variable and recast the problem as a two-state optimization problem. We propose a customized Actor-Critic algorithm and establish some theoretical approximation guarantees. A key theoretical contribution is that our results do not require the Markov decision process to be continuous. Additionally, we propose an auxiliary variable sampling method inspired by the alternating minimization algorithm, which is convergent under certain conditions. We validate our approach in simulation experiments with a financial application in statistical arbitrage trading, demonstrating the effectiveness of the algorithm.

Regardless of the particular task we want them to perform in an environment, there are often shared safety constraints we want our agents to respect. For example, regardless of whether it is making a sandwich or clearing the table, a kitchen robot should not break a plate. Manually specifying such a constraint can be both time-consuming and error-prone. We show how to learn constraints from expert demonstrations of safe task completion by extending inverse reinforcement learning (IRL) techniques to the space of constraints. Intuitively, we learn constraints that forbid highly rewarding behavior that the expert could have taken but chose not to. Unfortunately, the constraint learning problem is rather ill-posed and typically leads to overly conservative constraints that forbid all behavior that the expert did not take. We counter this by leveraging diverse demonstrations that naturally occur in multi-task settings to learn a tighter set of constraints. We validate our method with simulation experiments on high-dimensional continuous control tasks.

Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Defining an accurate and easy-to-use ergonomic assessment model stands as an important step in providing feedback for postural correction to improve operator health and comfort. Common practical methods in the area suffer from inaccurate ergonomics models in performing postural optimization. In order to retain assessment quality, while improving computational considerations, we propose a novel framework for postural assessment and optimization for ergonomically intelligent physical human-robot interaction. We introduce DULA and DEBA, differentiable and continuous ergonomics models learned to replicate the popular and scientifically validated RULA and REBA assessments with more than 99% accuracy. We show that DULA and DEBA provide assessment comparable to RULA and REBA while providing computational benefits when being used in postural optimization. We evaluate our framework through human and simulation experiments. We highlight DULA and DEBA's strength in a demonstration of postural optimization for a simulated pHRI task.

Due to the low accuracy of object detection and recognition in many intelligent surveillance systems at nighttime, the quality of night images is crucial. Compared with the corresponding daytime image, nighttime image is characterized as low brightness, low contrast and high noise. In this paper, a bio-inspired image enhancement algorithm is proposed to convert a low illuminance image to a brighter and clear one. Different from existing bio-inspired algorithm, the proposed method doesn't use any training sequences, we depend on a novel chain of contrast enhancement and denoising algorithms without using any forms of recursive functions. Our method can largely improve the brightness and contrast of night images, besides, suppress noise. Then we implement on real experiment, and simulation experiment to test our algorithms. Both results show the advantages of proposed algorithm over contrast pair, Meylan and Retinex.

To a large extent, the deployment of edge computing (EC) can reduce the burden of the explosive growth of the Internet of things. As a powerful hub between the Internet of things and cloud servers, edge devices make the transmission of cloud to things no longer complicated. However, edge nodes are faced with a series of problems, such as large number, a wide range of distribution, and complex environment, the security of edge computing should not be underestimated. Based on this, we propose a tactic to improve the safety of edge computing by virtualizing edge nodes. In detail, first of all, we propose a strategy of edge node partition, virtualize the edge nodes dealing with different types of things into various virtual networks, which are deployed between the edge nodes and the cloud server. Second, considering that different information transmission has different security requirement, we propose a security tactic based on security level measurement. Finally, through simulation experiments, we compare with the existing advanced algorithms which are committed to virtual network security, and prove that the model proposed in this paper has definite progressiveness in enhancing the security of edge computing.

Underwater environments create a challenging channel for communications. In this paper, we design a novel receiver system by exploring the machine learning technique--Deep Belief Network (DBN)-- to combat the signal distortion caused by the Doppler effect and multi-path propagation. We evaluate the performance of the proposed receiver system in both simulation experiments and sea trials. Our proposed receiver system comprises of DBN based de-noising and classification of the received signal. First, the received signal is segmented into frames before the each of these frames is individually pre-processed using a novel pixelization algorithm. Then, using the DBN based de-noising algorithm, features are extracted from these frames and used to reconstruct the received signal. Finally, DBN based classification of the reconstructed signal occurs. Our proposed DBN based receiver system does show better performance in channels influenced by the Doppler effect and multi-path propagation with a performance improvement of 13.2dB at 10^{-3} Bit Error Rate (BER).

The automation of resume screening is a crucial aspect of the recruitment process in organizations. Automated resume screening systems often encompass a range of natural language processing (NLP) tasks. The advent of Large Language Models (LLMs) has notably enhanced the efficacy of these systems, showcasing their robust generalization abilities across diverse language-related tasks. Accompanying these developments are various agents based on LLMs, which facilitate their application in practical scenarios. This paper introduces a novel LLM-based agent framework for resume screening, aimed at enhancing efficiency and time management in recruitment processes. Our framework is distinct in its ability to efficiently summarize and grade each resume from a large dataset. Moreover, it utilizes LLM agents for decision-making, determining which candidates receive job offers, or which ones to bring in for interviews. To evaluate our framework, we constructed a dataset from actual resumes and conducted simulate a resume screening process. Subsequently, the outcomes of the simulation experiment were compared and subjected to detailed analysis. The results demonstrate that our automated resume screening framework is 11 times faster than traditional manual methods. Furthermore, by fine-tuning the LLMs, we observed a significant improvement in the F1 score, reaching 87.73\%, during the resume sentence classification phase. In the resume summarization and grading phase, our fine-tuned model surpassed the baseline performance of the GPT-3.5 model. Analysis of the decision-making efficacy of the LLM agents in the final offer stage further underscores the potential of LLM agents in transforming resume screening processes.

Large Language Models (LLMs) are conversational interfaces. As such, LLMs have the potential to assist their users not only when they can fully specify the task at hand, but also to help them define, explore, and refine what they need through multi-turn conversational exchange. Although analysis of LLM conversation logs has confirmed that underspecification occurs frequently in user instructions, LLM evaluation has predominantly focused on the single-turn, fully-specified instruction setting. In this work, we perform large-scale simulation experiments to compare LLM performance in single- and multi-turn settings. Our experiments confirm that all the top open- and closed-weight LLMs we test exhibit significantly lower performance in multi-turn conversations than single-turn, with an average drop of 39% across six generation tasks. Analysis of 200,000+ simulated conversations decomposes the performance degradation into two components: a minor loss in aptitude and a significant increase in unreliability. We find that LLMs often make assumptions in early turns and prematurely attempt to generate final solutions, on which they overly rely. In simpler terms, we discover that *when LLMs take a wrong turn in a conversation, they get lost and do not recover*.

The rapid advancement of Large Language Models (LLMs) necessitates robust evaluation methodologies. Current benchmarking approaches often rely on comparing model outputs against predefined prompts and reference outputs. Relying on predefined reference outputs hinders flexible adaptation of benchmarks to the rapidly evolving capabilities of LLMs. This limitation necessitates periodic efforts to prepare new benchmarks. To keep pace with rapidly evolving LLM capabilities, we propose a more flexible benchmarking approach. Our method, \textbf{Varco Arena}, provides reference-free benchmarking of LLMs in tournament style. \textbf{Varco Arena} directly compares LLM outputs across a diverse set of prompts, determining model rankings through a single-elimination tournament structure. This direct pairwise comparison offers two key advantages: (1) Direct comparison, unmediated by reference text, more effectively orders competing LLMs, resulting in more reliable rankings, and (2) reference-free approach to benchmarking adds flexibility in updating benchmark prompts by eliminating the need for quality references. Our empirical results, supported by simulation experiments, demonstrate that the \textbf{Varco Arena} tournament approach aligns better with the current Elo model for benchmarking LLMs. The alignment is measured in terms of Spearman correlation, showing improvement over current practice of benchmarking that use reference outputs as comparison anchors.

Facing with grave climate change and enormous energy demand, catalyzer gets more and more important due to its significant effect on reducing fossil fuels consumption. Hydrogen evolution reaction (HER) and oxygen evolution reaction (OER) by water splitting are feasible ways to produce clean sustainable energy. Here we systematically explored atomic structures and related STM images of Se defects in PtSe2. The equilibrium fractions of vacancies under variable conditions were detailly predicted. Besides, we found the vacancies are highly kinetic stable, without recovering or aggregation. The Se vacancies in PtSe2 can dramatically enhance the HER performance, comparing with, even better than Pt(111). Beyond, we firstly revealed that PtSe2 monolayer with Se vacancies is also a good OER catalyst. The excellent bipolar catalysis of Se vacancies were further confirmed by experimental measurements. We produced defective PtSe2 by direct selenization of Pt foil at 773 K using a CVD process. Then we observed the HER and OER performance of defective PtSe2 is much highly efficient than Pt foils by a series of measurements. Our work with compelling theoretical and experimental studies indicates PtSe2 with Se defects is an ideal bipolar candidate for HER and OER.

In this study, we present an model-based approach to recognize full 26 degrees of freedom of a human hand. Input data include RGB-D images acquired from a Kinect camera and a 3D model of the hand constructed from its anatomy and graphical matrices. A cost function is then defined so that its minimum value is achieved when the model and observation images are matched. To solve the optimization problem in 26 dimensional space, the particle swarm optimization algorimth with improvements are used. In addition, parallel computation in graphical processing units (GPU) is utilized to handle computationally expensive tasks. Simulation and experimental results show that the system can recognize 26 degrees of freedom of hands with the processing time of 0.8 seconds per frame. The algorithm is robust to noise and the hardware requirement is simple with a single camera.

This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot. The proposed solution builds upon a semantically-enhanced Variational Autoencoder that is trained with both real-world and simulated depth images to compress the input data, while preserving semantically-labeled thin obstacles and handling invalid pixels in the depth sensor's output. This compressed representation, in addition to the robot's partial state involving its linear/angular velocities and its attitude are then utilized to train an uncertainty-aware 3D Collision Prediction Network in simulation to predict collision scores for candidate action sequences in a predefined motion primitives library. A set of simulation and experimental studies in cluttered environments with various sizes and types of obstacles, including multiple hard-to-perceive thin objects, were conducted to evaluate the performance of the proposed method and compare against an end-to-end trained baseline. The results demonstrate the benefits of the proposed semantically-enhanced deep collision prediction for learning-based autonomous navigation.

Spatial intelligence is a critical component of embodied AI, promoting robots to understand and interact with their environments. While recent advances have enhanced the ability of VLMs to perceive object locations and positional relationships, they still lack the capability to precisely understand object orientations-a key requirement for tasks involving fine-grained manipulations. Addressing this limitation not only requires geometric reasoning but also an expressive and intuitive way to represent orientation. In this context, we propose that natural language offers a more flexible representation space than canonical frames, making it particularly suitable for instruction-following robotic systems. In this paper, we introduce the concept of semantic orientation, which defines object orientations using natural language in a reference-frame-free manner (e.g., the ''plug-in'' direction of a USB or the ''handle'' direction of a knife). To support this, we construct OrienText300K, a large-scale dataset of 3D models annotated with semantic orientations that link geometric understanding to functional semantics. By integrating semantic orientation into a VLM system, we enable robots to generate manipulation actions with both positional and orientational constraints. Extensive experiments in simulation and real world demonstrate that our approach significantly enhances robotic manipulation capabilities, e.g., 48.7% accuracy on Open6DOR and 74.9% accuracy on SIMPLER.

This paper presents a novel guidance law for target tracking applications where the target motion model is unknown and sensor measurements are intermittent due to unknown environmental conditions and low measurement update rate. In this work, the target motion model is represented by a transformer neural network and trained by previous target position measurements. This transformer motion model serves as the prediction step in a particle filter for target state estimation and uncertainty quantification. The particle filter estimation uncertainty is utilized in the information-driven guidance law to compute a path for the mobile agent to travel to a position with maximum expected entropy reduction (EER). The computation of EER is performed in real-time by approximating the information gain from the predicted particle distributions relative to the current distribution. Simulation and hardware experiments are performed with a quadcopter agent and TurtleBot target to demonstrate that the presented guidance law outperforms two other baseline guidance methods.

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention to target regions. Instead, visual attention is always dispersed. To guide the visual attention grounding on the correct target, we propose ReconVLA, a reconstructive VLA model with an implicit grounding paradigm. Conditioned on the model's visual outputs, a diffusion transformer aims to reconstruct the gaze region of the image, which corresponds to the target manipulated objects. This process prompts the VLA model to learn fine-grained representations and accurately allocate visual attention, thus effectively leveraging task-specific visual information and conducting precise manipulation. Moreover, we curate a large-scale pretraining dataset comprising over 100k trajectories and 2 million data samples from open-source robotic datasets, further boosting the model's generalization in visual reconstruction. Extensive experiments in simulation and the real world demonstrate the superiority of our implicit grounding method, showcasing its capabilities of precise manipulation and generalization. Our project page is https://zionchow.github.io/ReconVLA/.

Weighted graphs are ubiquitous throughout biology, chemistry, and the social sciences, motivating the development of generative models for abstract weighted graph data using deep neural networks. However, most current deep generative models are either designed for unweighted graphs and are not easily extended to weighted topologies or incorporate edge weights without consideration of a joint distribution with topology. Furthermore, learning a distribution over weighted graphs must account for complex nonlocal dependencies between both the edges of the graph and corresponding weights of each edge. We develop an autoregressive model BiGG-E, a nontrivial extension of the BiGG model, that learns a joint distribution over weighted graphs while still exploiting sparsity to generate a weighted graph with n nodes and m edges in O((n + m)log n) time. Simulation studies and experiments on a variety of benchmark datasets demonstrate that BiGG-E best captures distributions over weighted graphs while remaining scalable and computationally efficient.

We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches learn end-to-end policies with features from vision foundation models, requiring large datasets. Others combine foundation models in a zero-shot setting, suffering from cascading errors. In addition, they primarily leverage vision and language foundation models, focusing less on action priors. In this paper, we aim to develop an effective policy by integrating foundation priors from vision, language, and action. We propose A^2, an action prior alignment method that aligns unconditioned action priors with 3D vision-language priors by learning one attention layer. The alignment formulation enables our policy to train with less data and preserve zero-shot generalization capabilities. We show that a shared policy for both pick and place actions enhances the performance for each task, and introduce a policy adaptation scheme to accommodate the multi-modal nature of actions. Extensive experiments in simulation and the real-world show that our policy achieves higher task success rates with fewer steps for both pick and place tasks in clutter, effectively generalizing to unseen objects and language instructions. Videos and codes are available at https://xukechun.github.io/papers/A2.

In this work, we present STOPNet, a framework for 6-DoF object suction detection on production lines, with a focus on but not limited to transparent objects, which is an important and challenging problem in robotic systems and modern industry. Current methods requiring depth input fail on transparent objects due to depth cameras' deficiency in sensing their geometry, while we proposed a novel framework to reconstruct the scene on the production line depending only on RGB input, based on multiview stereo. Compared to existing works, our method not only reconstructs the whole 3D scene in order to obtain high-quality 6-DoF suction poses in real time but also generalizes to novel environments, novel arrangements and novel objects, including challenging transparent objects, both in simulation and the real world. Extensive experiments in simulation and the real world show that our method significantly surpasses the baselines and has better generalizability, which caters to practical industrial needs.

While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a unified 3D spatial map representation for storing cross-modal information from audio, visual, and language cues. AVLMaps integrate the open-vocabulary capabilities of multimodal foundation models pre-trained on Internet-scale data by fusing their features into a centralized 3D voxel grid. In the context of navigation, we show that AVLMaps enable robot systems to index goals in the map based on multimodal queries, e.g., textual descriptions, images, or audio snippets of landmarks. In particular, the addition of audio information enables robots to more reliably disambiguate goal locations. Extensive experiments in simulation show that AVLMaps enable zero-shot multimodal goal navigation from multimodal prompts and provide 50% better recall in ambiguous scenarios. These capabilities extend to mobile robots in the real world - navigating to landmarks referring to visual, audio, and spatial concepts. Videos and code are available at: https://avlmaps.github.io.

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle detection and tracking from monocular videos. The framework can not only associate detections of vehicles in motion over time, but also estimate their complete 3D bounding box information from a sequence of 2D images captured on a moving platform. Our method leverages 3D box depth-ordering matching for robust instance association and utilizes 3D trajectory prediction for re-identification of occluded vehicles. We also design a motion learning module based on an LSTM for more accurate long-term motion extrapolation. Our experiments on simulation, KITTI, and Argoverse datasets show that our 3D tracking pipeline offers robust data association and tracking. On Argoverse, our image-based method is significantly better for tracking 3D vehicles within 30 meters than the LiDAR-centric baseline methods.

This paper presents a novel framework that enables real-world humanoid robots to maintain stability while performing human-like motion. Current methods train a policy which allows humanoid robots to follow human body using the massive retargeted human data via reinforcement learning. However, due to the heterogeneity between human and humanoid robot motion, directly using retargeted human motion reduces training efficiency and stability. To this end, we introduce SMAP, a novel whole-body tracking framework that bridges the gap between human and humanoid action spaces, enabling accurate motion mimicry by humanoid robots. The core idea is to use a vector-quantized periodic autoencoder to capture generic atomic behaviors and adapt human motion into physically plausible humanoid motion. This adaptation accelerates training convergence and improves stability when handling novel or challenging motions. We then employ a privileged teacher to distill precise mimicry skills into the student policy with a proposed decoupled reward. We conduct experiments in simulation and real world to demonstrate the superiority stability and performance of SMAP over SOTA methods, offering practical guidelines for advancing whole-body control in humanoid robots.

Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can pre-compute a corresponding safety controller. While this may make sense for some safety constraints (e.g., avoiding collision with walls by analyzing a floor plan), other constraints are more complex (e.g., spills), inherently personal, context-dependent, and can only be identified at deployment time when the robot is interacting in a specific environment and with a specific person (e.g., fragile objects, expensive rugs). Here, language provides a flexible mechanism to communicate these evolving safety constraints to the robot. In this work, we use vision language models (VLMs) to interpret language feedback and the robot's image observations to continuously update the robot's representation of safety constraints. With these inferred constraints, we update a Hamilton-Jacobi reachability safety controller online via efficient warm-starting techniques. Through simulation and hardware experiments, we demonstrate the robot's ability to infer and respect language-based safety constraints with the proposed approach.

Physical adversarial examples for camera-based computer vision have so far been achieved through visible artifacts -- a sticker on a Stop sign, colorful borders around eyeglasses or a 3D printed object with a colorful texture. An implicit assumption here is that the perturbations must be visible so that a camera can sense them. By contrast, we contribute a procedure to generate, for the first time, physical adversarial examples that are invisible to human eyes. Rather than modifying the victim object with visible artifacts, we modify light that illuminates the object. We demonstrate how an attacker can craft a modulated light signal that adversarially illuminates a scene and causes targeted misclassifications on a state-of-the-art ImageNet deep learning model. Concretely, we exploit the radiometric rolling shutter effect in commodity cameras to create precise striping patterns that appear on images. To human eyes, it appears like the object is illuminated, but the camera creates an image with stripes that will cause ML models to output the attacker-desired classification. We conduct a range of simulation and physical experiments with LEDs, demonstrating targeted attack rates up to 84%.

This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots while preserving a desired trajectory via a layered controller. The top-level planner generates a safety-ensured trajectory for each agent, accounting for the dynamic constraints in the environment. This planner leverages high-order CBFs based on the forward reachable set to ensure safety-critical coordination control, i.e., guarantee the safe coordination of the robots during locomotion. The middle-level trajectory planner employs single rigid body (SRB) dynamics to generate optimal ground reaction forces (GRFs) to track the safety-ensured trajectories from the top-level planner. The whole-body motions to adhere to the optimal GRFs while ensuring the friction cone condition at the end of each stance leg are generated from the low-level controller. The effectiveness of the approach is demonstrated through simulation and hardware experiments.

Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically favors a horizontal base orientation, while end-effector tracking may benefit from base tilting to extend reachability. Additionally, current Reinforcement Learning (RL) approaches using a pose-based task specification lack the ability to directly control the end-effector velocity, making smoothly executing trajectories very challenging. To address these limitations, we propose an RL-based framework that allows for dynamic, velocity-aware whole-body end-effector control. Our method introduces a multi-critic actor architecture that decouples the reward signals for locomotion and manipulation, simplifying reward tuning and allowing the policy to resolve task conflicts more effectively. Furthermore, we design a twist-based end-effector task formulation that can track both discrete poses and motion trajectories. We validate our approach through a set of simulation and hardware experiments using a quadruped robot equipped with a robotic arm. The resulting controller can simultaneously walk and move its end-effector and shows emergent whole-body behaviors, where the base assists the arm in extending the workspace, despite a lack of explicit formulations.

Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach for modeling these environments by learning a quasi-static contact force model instead of a full simulator. Using a feature vector that contains information about the configuration and control, we find a linear mapping adequately captures the relationship between this feature vector and the sensed contact forces. A novel Linear Model Learning (LML) algorithm is used to solve for the globally optimal mapping in real time without any matrix inversions, resulting in an algorithm that runs in nearly constant time on a GPU as the model size increases. We validate the proposed approach for connector insertion both in simulation and hardware experiments, where the learned model is combined with an optimization-based controller to achieve smooth insertions in the presence of misalignments and uncertainty. Our website featuring videos, code, and more materials is available at https://model-based-plugging.github.io/.

Large Language Models (LLMs) are increasingly helpful in text generation, even writing code in programming languages based on user prompts written in natural language. They are even applied to generate simulation models for multibody systems from natural language. Research results suggest that LLMs surpass the mere replication of existing code examples, where some LLMs have been trained on an open-source multibody simulation code. However, for closed-source simulation software, such results are not to be expected as their ideas and concepts might differ from other publicly available ones. LLMs can hallucinate for knowledge-intensive tasks, such as model creation, which can lead to wrong responses. This is especially the case for the LLM unknown closed-source simulation software. The same applies to other internal knowledge kept private to protect intellectual property or data privacy. The Retrieval-Augmented Generation (RAG) approach might yield a solution for these knowledge-intensive tasks. This paper explores the application of RAG to closed-source simulation software and presents first experiments. After a brief introduction to LLMs, the RAG approach, and the simulation method applied by the close-source simulation software, several examples are provided to test LLMs' knowledge of the simulation software and the creation of simulation models using two RAG systems. The examples show promising results indicating the benefits of applying RAG systems to closed-source simulation software, helping to access their knowledge. Nevertheless, they also reveal gaps in the applied information and open questions for further research.

The development of open benchmarking platforms could greatly accelerate the adoption of AI agents in retail. This paper presents comprehensive simulations of customer shopping behaviors for the purpose of benchmarking reinforcement learning (RL) agents that optimize coupon targeting. The difficulty of this learning problem is largely driven by the sparsity of customer purchase events. We trained agents using offline batch data comprising summarized customer purchase histories to help mitigate this effect. Our experiments revealed that contextual bandit and deep RL methods that are less prone to over-fitting the sparse reward distributions significantly outperform static policies. This study offers a practical framework for simulating AI agents that optimize the entire retail customer journey. It aims to inspire the further development of simulation tools for retail AI systems.

Social media platforms frequently impose restrictive policies to moderate user content, prompting the emergence of creative evasion language strategies. This paper presents a multi-agent framework based on Large Language Models (LLMs) to simulate the iterative evolution of language strategies under regulatory constraints. In this framework, participant agents, as social media users, continuously evolve their language expression, while supervisory agents emulate platform-level regulation by assessing policy violations. To achieve a more faithful simulation, we employ a dual design of language strategies (constraint and expression) to differentiate conflicting goals and utilize an LLM-driven GA (Genetic Algorithm) for the selection, mutation, and crossover of language strategies. The framework is evaluated using two distinct scenarios: an abstract password game and a realistic simulated illegal pet trade scenario. Experimental results demonstrate that as the number of dialogue rounds increases, both the number of uninterrupted dialogue turns and the accuracy of information transmission improve significantly. Furthermore, a user study with 40 participants validates the real-world relevance of the generated dialogues and strategies. Moreover, ablation studies validate the importance of the GA, emphasizing its contribution to long-term adaptability and improved overall results.

Segmentation of blood vessels in murine cerebral 3D OCTA images is foundational for in vivo quantitative analysis of the effects of neurovascular disorders, such as stroke or Alzheimer's, on the vascular network. However, to accurately segment blood vessels with state-of-the-art deep learning methods, a vast amount of voxel-level annotations is required. Since cerebral 3D OCTA images are typically plagued by artifacts and generally have a low signal-to-noise ratio, acquiring manual annotations poses an especially cumbersome and time-consuming task. To alleviate the need for manual annotations, we propose utilizing synthetic data to supervise segmentation algorithms. To this end, we extract patches from vessel graphs and transform them into synthetic cerebral 3D OCTA images paired with their matching ground truth labels by simulating the most dominant 3D OCTA artifacts. In extensive experiments, we demonstrate that our approach achieves competitive results, enabling annotation-free blood vessel segmentation in cerebral 3D OCTA images.

Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We advocate using realistic physical simulation as a means to scale environments, tasks, and datasets for robot learning methods. We present RoboCasa, a large-scale simulation framework for training generalist robots in everyday environments. RoboCasa features realistic and diverse scenes focusing on kitchen environments. We provide thousands of 3D assets across over 150 object categories and dozens of interactable furniture and appliances. We enrich the realism and diversity of our simulation with generative AI tools, such as object assets from text-to-3D models and environment textures from text-to-image models. We design a set of 100 tasks for systematic evaluation, including composite tasks generated by the guidance of large language models. To facilitate learning, we provide high-quality human demonstrations and integrate automated trajectory generation methods to substantially enlarge our datasets with minimal human burden. Our experiments show a clear scaling trend in using synthetically generated robot data for large-scale imitation learning and show great promise in harnessing simulation data in real-world tasks. Videos and open-source code are available at https://robocasa.ai/

3D data simulation aims to bridge the gap between simulated and real-captured 3D data, which is a fundamental problem for real-world 3D visual tasks. Most 3D data simulation methods inject predefined physical priors but struggle to capture the full complexity of real data. An optimal approach involves learning an implicit mapping from synthetic to realistic data in a data-driven manner, but progress in this solution has met stagnation in recent studies. This work explores a new solution path of data-driven 3D simulation, called Stable-Sim2Real, based on a novel two-stage depth diffusion model. The initial stage finetunes Stable-Diffusion to generate the residual between the real and synthetic paired depth, producing a stable but coarse depth, where some local regions may deviate from realistic patterns. To enhance this, both the synthetic and initial output depth are fed into a second-stage diffusion, where diffusion loss is adjusted to prioritize these distinct areas identified by a 3D discriminator. We provide a new benchmark scheme to evaluate 3D data simulation methods. Extensive experiments show that training the network with the 3D simulated data derived from our method significantly enhances performance in real-world 3D visual tasks. Moreover, the evaluation demonstrates the high similarity between our 3D simulated data and real-captured patterns. Project page: https://mutianxu.github.io/stable-sim2real/.

Collecting human-chatbot dialogues typically demands substantial manual effort and is time-consuming, which limits and poses challenges for research on conversational AI. In this work, we propose DialogueForge - a framework for generating AI-simulated conversations in human-chatbot style. To initialize each generated conversation, DialogueForge uses seed prompts extracted from real human-chatbot interactions. We test a variety of LLMs to simulate the human chatbot user, ranging from state-of-the-art proprietary models to small-scale open-source LLMs, and generate multi-turn dialogues tailored to specific tasks. In addition, we explore fine-tuning techniques to enhance the ability of smaller models to produce indistinguishable human-like dialogues. We evaluate the quality of the simulated conversations and compare different models using the UniEval and GTEval evaluation protocols. Our experiments show that large proprietary models (e.g., GPT-4o) generally outperform others in generating more realistic dialogues, while smaller open-source models (e.g., Llama, Mistral) offer promising performance with greater customization. We demonstrate that the performance of smaller models can be significantly improved by employing supervised fine-tuning techniques. Nevertheless, maintaining coherent and natural long-form human-like dialogues remains a common challenge across all models.

We introduce Orb-v3, the next generation of the Orb family of universal interatomic potentials. Models in this family expand the performance-speed-memory Pareto frontier, offering near SoTA performance across a range of evaluations with a >10x reduction in latency and > 8x reduction in memory. Our experiments systematically traverse this frontier, charting the trade-off induced by roto-equivariance, conservatism and graph sparsity. Contrary to recent literature, we find that non-equivariant, non-conservative architectures can accurately model physical properties, including those which require higher-order derivatives of the potential energy surface. This model release is guided by the principle that the most valuable foundation models for atomic simulation will excel on all fronts: accuracy, latency and system size scalability. The reward for doing so is a new era of computational chemistry driven by high-throughput and mesoscale all-atom simulations.

Scene simulation in autonomous driving has gained significant attention because of its huge potential for generating customized data. However, existing editable scene simulation approaches face limitations in terms of user interaction efficiency, multi-camera photo-realistic rendering and external digital assets integration. To address these challenges, this paper introduces ChatSim, the first system that enables editable photo-realistic 3D driving scene simulations via natural language commands with external digital assets. To enable editing with high command flexibility,~ChatSim leverages a large language model (LLM) agent collaboration framework. To generate photo-realistic outcomes, ChatSim employs a novel multi-camera neural radiance field method. Furthermore, to unleash the potential of extensive high-quality digital assets, ChatSim employs a novel multi-camera lighting estimation method to achieve scene-consistent assets' rendering. Our experiments on Waymo Open Dataset demonstrate that ChatSim can handle complex language commands and generate corresponding photo-realistic scene videos.

Different outdoor illumination conditions drastically alter the appearance of urban scenes, and they can harm the performance of image-based robot perception systems if not seen during training. Camera simulation provides a cost-effective solution to create a large dataset of images captured under different lighting conditions. Towards this goal, we propose LightSim, a neural lighting camera simulation system that enables diverse, realistic, and controllable data generation. LightSim automatically builds lighting-aware digital twins at scale from collected raw sensor data and decomposes the scene into dynamic actors and static background with accurate geometry, appearance, and estimated scene lighting. These digital twins enable actor insertion, modification, removal, and rendering from a new viewpoint, all in a lighting-aware manner. LightSim then combines physically-based and learnable deferred rendering to perform realistic relighting of modified scenes, such as altering the sun location and modifying the shadows or changing the sun brightness, producing spatially- and temporally-consistent camera videos. Our experiments show that LightSim generates more realistic relighting results than prior work. Importantly, training perception models on data generated by LightSim can significantly improve their performance.

Markov processes are widely used mathematical models for describing dynamic systems in various fields. However, accurately simulating large-scale systems at long time scales is computationally expensive due to the short time steps required for accurate integration. In this paper, we introduce an inference process that maps complex systems into a simplified representational space and models large jumps in time. To achieve this, we propose Time-lagged Information Bottleneck (T-IB), a principled objective rooted in information theory, which aims to capture relevant temporal features while discarding high-frequency information to simplify the simulation task and minimize the inference error. Our experiments demonstrate that T-IB learns information-optimal representations for accurately modeling the statistical properties and dynamics of the original process at a selected time lag, outperforming existing time-lagged dimensionality reduction methods.

Social network simulation is developed to provide a comprehensive understanding of social networks in the real world, which can be leveraged for a wide range of applications such as group behavior emergence, policy optimization, and business strategy development. However, billions of individuals and their evolving interactions involved in social networks pose challenges in accurately reflecting real-world complexities. In this study, we propose a comprehensive Social Network Simulation System (GA-S3) that leverages newly designed Group Agents to make intelligent decisions regarding various online events. Unlike other intelligent agents that represent an individual entity, our group agents model a collection of individuals exhibiting similar behaviors, facilitating the simulation of large-scale network phenomena with complex interactions at a manageable computational cost. Additionally, we have constructed a social network benchmark from 2024 popular online events that contains fine-grained information on Internet traffic variations. The experiment demonstrates that our approach is capable of achieving accurate and highly realistic prediction results. Code is open at https://github.com/AI4SS/GAS-3.

The study of social emergence has long been a central focus in social science. Traditional modeling approaches, such as rule-based Agent-Based Models (ABMs), struggle to capture the diversity and complexity of human behavior, particularly the irrational factors emphasized in behavioral economics. Recently, large language model (LLM) agents have gained traction as simulation tools for modeling human behavior in social science and role-playing applications. Studies suggest that LLMs can account for cognitive biases, emotional fluctuations, and other non-rational influences, enabling more realistic simulations of socio-economic dynamics. In this work, we introduce TwinMarket, a novel multi-agent framework that leverages LLMs to simulate socio-economic systems. Specifically, we examine how individual behaviors, through interactions and feedback mechanisms, give rise to collective dynamics and emergent phenomena. Through experiments in a simulated stock market environment, we demonstrate how individual actions can trigger group behaviors, leading to emergent outcomes such as financial bubbles and recessions. Our approach provides valuable insights into the complex interplay between individual decision-making and collective socio-economic patterns.

World simulation has gained increasing popularity due to its ability to model virtual environments and predict the consequences of actions. However, the limited temporal context window often leads to failures in maintaining long-term consistency, particularly in preserving 3D spatial consistency. In this work, we present WorldMem, a framework that enhances scene generation with a memory bank consisting of memory units that store memory frames and states (e.g., poses and timestamps). By employing a memory attention mechanism that effectively extracts relevant information from these memory frames based on their states, our method is capable of accurately reconstructing previously observed scenes, even under significant viewpoint or temporal gaps. Furthermore, by incorporating timestamps into the states, our framework not only models a static world but also captures its dynamic evolution over time, enabling both perception and interaction within the simulated world. Extensive experiments in both virtual and real scenarios validate the effectiveness of our approach.

Role-playing language agents (RPLAs) have emerged as promising applications of large language models (LLMs). However, simulating established characters presents a challenging task for RPLAs, due to the lack of authentic character datasets and nuanced evaluation methods using such data. In this paper, we present CoSER, a collection of a high-quality dataset, open models, and an evaluation protocol towards effective RPLAs of established characters. The CoSER dataset covers 17,966 characters from 771 renowned books. It provides authentic dialogues with real-world intricacies, as well as diverse data types such as conversation setups, character experiences and internal thoughts. Drawing from acting methodology, we introduce given-circumstance acting for training and evaluating role-playing LLMs, where LLMs sequentially portray multiple characters in book scenes. Using our dataset, we develop CoSER 8B and CoSER 70B, i.e., advanced open role-playing LLMs built on LLaMA-3.1 models. Extensive experiments demonstrate the value of the CoSER dataset for RPLA training, evaluation and retrieval. Moreover, CoSER 70B exhibits state-of-the-art performance surpassing or matching GPT-4o on our evaluation and three existing benchmarks, i.e., achieving 75.80% and 93.47% accuracy on the InCharacter and LifeChoice benchmarks respectively.

Most 3D object generators focus on aesthetic quality, often neglecting physical constraints necessary in applications. One such constraint is that the 3D object should be self-supporting, i.e., remains balanced under gravity. Prior approaches to generating stable 3D objects used differentiable physics simulators to optimize geometry at test-time, which is slow, unstable, and prone to local optima. Inspired by the literature on aligning generative models to external feedback, we propose Direct Simulation Optimization (DSO), a framework to use the feedback from a (non-differentiable) simulator to increase the likelihood that the 3D generator outputs stable 3D objects directly. We construct a dataset of 3D objects labeled with a stability score obtained from the physics simulator. We can then fine-tune the 3D generator using the stability score as the alignment metric, via direct preference optimization (DPO) or direct reward optimization (DRO), a novel objective, which we introduce, to align diffusion models without requiring pairwise preferences. Our experiments show that the fine-tuned feed-forward generator, using either DPO or DRO objective, is much faster and more likely to produce stable objects than test-time optimization. Notably, the DSO framework works even without any ground-truth 3D objects for training, allowing the 3D generator to self-improve by automatically collecting simulation feedback on its own outputs.

Scaling robot learning requires vast and diverse datasets. Yet the prevailing data collection paradigm-human teleoperation-remains costly and constrained by manual effort and physical robot access. We introduce Real2Render2Real (R2R2R), a novel approach for generating robot training data without relying on object dynamics simulation or teleoperation of robot hardware. The input is a smartphone-captured scan of one or more objects and a single video of a human demonstration. R2R2R renders thousands of high visual fidelity robot-agnostic demonstrations by reconstructing detailed 3D object geometry and appearance, and tracking 6-DoF object motion. R2R2R uses 3D Gaussian Splatting (3DGS) to enable flexible asset generation and trajectory synthesis for both rigid and articulated objects, converting these representations to meshes to maintain compatibility with scalable rendering engines like IsaacLab but with collision modeling off. Robot demonstration data generated by R2R2R integrates directly with models that operate on robot proprioceptive states and image observations, such as vision-language-action models (VLA) and imitation learning policies. Physical experiments suggest that models trained on R2R2R data from a single human demonstration can match the performance of models trained on 150 human teleoperation demonstrations. Project page: https://real2render2real.com

Recent advances in deep learning have inspired numerous works on data-driven solutions to partial differential equation (PDE) problems. These neural PDE solvers can often be much faster than their numerical counterparts; however, each presents its unique limitations and generally balances training cost, numerical accuracy, and ease of applicability to different problem setups. To address these limitations, we introduce several methods to apply latent diffusion models to physics simulation. Firstly, we introduce a mesh autoencoder to compress arbitrarily discretized PDE data, allowing for efficient diffusion training across various physics. Furthermore, we investigate full spatio-temporal solution generation to mitigate autoregressive error accumulation. Lastly, we investigate conditioning on initial physical quantities, as well as conditioning solely on a text prompt to introduce text2PDE generation. We show that language can be a compact, interpretable, and accurate modality for generating physics simulations, paving the way for more usable and accessible PDE solvers. Through experiments on both uniform and structured grids, we show that the proposed approach is competitive with current neural PDE solvers in both accuracy and efficiency, with promising scaling behavior up to sim3 billion parameters. By introducing a scalable, accurate, and usable physics simulator, we hope to bring neural PDE solvers closer to practical use.

Large language models (LLMs) have demonstrated impressive capabilities in role-playing tasks. However, there is limited research on whether LLMs can accurately simulate user behavior in real-world scenarios, such as social media. This requires models to effectively analyze a user's history and simulate their role. In this paper, we introduce FineRob, a novel fine-grained behavior simulation dataset. We collect the complete behavioral history of 1,866 distinct users across three social media platforms. Each behavior is decomposed into three fine-grained elements: object, type, and content, resulting in 78.6k QA records. Based on FineRob, we identify two dominant reasoning patterns in LLMs' behavior simulation processes and propose the OM-CoT fine-tuning method to enhance the capability. Through comprehensive experiments, we conduct an in-depth analysis of key factors of behavior simulation and also demonstrate the effectiveness of OM-CoT approachCode and dataset are available at \url{https://github.com/linkseed18612254945/FineRob}

The massive population election simulation aims to model the preferences of specific groups in particular election scenarios. It has garnered significant attention for its potential to forecast real-world social trends. Traditional agent-based modeling (ABM) methods are constrained by their ability to incorporate complex individual background information and provide interactive prediction results. In this paper, we introduce ElectionSim, an innovative election simulation framework based on large language models, designed to support accurate voter simulations and customized distributions, together with an interactive platform to dialogue with simulated voters. We present a million-level voter pool sampled from social media platforms to support accurate individual simulation. We also introduce PPE, a poll-based presidential election benchmark to assess the performance of our framework under the U.S. presidential election scenario. Through extensive experiments and analyses, we demonstrate the effectiveness and robustness of our framework in U.S. presidential election simulations.

Vehicle-to-everything-aided autonomous driving (V2X-AD) has a huge potential to provide a safer driving solution. Despite extensive researches in transportation and communication to support V2X-AD, the actual utilization of these infrastructures and communication resources in enhancing driving performances remains largely unexplored. This highlights the necessity of collaborative autonomous driving: a machine learning approach that optimizes the information sharing strategy to improve the driving performance of each vehicle. This effort necessitates two key foundations: a platform capable of generating data to facilitate the training and testing of V2X-AD, and a comprehensive system that integrates full driving-related functionalities with mechanisms for information sharing. From the platform perspective, we present V2Xverse, a comprehensive simulation platform for collaborative autonomous driving. This platform provides a complete pipeline for collaborative driving. From the system perspective, we introduce CoDriving, a novel end-to-end collaborative driving system that properly integrates V2X communication over the entire autonomous pipeline, promoting driving with shared perceptual information. The core idea is a novel driving-oriented communication strategy. Leveraging this strategy, CoDriving improves driving performance while optimizing communication efficiency. We make comprehensive benchmarks with V2Xverse, analyzing both modular performance and closed-loop driving performance. Experimental results show that CoDriving: i) significantly improves the driving score by 62.49% and drastically reduces the pedestrian collision rate by 53.50% compared to the SOTA end-to-end driving method, and ii) achieves sustaining driving performance superiority over dynamic constraint communication conditions.

Human communication is a complex and diverse process that not only involves multiple factors such as language, commonsense, and cultural backgrounds but also requires the participation of multimodal information, such as speech. Large Language Model (LLM)-based multi-agent systems have demonstrated promising performance in simulating human society. Can we leverage LLM-based multi-agent systems to simulate human communication? However, current LLM-based multi-agent systems mainly rely on text as the primary medium. In this paper, we propose SpeechAgents, a multi-modal LLM based multi-agent system designed for simulating human communication. SpeechAgents utilizes multi-modal LLM as the control center for individual agent and employes multi-modal signals as the medium for exchanged messages among agents. Additionally, we propose Multi-Agent Tuning to enhance the multi-agent capabilities of LLM without compromising general abilities. To strengthen and evaluate the effectiveness of human communication simulation, we build the Human-Communication Simulation Benchmark. Experimental results demonstrate that SpeechAgents can simulate human communication dialogues with consistent content, authentic rhythm, and rich emotions and demonstrate excellent scalability even with up to 25 agents, which can apply to tasks such as drama creation and audio novels generation. Code and models will be open-sourced at https://github. com/0nutation/SpeechAgents

Conversational recommender systems (CRSs) aim to provide recommendation services via natural language conversations. Although a number of approaches have been proposed for developing capable CRSs, they typically rely on sufficient training data for training. Since it is difficult to annotate recommendation-oriented dialogue datasets, existing CRS approaches often suffer from the issue of insufficient training due to the scarcity of training data. To address this issue, in this paper, we propose a CounterFactual data simulation approach for CRS, named CFCRS, to alleviate the issue of data scarcity in CRSs. Our approach is developed based on the framework of counterfactual data augmentation, which gradually incorporates the rewriting to the user preference from a real dialogue without interfering with the entire conversation flow. To develop our approach, we characterize user preference and organize the conversation flow by the entities involved in the dialogue, and design a multi-stage recommendation dialogue simulator based on a conversation flow language model. Under the guidance of the learned user preference and dialogue schema, the flow language model can produce reasonable, coherent conversation flows, which can be further realized into complete dialogues. Based on the simulator, we perform the intervention at the representations of the interacted entities of target users, and design an adversarial training method with a curriculum schedule that can gradually optimize the data augmentation strategy. Extensive experiments show that our approach can consistently boost the performance of several competitive CRSs, and outperform other data augmentation methods, especially when the training data is limited. Our code is publicly available at https://github.com/RUCAIBox/CFCRS.

Building dialogue systems requires a large corpus of annotated dialogues. Such datasets are usually created via crowdsourcing, which is expensive and time-consuming. In this paper, we propose Dialogic, a novel dialogue simulation method based on large language model in-context learning to automate dataset creation. Seeded with a few annotated dialogues, Dialogic automatically selects in-context examples for demonstration and prompts GPT-3 to generate new dialogues and annotations in a controllable way. Our method can rapidly expand a small set of dialogue data with minimum or zero human involvement and parameter update and is thus much more cost-efficient and time-saving than crowdsourcing. Experimental results on the MultiWOZ dataset demonstrate that training a model on the simulated dialogues leads to even better performance than using the same amount of human-generated dialogues under the challenging low-resource settings, with as few as 85 dialogues as a seed. When enough data is available, our method can still serve as an effective data augmentation method. Human evaluation results also show that our simulated dialogues have near-human fluency and annotation accuracy. The code and data are available at \url{https://github.com/Leezekun/dialogic}.

Time-lapse fluorescent microscopy (TLFM) combined with predictive mathematical modelling is a powerful tool to study the inherently dynamic processes of life on the single-cell level. Such experiments are costly, complex and labour intensive. A complimentary approach and a step towards in silico experimentation, is to synthesise the imagery itself. Here, we propose Multi-StyleGAN as a descriptive approach to simulate time-lapse fluorescence microscopy imagery of living cells, based on a past experiment. This novel generative adversarial network synthesises a multi-domain sequence of consecutive timesteps. We showcase Multi-StyleGAN on imagery of multiple live yeast cells in microstructured environments and train on a dataset recorded in our laboratory. The simulation captures underlying biophysical factors and time dependencies, such as cell morphology, growth, physical interactions, as well as the intensity of a fluorescent reporter protein. An immediate application is to generate additional training and validation data for feature extraction algorithms or to aid and expedite development of advanced experimental techniques such as online monitoring or control of cells. Code and dataset is available at https://git.rwth-aachen.de/bcs/projects/tp/multi-stylegan.

In molecular research, simulation \& design of molecules are key areas with significant implications for drug development, material science, and other fields. Current classical computational power falls inadequate to simulate any more than small molecules, let alone protein chains on hundreds of peptide. Therefore these experiment are done physically in wet-lab, but it takes a lot of time \& not possible to examine every molecule due to the size of the search area, tens of billions of dollars are spent every year in these research experiments. Molecule simulation \& design has lately advanced significantly by machine learning models, A fresh perspective on the issue of chemical synthesis is provided by deep generative models for graph-structured data. By optimising differentiable models that produce molecular graphs directly, it is feasible to avoid costly search techniques in the discrete and huge space of chemical structures. But these models also suffer from computational limitations when dimensions become huge and consume huge amount of resources. Quantum Generative machine learning in recent years have shown some empirical results promising significant advantages over classical counterparts.

Existing video avatar models can produce fluid human animations, yet they struggle to move beyond mere physical likeness to capture a character's authentic essence. Their motions typically synchronize with low-level cues like audio rhythm, lacking a deeper semantic understanding of emotion, intent, or context. To bridge this gap, we propose a framework designed to generate character animations that are not only physically plausible but also semantically coherent and expressive. Our model, OmniHuman-1.5, is built upon two key technical contributions. First, we leverage Multimodal Large Language Models to synthesize a structured textual representation of conditions that provides high-level semantic guidance. This guidance steers our motion generator beyond simplistic rhythmic synchronization, enabling the production of actions that are contextually and emotionally resonant. Second, to ensure the effective fusion of these multimodal inputs and mitigate inter-modality conflicts, we introduce a specialized Multimodal DiT architecture with a novel Pseudo Last Frame design. The synergy of these components allows our model to accurately interpret the joint semantics of audio, images, and text, thereby generating motions that are deeply coherent with the character, scene, and linguistic content. Extensive experiments demonstrate that our model achieves leading performance across a comprehensive set of metrics, including lip-sync accuracy, video quality, motion naturalness and semantic consistency with textual prompts. Furthermore, our approach shows remarkable extensibility to complex scenarios, such as those involving multi-person and non-human subjects. Homepage: https://omnihuman-lab.github.io/v1_5/

We present a framework for perspective-aware reasoning in vision-language models (VLMs) through mental imagery simulation. Perspective-taking, the ability to perceive an environment or situation from an alternative viewpoint, is a key benchmark for human-level visual understanding, essential for environmental interaction and collaboration with autonomous agents. Despite advancements in spatial reasoning within VLMs, recent research has shown that modern VLMs significantly lack perspective-aware reasoning capabilities and exhibit a strong bias toward egocentric interpretations. To bridge the gap between VLMs and human perception, we focus on the role of mental imagery, where humans perceive the world through abstracted representations that facilitate perspective shifts. Motivated by this, we propose a framework for perspective-aware reasoning, named Abstract Perspective Change (APC), that effectively leverages vision foundation models, such as object detection, segmentation, and orientation estimation, to construct scene abstractions and enable perspective transformations. Our experiments on synthetic and real-image benchmarks, compared with various VLMs, demonstrate significant improvements in perspective-aware reasoning with our framework, further outperforming fine-tuned spatial reasoning models and novel-view-synthesis-based approaches.

Large Language Models (LLMs) have made significant strides in code generation and problem solving. Current approaches employ external tool-based iterative debuggers that use compiler or other tool-based runtime feedback to refine coarse programs generated by various methods. However, the effectiveness of these approaches heavily relies on the quality of the initial code generation, which remains an open challenge. In this paper, we introduce CodeSim, a novel multi-agent code generation framework that comprehensively addresses the stages of program synthesis-planning, coding, and debugging-through a human-like perception approach. As human verifies their understanding of any algorithms through visual simulation, CodeSim uniquely features a method of plan verification and internal debugging through the step-by-step simulation of input/output. Extensive experiments across seven challenging competitive problem-solving and program synthesis benchmarks demonstrate CodeSim's remarkable code generation capabilities. Our framework achieves new state-of-the-art (pass@1) results-(HumanEval 95.1%, MBPP 90.7%, APPS 22%, and CodeContests 29.1%). Furthermore, our method shows potential for even greater enhancement when cascaded with external debuggers. To facilitate further research and development in this area, we have open-sourced our framework in this link (https://kagnlp.github.io/codesim.github.io/).

Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR. In this paper, we present PhysTwin, a novel framework that uses sparse videos of dynamic objects under interaction to produce a photo- and physically realistic, real-time interactive virtual replica. Our approach centers on two key components: (1) a physics-informed representation that combines spring-mass models for realistic physical simulation, generative shape models for geometry, and Gaussian splats for rendering; and (2) a novel multi-stage, optimization-based inverse modeling framework that reconstructs complete geometry, infers dense physical properties, and replicates realistic appearance from videos. Our method integrates an inverse physics framework with visual perception cues, enabling high-fidelity reconstruction even from partial, occluded, and limited viewpoints. PhysTwin supports modeling various deformable objects, including ropes, stuffed animals, cloth, and delivery packages. Experiments show that PhysTwin outperforms competing methods in reconstruction, rendering, future prediction, and simulation under novel interactions. We further demonstrate its applications in interactive real-time simulation and model-based robotic motion planning.

Acquisition of large datasets for three-dimensional (3D) partial differential equations are usually very expensive. Physics-informed neural operator (PINO) eliminates the high costs associated with generation of training datasets, and shows great potential in a variety of partial differential equations. In this work, we employ physics-informed neural operator, encoding the large-eddy simulation (LES) equations directly into the neural operator for simulating three-dimensional incompressible turbulent flows. We develop the LESnets (Large-Eddy Simulation nets) by adding large-eddy simulation equations to two different data-driven models, including Fourier neural operator (FNO) and implicit Fourier neural operator (IFNO) without using label data. Notably, by leveraging only PDE constraints to learn the spatio-temporal dynamics problem, LESnets retains the computational efficiency of data-driven approaches while obviating the necessity for data. Meanwhile, using large-eddy simulation equations as PDE constraints makes it possible to efficiently predict complex turbulence at coarse grids. We investigate the performance of the LESnets with two standard three-dimensional turbulent flows: decaying homogeneous isotropic turbulence and temporally evolving turbulent mixing layer. In the numerical experiments, the LESnets model shows a similar or even better accuracy as compared to traditional large-eddy simulation and data-driven models of FNO and IFNO. Moreover, the well-trained LESnets is significantly faster than traditional LES, and has a similar efficiency as the data-driven FNO and IFNO models. Thus, physics-informed neural operators have a strong potential for 3D nonlinear engineering applications.

Accurate Subseasonal-to-Seasonal (S2S) ocean simulation is critically important for marine research, yet remains challenging due to its substantial thermal inertia and extended time delay. Machine learning (ML)-based models have demonstrated significant advancements in simulation accuracy and computational efficiency compared to traditional numerical methods. Nevertheless, a significant limitation of current ML models for S2S ocean simulation is their inadequate incorporation of physical consistency and the slow-changing properties of the ocean system. In this work, we propose a neural ocean model (NeuralOM) for S2S ocean simulation with a multi-scale interactive graph neural network to emulate diverse physical phenomena associated with ocean systems effectively. Specifically, we propose a multi-stage framework tailored to model the ocean's slowly changing nature. Additionally, we introduce a multi-scale interactive messaging module to capture complex dynamical behaviors, such as gradient changes and multiplicative coupling relationships inherent in ocean dynamics. Extensive experimental evaluations confirm that our proposed NeuralOM outperforms state-of-the-art models in S2S and extreme event simulation. The codes are available at https://github.com/YuanGao-YG/NeuralOM.

Achieving both realism and controllability in interactive closed-loop traffic simulation remains a key challenge in autonomous driving. Data-driven simulation methods reproduce realistic trajectories but suffer from covariate shift in closed-loop deployment, compounded by simplified dynamics models that further reduce reliability. Conversely, physics-based simulation methods enhance reliable and controllable closed-loop interactions but often lack expert demonstrations, compromising realism. To address these challenges, we introduce a dual-stage AV-centered simulation framework that conducts open-loop imitation learning pre-training in a data-driven simulator to capture trajectory-level realism and multimodality, followed by closed-loop reinforcement learning fine-tuning in a physics-based simulator to enhance controllability and mitigate covariate shift. In the fine-tuning stage, we propose RIFT, a simple yet effective closed-loop RL fine-tuning strategy that preserves the trajectory-level multimodality through a GRPO-style group-relative advantage formulation, while enhancing controllability and training stability by replacing KL regularization with the dual-clip mechanism. Extensive experiments demonstrate that RIFT significantly improves the realism and controllability of generated traffic scenarios, providing a robust platform for evaluating autonomous vehicle performance in diverse and interactive scenarios.

We present a novel data-driven simulation environment for modeling traffic in metropolitan street intersections. Using real-world tracking data collected over an extended period of time, we train trajectory forecasting models to learn agent interactions and environmental constraints that are difficult to capture conventionally. Trajectories of new agents are first coarsely generated by sampling from the spatial and temporal generative distributions, then refined using state-of-the-art trajectory forecasting models. The simulation can run either autonomously, or under explicit human control conditioned on the generative distributions. We present the experiments for a variety of model configurations. Under an iterative prediction scheme, the way-point-supervised TrajNet++ model obtained 0.36 Final Displacement Error (FDE) in 20 FPS on an NVIDIA A100 GPU.

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.

Federated learning (FL) is an emerging machine learning (ML) training paradigm where clients own their data and collaborate to train a global model, without revealing any data to the server and other participants. Researchers commonly perform experiments in a simulation environment to quickly iterate on ideas. However, existing open-source tools do not offer the efficiency required to simulate FL on larger and more realistic FL datasets. We introduce pfl-research, a fast, modular, and easy-to-use Python framework for simulating FL. It supports TensorFlow, PyTorch, and non-neural network models, and is tightly integrated with state-of-the-art privacy algorithms. We study the speed of open-source FL frameworks and show that pfl-research is 7-72times faster than alternative open-source frameworks on common cross-device setups. Such speedup will significantly boost the productivity of the FL research community and enable testing hypotheses on realistic FL datasets that were previously too resource intensive. We release a suite of benchmarks that evaluates an algorithm's overall performance on a diverse set of realistic scenarios. The code is available on GitHub at https://github.com/apple/pfl-research.

Strong inductive biases enable learning from little data and help generalization outside of the training distribution. Popular neural architectures such as Transformers lack strong structural inductive biases for seq2seq NLP tasks on their own. Consequently, they struggle with systematic generalization beyond the training distribution, e.g. with extrapolating to longer inputs, even when pre-trained on large amounts of text. We show how a structural inductive bias can be efficiently injected into a seq2seq model by pre-training it to simulate structural transformations on synthetic data. Specifically, we inject an inductive bias towards Finite State Transducers (FSTs) into a Transformer by pre-training it to simulate FSTs given their descriptions. Our experiments show that our method imparts the desired inductive bias, resulting in improved systematic generalization and better few-shot learning for FST-like tasks. Our analysis shows that fine-tuned models accurately capture the state dynamics of the unseen underlying FSTs, suggesting that the simulation process is internalized by the fine-tuned model.

Reinforcement learning is time-consuming for complex tasks due to the need for large amounts of training data. Recent advances in GPU-based simulation, such as Isaac Gym, have sped up data collection thousands of times on a commodity GPU. Most prior works used on-policy methods like PPO due to their simplicity and ease of scaling. Off-policy methods are more data efficient but challenging to scale, resulting in a longer wall-clock training time. This paper presents a Parallel Q-Learning (PQL) scheme that outperforms PPO in wall-clock time while maintaining superior sample efficiency of off-policy learning. PQL achieves this by parallelizing data collection, policy learning, and value learning. Different from prior works on distributed off-policy learning, such as Apex, our scheme is designed specifically for massively parallel GPU-based simulation and optimized to work on a single workstation. In experiments, we demonstrate that Q-learning can be scaled to tens of thousands of parallel environments and investigate important factors affecting learning speed. The code is available at https://github.com/Improbable-AI/pql.

Human mobility simulation plays a crucial role in various real-world applications. Recently, to address the limitations of traditional data-driven approaches, researchers have explored leveraging the commonsense knowledge and reasoning capabilities of large language models (LLMs) to accelerate human mobility simulation. However, these methods suffer from several critical shortcomings, including inadequate modeling of urban spaces and poor integration with both individual mobility patterns and collective mobility distributions. To address these challenges, we propose CityGPT-Powered Agentic framework for Mobility Simulation (CAMS), an agentic framework that leverages the language based urban foundation model to simulate human mobility in urban space. CAMS comprises three core modules, including MobExtractor to extract template mobility patterns and synthesize new ones based on user profiles, GeoGenerator to generate anchor points considering collective knowledge and generate candidate urban geospatial knowledge using an enhanced version of CityGPT, TrajEnhancer to retrieve spatial knowledge based on mobility patterns and generate trajectories with real trajectory preference alignment via DPO. Experiments on real-world datasets show that CAMS achieves superior performance without relying on externally provided geospatial information. Moreover, by holistically modeling both individual mobility patterns and collective mobility constraints, CAMS generates more realistic and plausible trajectories. In general, CAMS establishes a new paradigm that integrates the agentic framework with urban-knowledgeable LLMs for human mobility simulation.

Photorealistic 3D vehicle models with high controllability are essential for autonomous driving simulation and data augmentation. While handcrafted CAD models provide flexible controllability, free CAD libraries often lack the high-quality materials necessary for photorealistic rendering. Conversely, reconstructed 3D models offer high-fidelity rendering but lack controllability. In this work, we introduce UrbanCAD, a framework that pushes the frontier of the photorealism-controllability trade-off by generating highly controllable and photorealistic 3D vehicle digital twins from a single urban image and a collection of free 3D CAD models and handcrafted materials. These digital twins enable realistic 360-degree rendering, vehicle insertion, material transfer, relighting, and component manipulation such as opening doors and rolling down windows, supporting the construction of long-tail scenarios. To achieve this, we propose a novel pipeline that operates in a retrieval-optimization manner, adapting to observational data while preserving flexible controllability and fine-grained handcrafted details. Furthermore, given multi-view background perspective and fisheye images, we approximate environment lighting using fisheye images and reconstruct the background with 3DGS, enabling the photorealistic insertion of optimized CAD models into rendered novel view backgrounds. Experimental results demonstrate that UrbanCAD outperforms baselines based on reconstruction and retrieval in terms of photorealism. Additionally, we show that various perception models maintain their accuracy when evaluated on UrbanCAD with in-distribution configurations but degrade when applied to realistic out-of-distribution data generated by our method. This suggests that UrbanCAD is a significant advancement in creating photorealistic, safety-critical driving scenarios for downstream applications.

Deep Reinforcement Learning (DRL) underlies in a simulated environment and optimizes objective goals. By extending the conventional interaction scheme, this paper proffers gym-ds3, a scalable and reproducible open environment tailored for a high-fidelity Domain-Specific System-on-Chip (DSSoC) application. The simulation corroborates to schedule hierarchical jobs onto heterogeneous System-on-Chip (SoC) processors and bridges the system to reinforcement learning research. We systematically analyze the representative SoC simulator and discuss the primary challenging aspects that the system (1) continuously generates indefinite jobs at a rapid injection rate, (2) optimizes complex objectives, and (3) operates in steady-state scheduling. We provide exemplary snippets and experimentally demonstrate the run-time performances on different schedulers that successfully mimic results achieved from the standard DS3 framework and real-world embedded systems.

Large language models (LLMs) have demonstrated an impressive ability to role-play humans and replicate complex social dynamics. While large-scale social simulations are gaining increasing attention, they still face significant challenges, particularly regarding high time and computation costs. Existing solutions, such as distributed mechanisms or hybrid agent-based model (ABM) integrations, either fail to address inference costs or compromise accuracy and generalizability. To this end, we propose EcoLANG: Efficient and Effective Agent Communication Language Induction for Social Simulation. EcoLANG operates in two stages: (1) language evolution, where we filter synonymous words and optimize sentence-level rules through natural selection, and (2) language utilization, where agents in social simulations communicate using the evolved language. Experimental results demonstrate that EcoLANG reduces token consumption by over 20%, enhancing efficiency without sacrificing simulation accuracy.

There are various methods for adapting LLMs to different domains. The most common methods are prompting, finetuning, and RAG. In this work, we explore the possibility of adapting a model using one of the PEFT methods - QLoRA. The experiment aims to simulate human responses based on their interviews. The simulation quality is assessed by comparing the quality of the style and the quality of the generated facts.

Domain shifts such as sensor type changes and geographical situation variations are prevalent in Autonomous Driving (AD), which poses a challenge since AD model relying on the previous domain knowledge can be hardly directly deployed to a new domain without additional costs. In this paper, we provide a new perspective and approach of alleviating the domain shifts, by proposing a Reconstruction-Simulation-Perception (ReSimAD) scheme. Specifically, the implicit reconstruction process is based on the knowledge from the previous old domain, aiming to convert the domain-related knowledge into domain-invariant representations, e.g., 3D scene-level meshes. Besides, the point clouds simulation process of multiple new domains is conditioned on the above reconstructed 3D meshes, where the target-domain-like simulation samples can be obtained, thus reducing the cost of collecting and annotating new-domain data for the subsequent perception process. For experiments, we consider different cross-domain situations such as Waymo-to-KITTI, Waymo-to-nuScenes, Waymo-to-ONCE, etc, to verify the zero-shot target-domain perception using ReSimAD. Results demonstrate that our method is beneficial to boost the domain generalization ability, even promising for 3D pre-training.

Simulations of turbulent flows in 3D are one of the most expensive simulations in computational fluid dynamics (CFD). Many works have been written on surrogate models to replace numerical solvers for fluid flows with faster, learned, autoregressive models. However, the intricacies of turbulence in three dimensions necessitate training these models with very small time steps, while generating realistic flow states requires either long roll-outs with many steps and significant error accumulation or starting from a known, realistic flow state - something we aimed to avoid in the first place. Instead, we propose to approach turbulent flow simulation as a generative task directly learning the manifold of all possible turbulent flow states without relying on any initial flow state. For our experiments, we introduce a challenging 3D turbulence dataset of high-resolution flows and detailed vortex structures caused by various objects and derive two novel sample evaluation metrics for turbulent flows. On this dataset, we show that our generative model captures the distribution of turbulent flows caused by unseen objects and generates high-quality, realistic samples amenable for downstream applications without access to any initial state.

Successful and effective communication between humans and AI relies on a shared experience of the world. By training solely on written text, current language models (LMs) miss the grounded experience of humans in the real-world -- their failure to relate language to the physical world causes knowledge to be misrepresented and obvious mistakes in their reasoning. We present Mind's Eye, a paradigm to ground language model reasoning in the physical world. Given a physical reasoning question, we use a computational physics engine (DeepMind's MuJoCo) to simulate the possible outcomes, and then use the simulation results as part of the input, which enables language models to perform reasoning. Experiments on 39 tasks in a physics alignment benchmark demonstrate that Mind's Eye can improve reasoning ability by a large margin (27.9% zero-shot, and 46.0% few-shot absolute accuracy improvement on average). Smaller language models armed with Mind's Eye can obtain similar performance to models that are 100x larger. Finally, we confirm the robustness of Mind's Eye through ablation studies.

About 90% of the computing resources available to the LHCb experiment has been spent to produce simulated data samples for Run 2 of the Large Hadron Collider at CERN. The upgraded LHCb detector will be able to collect larger data samples, requiring many more simulated events to analyze the data to be collected in Run 3. Simulation is a key necessity of analysis to interpret signal, reject background and measure efficiencies. The needed simulation will far exceed the pledged resources, requiring an evolution in technologies and techniques to produce these simulated data samples. In this contribution, we discuss Lamarr, a Gaudi-based framework to speed-up the simulation production parameterizing both the detector response and the reconstruction algorithms of the LHCb experiment. Deep Generative Models powered by several algorithms and strategies are employed to effectively parameterize the high-level response of the single components of the LHCb detector, encoding within neural networks the experimental errors and uncertainties introduced in the detection and reconstruction phases. Where possible, models are trained directly on real data, statistically subtracting any background components by applying appropriate reweighing procedures. Embedding Lamarr in the general LHCb Gauss Simulation framework allows to combine its execution with any of the available generators in a seamless way. The resulting software package enables a simulation process independent of the detailed simulation used to date.

Large multimodal models (LMMs) with advanced video analysis capabilities have recently garnered significant attention. However, most evaluations rely on traditional methods like multiple-choice questions in benchmarks such as VideoMME and LongVideoBench, which are prone to lack the depth needed to capture the complex demands of real-world users. To address this limitation-and due to the prohibitive cost and slow pace of human annotation for video tasks-we introduce VideoAutoArena, an arena-style benchmark inspired by LMSYS Chatbot Arena's framework, designed to automatically assess LMMs' video analysis abilities. VideoAutoArena utilizes user simulation to generate open-ended, adaptive questions that rigorously assess model performance in video understanding. The benchmark features an automated, scalable evaluation framework, incorporating a modified ELO Rating System for fair and continuous comparisons across multiple LMMs. To validate our automated judging system, we construct a 'gold standard' using a carefully curated subset of human annotations, demonstrating that our arena strongly aligns with human judgment while maintaining scalability. Additionally, we introduce a fault-driven evolution strategy, progressively increasing question complexity to push models toward handling more challenging video analysis scenarios. Experimental results demonstrate that VideoAutoArena effectively differentiates among state-of-the-art LMMs, providing insights into model strengths and areas for improvement. To further streamline our evaluation, we introduce VideoAutoBench as an auxiliary benchmark, where human annotators label winners in a subset of VideoAutoArena battles. We use GPT-4o as a judge to compare responses against these human-validated answers. Together, VideoAutoArena and VideoAutoBench offer a cost-effective, and scalable framework for evaluating LMMs in user-centric video analysis.

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance, size, and shape-than on texture when interacting with objects. Since such 3D geometric information can be acquired from widely available depth cameras, it appears feasible to endow robots with similar perceptual capabilities. Our pilot study found that using depth cameras for manipulation is challenging, primarily due to their limited accuracy and susceptibility to various types of noise. In this work, we propose Camera Depth Models (CDMs) as a simple plugin on daily-use depth cameras, which take RGB images and raw depth signals as input and output denoised, accurate metric depth. To achieve this, we develop a neural data engine that generates high-quality paired data from simulation by modeling a depth camera's noise pattern. Our results show that CDMs achieve nearly simulation-level accuracy in depth prediction, effectively bridging the sim-to-real gap for manipulation tasks. Notably, our experiments demonstrate, for the first time, that a policy trained on raw simulated depth, without the need for adding noise or real-world fine-tuning, generalizes seamlessly to real-world robots on two challenging long-horizon tasks involving articulated, reflective, and slender objects, with little to no performance degradation. We hope our findings will inspire future research in utilizing simulation data and 3D information in general robot policies.

We present an open-source database of superconducting quantum device designs that may be used as the starting point for customized devices. Each design can be generated programmatically using the open-source Qiskit Metal package, and simulated using finite-element electromagnetic solvers. We present a robust workflow for achieving high accuracy on design simulations. Many designs in the database are experimentally validated, showing excellent agreement between simulated and measured parameters. Our database includes a front-end interface that allows users to generate ``best-guess'' designs based on desired circuit parameters. This project lowers the barrier to entry for research groups seeking to make a new class of devices by providing them a well-characterized starting point from which to refine their designs.

We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an extensive survey on "what do you want robots to do for you?". The first is the definition of 1,000 everyday activities, grounded in 50 scenes (houses, gardens, restaurants, offices, etc.) with more than 9,000 objects annotated with rich physical and semantic properties. The second is OMNIGIBSON, a novel simulation environment that supports these activities via realistic physics simulation and rendering of rigid bodies, deformable bodies, and liquids. Our experiments indicate that the activities in BEHAVIOR-1K are long-horizon and dependent on complex manipulation skills, both of which remain a challenge for even state-of-the-art robot learning solutions. To calibrate the simulation-to-reality gap of BEHAVIOR-1K, we provide an initial study on transferring solutions learned with a mobile manipulator in a simulated apartment to its real-world counterpart. We hope that BEHAVIOR-1K's human-grounded nature, diversity, and realism make it valuable for embodied AI and robot learning research. Project website: https://behavior.stanford.edu.

An experimental demonstration of directivities exceeding the fundamental Kildal limit, a phenomenon called superdirectivity, is provided for spherical high-index dielectric antennas with an electric dipole excitation. A directivity factor of about 10 with a total efficiency of more than 80\% for an antenna having a size of a third of the wavelength was measured. High directivities are shown to be associated with constructive interference of particular electric and magnetic modes of an open spherical resonator. Both analytic solution for a point dipole and a full-wave rigorous simulation for a realistic dipole antenna were employed for optimization and analysis, yielding an excellent agreement between experimentally measured and numerically predicted directivities. The use of high-index low-loss ceramics can significantly reduce the physical size of such antennas while maintaining their overall high radiation efficiency. Such antennas can be attractive for various high-frequency applications, such as antennas for the Internet of things, smart city systems, 5G network systems, and others. The demonstrated concept can be scaled in frequency.

We present SOPHY, a generative model for 3D physics-aware shape synthesis. Unlike existing 3D generative models that focus solely on static geometry or 4D models that produce physics-agnostic animations, our approach jointly synthesizes shape, texture, and material properties related to physics-grounded dynamics, making the generated objects ready for simulations and interactive, dynamic environments. To train our model, we introduce a dataset of 3D objects annotated with detailed physical material attributes, along with an annotation pipeline for efficient material annotation. Our method enables applications such as text-driven generation of interactive, physics-aware 3D objects and single-image reconstruction of physically plausible shapes. Furthermore, our experiments demonstrate that jointly modeling shape and material properties enhances the realism and fidelity of generated shapes, improving performance on generative geometry evaluation metrics.

Understanding human behavior and society is a central focus in social sciences, with the rise of generative social science marking a significant paradigmatic shift. By leveraging bottom-up simulations, it replaces costly and logistically challenging traditional experiments with scalable, replicable, and systematic computational approaches for studying complex social dynamics. Recent advances in large language models (LLMs) have further transformed this research paradigm, enabling the creation of human-like generative social agents and realistic simulacra of society. In this paper, we propose AgentSociety, a large-scale social simulator that integrates LLM-driven agents, a realistic societal environment, and a powerful large-scale simulation engine. Based on the proposed simulator, we generate social lives for over 10k agents, simulating their 5 million interactions both among agents and between agents and their environment. Furthermore, we explore the potential of AgentSociety as a testbed for computational social experiments, focusing on four key social issues: polarization, the spread of inflammatory messages, the effects of universal basic income policies, and the impact of external shocks such as hurricanes. These four issues serve as valuable cases for assessing AgentSociety's support for typical research methods -- such as surveys, interviews, and interventions -- as well as for investigating the patterns, causes, and underlying mechanisms of social issues. The alignment between AgentSociety's outcomes and real-world experimental results not only demonstrates its ability to capture human behaviors and their underlying mechanisms, but also underscores its potential as an important platform for social scientists and policymakers.

It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training, simulating soft materials presents considerable challenges. Specifically, it is significantly more costly than simulating rigid objects in terms of simulation speed and storage requirements. These limitations typically restrict the scope of studies on soft materials to small and bounded areas, thereby hindering the learning of skills in broader spaces. To address this issue, we introduce UBSoft, a new simulation platform designed to support unbounded soft environments for robot skill acquisition. Our platform utilizes spatially adaptive resolution scales, where simulation resolution dynamically adjusts based on proximity to active robotic agents. Our framework markedly reduces the demand for extensive storage space and computation costs required for large-scale scenarios involving soft materials. We also establish a set of benchmark tasks in our platform, including both locomotion and manipulation tasks, and conduct experiments to evaluate the efficacy of various reinforcement learning algorithms and trajectory optimization techniques, both gradient-based and sampling-based. Preliminary results indicate that sampling-based trajectory optimization generally achieves better results for obtaining one trajectory to solve the task. Additionally, we conduct experiments in real-world environments to demonstrate that advancements made in our UBSoft simulator could translate to improved robot interactions with large-scale soft material. More videos can be found at https://vis-www.cs.umass.edu/ubsoft/.

The focus of this study is to evaluate the effectiveness of Machine Learning (ML) methods for two-sample testing with right-censored observations. To achieve this, we develop several ML-based methods with varying architectures and implement them as two-sample tests. Each method is an ensemble (stacking) that combines predictions from classical two-sample tests. This paper presents the results of training the proposed ML methods, examines their statistical power compared to classical two-sample tests, analyzes the distribution of test statistics for the proposed methods when the null hypothesis is true, and evaluates the significance of the features incorporated into the proposed methods. All results from numerical experiments were obtained from a synthetic dataset generated using the Smirnov transform (Inverse Transform Sampling) and replicated multiple times through Monte Carlo simulation. To test the two-sample problem with right-censored observations, one can use the proposed two-sample methods. All necessary materials (source code, example scripts, dataset, and samples) are available on GitHub and Hugging Face.

Despite remarkable advancements in emulating human-like behavior through Large Language Models (LLMs), current textual simulations do not adequately address the notion of time. To this end, we introduce TimeArena, a novel textual simulated environment that incorporates complex temporal dynamics and constraints that better reflect real-life planning scenarios. In TimeArena, agents are asked to complete multiple tasks as soon as possible, allowing for parallel processing to save time. We implement the dependency between actions, the time duration for each action, and the occupancy of the agent and the objects in the environment. TimeArena grounds to 30 real-world tasks in cooking, household activities, and laboratory work. We conduct extensive experiments with various state-of-the-art LLMs using TimeArena. Our findings reveal that even the most powerful models, e.g., GPT-4, still lag behind humans in effective multitasking, underscoring the need for enhanced temporal awareness in the development of language agents.

The systematic evaluation and understanding of computer vision models under varying conditions require large amounts of data with comprehensive and customized labels, which real-world vision datasets rarely satisfy. While current synthetic data generators offer a promising alternative, particularly for embodied AI tasks, they often fall short for computer vision tasks due to low asset and rendering quality, limited diversity, and unrealistic physical properties. We introduce the BEHAVIOR Vision Suite (BVS), a set of tools and assets to generate fully customized synthetic data for systematic evaluation of computer vision models, based on the newly developed embodied AI benchmark, BEHAVIOR-1K. BVS supports a large number of adjustable parameters at the scene level (e.g., lighting, object placement), the object level (e.g., joint configuration, attributes such as "filled" and "folded"), and the camera level (e.g., field of view, focal length). Researchers can arbitrarily vary these parameters during data generation to perform controlled experiments. We showcase three example application scenarios: systematically evaluating the robustness of models across different continuous axes of domain shift, evaluating scene understanding models on the same set of images, and training and evaluating simulation-to-real transfer for a novel vision task: unary and binary state prediction. Project website: https://behavior-vision-suite.github.io/

In social sciences, researchers often face challenges when conducting large-scale experiments, particularly due to the simulations' complexity and the lack of technical expertise required to develop such frameworks. Agent-Based Modeling (ABM) is a computational approach that simulates agents' actions and interactions to evaluate how their behaviors influence the outcomes. However, the traditional implementation of ABM can be demanding and complex. Generative Agent-Based Modeling (GABM) offers a solution by enabling scholars to create simulations where AI-driven agents can generate complex behaviors based on underlying rules and interactions. This paper introduces a framework for designing reliable experiments using GABM, making sophisticated simulation techniques more accessible to researchers across various fields. We provide a step-by-step guide for selecting appropriate tools, designing the model, establishing experimentation protocols, and validating results.

Modeling human behavior in urban environments is fundamental for social science, behavioral studies, and urban planning. Prior work often rely on rigid, hand-crafted rules, limiting their ability to simulate nuanced intentions, plans, and adaptive behaviors. Addressing these challenges, we envision an urban simulator (CitySim), capitalizing on breakthroughs in human-level intelligence exhibited by large language models. In CitySim, agents generate realistic daily schedules using a recursive value-driven approach that balances mandatory activities, personal habits, and situational factors. To enable long-term, lifelike simulations, we endow agents with beliefs, long-term goals, and spatial memory for navigation. CitySim exhibits closer alignment with real humans than prior work, both at micro and macro levels. Additionally, we conduct insightful experiments by modeling tens of thousands of agents and evaluating their collective behaviors under various real-world scenarios, including estimating crowd density, predicting place popularity, and assessing well-being. Our results highlight CitySim as a scalable, flexible testbed for understanding and forecasting urban phenomena.

Dynamic Gaussian splatting has led to impressive scene reconstruction and image synthesis advances in novel views. Existing methods, however, heavily rely on pre-computed poses and Gaussian initialization by Structure from Motion (SfM) algorithms or expensive sensors. For the first time, this paper addresses this issue by integrating self-supervised VO into our pose-free dynamic Gaussian method (VDG) to boost pose and depth initialization and static-dynamic decomposition. Moreover, VDG can work with only RGB image input and construct dynamic scenes at a faster speed and larger scenes compared with the pose-free dynamic view-synthesis method. We demonstrate the robustness of our approach via extensive quantitative and qualitative experiments. Our results show favorable performance over the state-of-the-art dynamic view synthesis methods. Additional video and source code will be posted on our project page at https://3d-aigc.github.io/VDG.

Although quantum simulation can give insight into elusive or intractable physical phenomena, many quantum simulators are unavoidably limited in the models they mimic. Such is also the case for atom arrays interacting via Rydberg states - a platform potentially capable of simulating any kind of spin exchange model, albeit with currently unattainable experimental capabilities. Here, we propose a new route towards simulating generic spin exchange Hamiltonians in atom arrays, using Floquet engineering with both global and local control. To demonstrate the versatility and applicability of our approach, we numerically investigate the generation of several spin exchange models which have yet to be realized in atom arrays, using only previously-demonstrated experimental capabilities. Our proposed scheme can be readily explored in many existing setups, providing a path to investigate a large class of exotic quantum spin models.

Aligning large language models (LLMs) with human values is imperative to mitigate potential adverse effects resulting from their misuse. Drawing from the sociological insight that acknowledging all parties' concerns is a key factor in shaping human values, this paper proposes a novel direction to align LLMs by themselves: social scene simulation. To achieve this, we present MATRIX, a novel social scene simulator that emulates realistic scenes around a user's input query, enabling the LLM to take social consequences into account before responding. MATRIX serves as a virtual rehearsal space, akin to a Monopolylogue, where the LLM performs diverse roles related to the query and practice by itself. To inject this alignment, we fine-tune the LLM with MATRIX-simulated data, ensuring adherence to human values without compromising inference speed. We theoretically show that the LLM with MATRIX outperforms Constitutional AI under mild assumptions. Finally, extensive experiments validate that our method outperforms over 10 baselines across 4 benchmarks. As evidenced by 875 user ratings, our tuned 13B-size LLM exceeds GPT-4 in aligning with human values. Code is available at https://github.com/pangxianghe/MATRIX.

Detailed detector simulation is the major consumer of CPU resources at LHCb, having used more than 90% of the total computing budget during Run 2 of the Large Hadron Collider at CERN. As data is collected by the upgraded LHCb detector during Run 3 of the LHC, larger requests for simulated data samples are necessary, and will far exceed the pledged resources of the experiment, even with existing fast simulation options. An evolution of technologies and techniques to produce simulated samples is mandatory to meet the upcoming needs of analysis to interpret signal versus background and measure efficiencies. In this context, we propose Lamarr, a Gaudi-based framework designed to offer the fastest solution for the simulation of the LHCb detector. Lamarr consists of a pipeline of modules parameterizing both the detector response and the reconstruction algorithms of the LHCb experiment. Most of the parameterizations are made of Deep Generative Models and Gradient Boosted Decision Trees trained on simulated samples or alternatively, where possible, on real data. Embedding Lamarr in the general LHCb Gauss Simulation framework allows combining its execution with any of the available generators in a seamless way. Lamarr has been validated by comparing key reconstructed quantities with Detailed Simulation. Good agreement of the simulated distributions is obtained with two-order-of-magnitude speed-up of the simulation phase.

Simulation is an integral part in the process of developing autonomous vehicles and advantageous for training, validation, and verification of driving functions. Even though simulations come with a series of benefits compared to real-world experiments, various challenges still prevent virtual testing from entirely replacing physical test-drives. Our work provides an overview of these challenges with regard to different aspects and types of simulation and subsumes current trends to overcome them. We cover aspects around perception-, behavior- and content-realism as well as general hurdles in the domain of simulation. Among others, we observe a trend of data-driven, generative approaches and high-fidelity data synthesis to increasingly replace model-based simulation.

MATSim (Multi-Agent Transport Simulation Toolkit) is an open source large-scale agent-based transportation planning project applied to various areas like road transport, public transport, freight transport, regional evacuation, etc. BEAM (Behavior, Energy, Autonomy, and Mobility) framework extends MATSim to enable powerful and scalable analysis of urban transportation systems. The agents from the BEAM simulation exhibit 'mode choice' behavior based on multinomial logit model. In our study, we consider eight mode choices viz. bike, car, walk, ride hail, driving to transit, walking to transit, ride hail to transit, and ride hail pooling. The 'alternative specific constants' for each mode choice are critical hyperparameters in a configuration file related to a particular scenario under experimentation. We use the 'Urbansim-10k' BEAM scenario (with 10,000 population size) for all our experiments. Since these hyperparameters affect the simulation in complex ways, manual calibration methods are time consuming. We present a parallel Bayesian optimization method with early stopping rule to achieve fast convergence for the given multi-in-multi-out problem to its optimal configurations. Our model is based on an open source HpBandSter package. This approach combines hierarchy of several 1D Kernel Density Estimators (KDE) with a cheap evaluator (Hyperband, a single multidimensional KDE). Our model has also incorporated extrapolation based early stopping rule. With our model, we could achieve a 25% L1 norm for a large-scale BEAM simulation in fully autonomous manner. To the best of our knowledge, our work is the first of its kind applied to large-scale multi-agent transportation simulations. This work can be useful for surrogate modeling of scenarios with very large populations.

In this work, we present a computing platform named digital twin brain (DTB) that can simulate spiking neuronal networks of the whole human brain scale and more importantly, a personalized biological brain structure. In comparison to most brain simulations with a homogeneous global structure, we highlight that the sparseness, couplingness and heterogeneity in the sMRI, DTI and PET data of the brain has an essential impact on the efficiency of brain simulation, which is proved from the scaling experiments that the DTB of human brain simulation is communication-intensive and memory-access intensive computing systems rather than computation-intensive. We utilize a number of optimization techniques to balance and integrate the computation loads and communication traffics from the heterogeneous biological structure to the general GPU-based HPC and achieve leading simulation performance for the whole human brain-scaled spiking neuronal networks. On the other hand, the biological structure, equipped with a mesoscopic data assimilation, enables the DTB to investigate brain cognitive function by a reverse-engineering method, which is demonstrated by a digital experiment of visual evaluation on the DTB. Furthermore, we believe that the developing DTB will be a promising powerful platform for a large of research orients including brain-inspiredintelligence, rain disease medicine and brain-machine interface.

Limited large-scale evaluations exist for facilitation strategies of online discussions due to significant costs associated with human involvement. An effective solution is synthetic discussion simulations using Large Language Models (LLMs) to create initial pilot experiments. We propose a simple, generalizable, LLM-driven methodology to prototype the development of LLM facilitators, and produce high-quality synthetic data without human involvement. We use our methodology to test whether current facilitation strategies can improve the performance of LLM facilitators. We find that, while LLM facilitators significantly improve synthetic discussions, there is no evidence that the application of more elaborate facilitation strategies proposed in modern Social Science research lead to further improvements in discussion quality, compared to more basic approaches. Additionally, we find that small LLMs (such as Mistral Nemo 12B) can perform comparably to larger models (such as LLaMa 70B), and that special instructions must be used for instruction-tuned models to induce toxicity in synthetic discussions. We confirm that each component of our methodology contributes substantially to high quality data via an ablation study. We release an open-source framework, "SynDisco" (pip install syndisco), which implements our methodology. We also release the "Virtual Moderation Dataset" (https://paperswithcode.com/dataset/vmd), a large, publicly available dataset containing LLM-generated and LLM-annotated discussions using multiple open-source LLMs.

Previous studies on robotic manipulation are based on a limited understanding of the underlying 3D motion constraints and affordances. To address these challenges, we propose a comprehensive paradigm, termed UniAff, that integrates 3D object-centric manipulation and task understanding in a unified formulation. Specifically, we constructed a dataset labeled with manipulation-related key attributes, comprising 900 articulated objects from 19 categories and 600 tools from 12 categories. Furthermore, we leverage MLLMs to infer object-centric representations for manipulation tasks, including affordance recognition and reasoning about 3D motion constraints. Comprehensive experiments in both simulation and real-world settings indicate that UniAff significantly improves the generalization of robotic manipulation for tools and articulated objects. We hope that UniAff will serve as a general baseline for unified robotic manipulation tasks in the future. Images, videos, dataset, and code are published on the project website at:https://sites.google.com/view/uni-aff/home

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences between human and robot embodiments in both their visual appearance and physical capabilities. While previous methods bridge this gap using cross-embodiment datasets with shared scenes and tasks, collecting such aligned data between humans and robots at scale is not trivial. In this paper, we propose UniSkill, a novel framework that learns embodiment-agnostic skill representations from large-scale cross-embodiment video data without any labels, enabling skills extracted from human video prompts to effectively transfer to robot policies trained only on robot data. Our experiments in both simulation and real-world environments show that our cross-embodiment skills successfully guide robots in selecting appropriate actions, even with unseen video prompts. The project website can be found at: https://kimhanjung.github.io/UniSkill.

Vision Language Models (VLMs) have received significant attention in recent years in the robotics community. VLMs are shown to be able to perform complex visual reasoning and scene understanding tasks, which makes them regarded as a potential universal solution for general robotics problems such as manipulation and navigation. However, previous VLMs for robotics such as RT-1, RT-2, and ManipLLM have focused on directly learning robot-centric actions. Such approaches require collecting a significant amount of robot interaction data, which is extremely costly in the real world. Thus, we propose A3VLM, an object-centric, actionable, articulation-aware vision language model. A3VLM focuses on the articulation structure and action affordances of objects. Its representation is robot-agnostic and can be translated into robot actions using simple action primitives. Extensive experiments in both simulation benchmarks and real-world settings demonstrate the effectiveness and stability of A3VLM. We release our code and other materials at https://github.com/changhaonan/A3VLM.

Humanoid robots have demonstrated robust locomotion capabilities using Reinforcement Learning (RL)-based approaches. Further, to obtain human-like behaviors, existing methods integrate human motion-tracking or motion prior in the RL framework. However, these methods are limited in flat terrains with proprioception only, restricting their abilities to traverse challenging terrains with human-like gaits. In this work, we propose a novel framework using a mixture of latent residual experts with multi-discriminators to train an RL policy, which is capable of traversing complex terrains in controllable lifelike gaits with exteroception. Our two-stage training pipeline first teaches the policy to traverse complex terrains using a depth camera, and then enables gait-commanded switching between human-like gait patterns. We also design gait rewards to adjust human-like behaviors like robot base height. Simulation and real-world experiments demonstrate that our framework exhibits exceptional performance in traversing complex terrains, and achieves seamless transitions between multiple human-like gait patterns.

Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent complexity of these tasks, acquiring sufficient demonstration data and training policies that generalize to unseen scenarios remain a largely unresolved challenge. Building on recent advances in planning through contacts, we introduce Generalizable Planning-Guided Diffusion Policy Learning (GLIDE), an approach that effectively learns to solve contact-rich bimanual manipulation tasks by leveraging model-based motion planners to generate demonstration data in high-fidelity physics simulation. Through efficient planning in randomized environments, our approach generates large-scale and high-quality synthetic motion trajectories for tasks involving diverse objects and transformations. We then train a task-conditioned diffusion policy via behavior cloning using these demonstrations. To tackle the sim-to-real gap, we propose a set of essential design options in feature extraction, task representation, action prediction, and data augmentation that enable learning robust prediction of smooth action sequences and generalization to unseen scenarios. Through experiments in both simulation and the real world, we demonstrate that our approach can enable a bimanual robotic system to effectively manipulate objects of diverse geometries, dimensions, and physical properties. Website: https://glide-manip.github.io/

Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic understanding. We present G3Flow, a novel framework that constructs real-time semantic flow, a dynamic, object-centric 3D semantic representation by leveraging foundation models. Our approach uniquely combines 3D generative models for digital twin creation, vision foundation models for semantic feature extraction, and robust pose tracking for continuous semantic flow updates. This integration enables complete semantic understanding even under occlusions while eliminating manual annotation requirements. By incorporating semantic flow into diffusion policies, we demonstrate significant improvements in both terminal-constrained manipulation and cross-object generalization. Extensive experiments across five simulation tasks show that G3Flow consistently outperforms existing approaches, achieving up to 68.3% and 50.1% average success rates on terminal-constrained manipulation and cross-object generalization tasks respectively. Our results demonstrate the effectiveness of G3Flow in enhancing real-time dynamic semantic feature understanding for robotic manipulation policies.

Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such ability. However, these approaches either require complex data collection such as costly human effort for eye-robot contact, or suffer from poor generalization when faced with novel scenarios. To solve both challenges, we propose a framework, DexH2R, that combines human hand motion retargeting with a task-oriented residual action policy, improving task performance by bridging the embodiment gap between human and robotic dexterous hands. Specifically, DexH2R learns the residual policy directly from retargeted primitive actions and task-oriented rewards, eliminating the need for labor-intensive teleoperation systems. Moreover, we incorporate test-time guidance for novel scenarios by taking in desired trajectories of human hands and objects, allowing the dexterous hand to acquire new skills with high generalizability. Extensive experiments in both simulation and real-world environments demonstrate the effectiveness of our work, outperforming prior state-of-the-arts by 40% across various settings.

The robustness of legged locomotion is crucial for quadrupedal robots in challenging terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged locomotion and various methods try to integrate privileged distillation, scene modeling, and external sensors to improve the generalization and robustness of locomotion policies. However, these methods are hard to handle uncertain scenarios such as abrupt terrain changes or unexpected external forces. In this paper, we consider a novel risk-sensitive perspective to enhance the robustness of legged locomotion. Specifically, we employ a distributional value function learned by quantile regression to model the aleatoric uncertainty of environments, and perform risk-averse policy learning by optimizing the worst-case scenarios via a risk distortion measure. Extensive experiments in both simulation environments and a real Aliengo robot demonstrate that our method is efficient in handling various external disturbances, and the resulting policy exhibits improved robustness in harsh and uncertain situations in legged locomotion. Videos are available at https://risk-averse-locomotion.github.io/.

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in real world. In this work we study how to realize continual imitation learning ability that empowers robots to continually learn new tasks one by one, thus reducing the burden of multi-task IL and accelerating the process of new task learning at the same time. We propose a novel trajectory generation model that employs both a generative adversarial network and a dynamics-aware prediction model to generate pseudo trajectories from all learned tasks in the new task learning process. Our experiments on both simulation and real-world manipulation tasks demonstrate the effectiveness of our method.

Large Vision-Language-Action (VLA) models, leveraging powerful pre trained Vision-Language Models (VLMs) backends, have shown promise in robotic control due to their impressive generalization ability. However, the success comes at a cost. Their reliance on VLM backends with billions of parameters leads to high computational costs and inference latency, limiting the testing scenarios to mainly quasi-static tasks and hindering performance in dynamic tasks requiring rapid interactions. To address these limitations, this paper proposes HiRT, a Hierarchical Robot Transformer framework that enables flexible frequency and performance trade-off. HiRT keeps VLMs running at low frequencies to capture temporarily invariant features while enabling real-time interaction through a high-frequency vision-based policy guided by the slowly updated features. Experiment results in both simulation and real-world settings demonstrate significant improvements over baseline methods. Empirically, in static tasks, we double the control frequency and achieve comparable success rates. Additionally, on novel real-world dynamic ma nipulation tasks which are challenging for previous VLA models, HiRT improves the success rate from 48% to 75%.

Recent advances in vision-language-action (VLA) models have shown promise in integrating image generation with action prediction to improve generalization and reasoning in robot manipulation. However, existing methods are limited to challenging image-based forecasting, which suffers from redundant information and lacks comprehensive and critical world knowledge, including dynamic, spatial and semantic information. To address these limitations, we propose DreamVLA, a novel VLA framework that integrates comprehensive world knowledge forecasting to enable inverse dynamics modeling, thereby establishing a perception-prediction-action loop for manipulation tasks. Specifically, DreamVLA introduces a dynamic-region-guided world knowledge prediction, integrated with the spatial and semantic cues, which provide compact yet comprehensive representations for action planning. This design aligns with how humans interact with the world by first forming abstract multimodal reasoning chains before acting. To mitigate interference among the dynamic, spatial and semantic information during training, we adopt a block-wise structured attention mechanism that masks their mutual attention, preventing information leakage and keeping each representation clean and disentangled. Moreover, to model the conditional distribution over future actions, we employ a diffusion-based transformer that disentangles action representations from shared latent features. Extensive experiments on both real-world and simulation environments demonstrate that DreamVLA achieves 76.7% success rate on real robot tasks and 4.44 average length on the CALVIN ABC-D benchmarks.

World models, which predict transitions based on history observation and action sequences, have shown great promise in improving data efficiency for sequential decision making. However, existing world models often require extensive domain-specific training and still produce low-fidelity, coarse predictions, limiting their applicability in complex environments. In contrast, video diffusion models trained on large, internet-scale datasets have demonstrated impressive capabilities in generating high-quality videos that capture diverse real-world dynamics. In this work, we present Vid2World, a general approach for leveraging and transferring pre-trained video diffusion models into interactive world models. To bridge the gap, Vid2World performs casualization of a pre-trained video diffusion model by crafting its architecture and training objective to enable autoregressive generation. Furthermore, it introduces a causal action guidance mechanism to enhance action controllability in the resulting interactive world model. Extensive experiments in robot manipulation and game simulation domains show that our method offers a scalable and effective approach for repurposing highly capable video diffusion models to interactive world models.

We propose DemoDiffusion, a simple and scalable method for enabling robots to perform manipulation tasks in natural environments by imitating a single human demonstration. Our approach is based on two key insights. First, the hand motion in a human demonstration provides a useful prior for the robot's end-effector trajectory, which we can convert into a rough open-loop robot motion trajectory via kinematic retargeting. Second, while this retargeted motion captures the overall structure of the task, it may not align well with plausible robot actions in-context. To address this, we leverage a pre-trained generalist diffusion policy to modify the trajectory, ensuring it both follows the human motion and remains within the distribution of plausible robot actions. Our approach avoids the need for online reinforcement learning or paired human-robot data, enabling robust adaptation to new tasks and scenes with minimal manual effort. Experiments in both simulation and real-world settings show that DemoDiffusion outperforms both the base policy and the retargeted trajectory, enabling the robot to succeed even on tasks where the pre-trained generalist policy fails entirely. Project page: https://demodiffusion.github.io/

Vision-Language-Action (VLA) models aim to predict robotic actions based on visual observations and language instructions. Existing approaches require fine-tuning pre-trained visionlanguage models (VLMs) as visual and language features are independently fed into downstream policies, degrading the pre-trained semantic alignments. We propose OTTER, a novel VLA architecture that leverages these existing alignments through explicit, text-aware visual feature extraction. Instead of processing all visual features, OTTER selectively extracts and passes only task-relevant visual features that are semantically aligned with the language instruction to the policy transformer. This allows OTTER to keep the pre-trained vision-language encoders frozen. Thereby, OTTER preserves and utilizes the rich semantic understanding learned from large-scale pre-training, enabling strong zero-shot generalization capabilities. In simulation and real-world experiments, OTTER significantly outperforms existing VLA models, demonstrating strong zeroshot generalization to novel objects and environments. Video, code, checkpoints, and dataset: https://ottervla.github.io/.

Reconfigurable intelligent surfaces (RISs) have become one of the key technologies in 6G wireless communications. By configuring the reflection beamforming codebooks, RIS focuses signals on target receivers. In this paper, we investigate the codebook configuration for 1-bit RIS-aided systems. We propose a novel learning-based method built upon the advanced methodology of implicit neural representations. The proposed model learns a continuous and differentiable coordinate-to-codebook representation from samplings. Our method only requires the information of the user's coordinate and avoids the assumption of channel models. Moreover, we propose an encoding-decoding strategy to reduce the dimension of codebooks, and thus improve the learning efficiency of the proposed method. Experimental results on simulation and measured data demonstrated the remarkable advantages of the proposed method.

Multi-robot coordination has traditionally relied on a mission-specific and expert-driven pipeline, where natural language mission descriptions are manually translated by domain experts into mathematical formulation, algorithm design, and executable code. This conventional process is labor-intensive, inaccessible to non-experts, and inflexible to changes in mission requirements. Here, we propose LAN2CB (Language to Collective Behavior), a novel framework that leverages large language models (LLMs) to streamline and generalize the multi-robot coordination pipeline. LAN2CB transforms natural language (NL) mission descriptions into executable Python code for multi-robot systems through two core modules: (1) Mission Analysis, which parses mission descriptions into behavior trees, and (2) Code Generation, which leverages the behavior tree and a structured knowledge base to generate robot control code. We further introduce a dataset of natural language mission descriptions to support development and benchmarking. Experiments in both simulation and real-world environments demonstrate that LAN2CB enables robust and flexible multi-robot coordination from natural language, significantly reducing manual engineering effort and supporting broad generalization across diverse mission types. Website: https://sites.google.com/view/lan-cb

Vision-Language Models (VLMs) encode knowledge and reasoning capabilities for robotic manipulation within high-dimensional representation spaces. However, current approaches often project them into compressed intermediate representations, discarding important task-specific information such as fine-grained spatial or semantic details. To address this, we propose AntiGrounding, a new framework that reverses the instruction grounding process. It lifts candidate actions directly into the VLM representation space, renders trajectories from multiple views, and uses structured visual question answering for instruction-based decision making. This enables zero-shot synthesis of optimal closed-loop robot trajectories for new tasks. We also propose an offline policy refinement module that leverages past experience to enhance long-term performance. Experiments in both simulation and real-world environments show that our method outperforms baselines across diverse robotic manipulation tasks.

Robots deployed in dynamic environments must be able to not only follow diverse language instructions but flexibly adapt when user intent changes mid-execution. While recent Vision-Language-Action (VLA) models have advanced multi-task learning and instruction following, they typically assume static task intent, failing to respond when new instructions arrive during ongoing execution. This limitation hinders natural and robust interaction in dynamic settings, such as retail or household environments, where real-time intent changes are common. We propose SwitchVLA, a unified, execution-aware framework that enables smooth and reactive task switching without external planners or additional switch-specific data. We model task switching as a behavior modulation problem conditioned on execution state and instruction context. Expert demonstrations are segmented into temporally grounded contact phases, allowing the policy to infer task progress and adjust its behavior accordingly. A multi-behavior conditional policy is then trained to generate flexible action chunks under varying behavior modes through conditioned trajectory modeling. Experiments in both simulation and real-world robotic manipulation demonstrate that SwitchVLA enables robust instruction adherence, fluid task switching, and strong generalization-outperforming prior VLA baselines in both task success rate and interaction naturalness.

Leveraging pretrained Vision-Language Models (VLMs) to map language instruction and visual observations to raw low-level actions, Vision-Language-Action models (VLAs) hold great promise for achieving general-purpose robotic systems. Despite their advancements, existing VLAs tend to spuriously correlate task-irrelevant visual features with actions, limiting their generalization capacity beyond the training data. To tackle this challenge, we propose Intrinsic Spatial Reasoning (InSpire), a simple yet effective approach that mitigates the adverse effects of spurious correlations by boosting the spatial reasoning ability of VLAs. Specifically, InSpire redirects the VLA's attention to task-relevant factors by prepending the question "In which direction is the [object] relative to the robot?" to the language instruction and aligning the answer "right/left/up/down/front/back/grasped" and predicted actions with the ground-truth. Notably, InSpire can be used as a plugin to enhance existing autoregressive VLAs, requiring no extra training data or interaction with other large models. Extensive experimental results in both simulation and real-world environments demonstrate the effectiveness and flexibility of our approach. Our code, pretrained models and demos are publicly available at: https://Koorye.github.io/proj/Inspire.

Vision-Language-Action (VLA) model can process instructions and visual perception to directly generate actions as output in an end-to-end fashion due to its strong multi-modal reasoning capabilities. While the performance of VLA models is promising, their computational cost can be substantial. This raises challenge for applying them on robotics tasks, which requires real-time decision-making to respond quickly to environmental changes. Since robotic control involves sequential decision-making, the visual input often exhibits minimal variation between successive steps. A natural idea is to reuse the computational results of unchanged visual tokens from the last step. Motivated by this idea, we propose VLA-Cache, an efficient vision-language-action model. VLA-Cache incorporates a token-selection mechanism that compares the visual input at each step with the input from the previous step, adaptively identifying visual tokens with minimal changes. The computational results for these unchanged tokens are then reused in subsequent steps via KV-cache, thereby significantly improving the efficiency of the VLA-Cache model. Experimental results on both simulation (e.g., LIBERO benchmark and SIMPLER) and real-world robot valid VLA-Cache can achieve practical acceleration with minimal sacrifice in success rate.

Training social event detection models through federated learning (FedSED) aims to improve participants' performance on the task. However, existing federated learning paradigms are inadequate for achieving FedSED's objective and exhibit limitations in handling the inherent heterogeneity in social data. This paper proposes a personalized federated learning framework with a dual aggregation mechanism for social event detection, namely DAMe. We present a novel local aggregation strategy utilizing Bayesian optimization to incorporate global knowledge while retaining local characteristics. Moreover, we introduce a global aggregation strategy to provide clients with maximum external knowledge of their preferences. In addition, we incorporate a global-local event-centric constraint to prevent local overfitting and ``client-drift''. Experiments within a realistic simulation of a natural federated setting, utilizing six social event datasets spanning six languages and two social media platforms, along with an ablation study, have demonstrated the effectiveness of the proposed framework. Further robustness analyses have shown that DAMe is resistant to injection attacks.

Neural implicit representation has attracted attention in 3D reconstruction through various success cases. For further applications such as scene understanding or editing, several works have shown progress towards object compositional reconstruction. Despite their superior performance in observed regions, their performance is still limited in reconstructing objects that are partially observed. To better treat this problem, we introduce category-level neural fields that learn meaningful common 3D information among objects belonging to the same category present in the scene. Our key idea is to subcategorize objects based on their observed shape for better training of the category-level model. Then we take advantage of the neural field to conduct the challenging task of registering partially observed objects by selecting and aligning against representative objects selected by ray-based uncertainty. Experiments on both simulation and real-world datasets demonstrate that our method improves the reconstruction of unobserved parts for several categories.

To interact with daily-life articulated objects of diverse structures and functionalities, understanding the object parts plays a central role in both user instruction comprehension and task execution. However, the possible discordance between the semantic meaning and physics functionalities of the parts poses a challenge for designing a general system. To address this problem, we propose SAGE, a novel framework that bridges semantic and actionable parts of articulated objects to achieve generalizable manipulation under natural language instructions. More concretely, given an articulated object, we first observe all the semantic parts on it, conditioned on which an instruction interpreter proposes possible action programs that concretize the natural language instruction. Then, a part-grounding module maps the semantic parts into so-called Generalizable Actionable Parts (GAParts), which inherently carry information about part motion. End-effector trajectories are predicted on the GAParts, which, together with the action program, form an executable policy. Additionally, an interactive feedback module is incorporated to respond to failures, which closes the loop and increases the robustness of the overall framework. Key to the success of our framework is the joint proposal and knowledge fusion between a large vision-language model (VLM) and a small domain-specific model for both context comprehension and part perception, with the former providing general intuitions and the latter serving as expert facts. Both simulation and real-robot experiments show our effectiveness in handling a large variety of articulated objects with diverse language-instructed goals.

Multi-agent reinforcement learning based methods are significant for online planning of feasible and safe paths for agents in dynamic and uncertain scenarios. Although some methods like fully centralized and fully decentralized methods achieve a certain measure of success, they also encounter problems such as dimension explosion and poor convergence, respectively. In this paper, we propose a novel centralized training with decentralized execution method based on multi-agent reinforcement learning to solve the dynamic obstacle avoidance problem online. In this approach, each agent communicates only with the central planner or only with its neighbors, respectively, to plan feasible and safe paths online. We improve our methods based on the idea of model predictive control to increase the training efficiency and sample utilization of agents. The experimental results in both simulation, indoor, and outdoor environments validate the effectiveness of our method. The video is available at https://www.bilibili.com/video/BV1gw41197hV/?vd_source=9de61aecdd9fb684e546d032ef7fe7bf

We present a new distribution-free conformal prediction algorithm for sequential data (e.g., time series), called the sequential predictive conformal inference (SPCI). We specifically account for the nature that time series data are non-exchangeable, and thus many existing conformal prediction algorithms are not applicable. The main idea is to adaptively re-estimate the conditional quantile of non-conformity scores (e.g., prediction residuals), upon exploiting the temporal dependence among them. More precisely, we cast the problem of conformal prediction interval as predicting the quantile of a future residual, given a user-specified point prediction algorithm. Theoretically, we establish asymptotic valid conditional coverage upon extending consistency analyses in quantile regression. Using simulation and real-data experiments, we demonstrate a significant reduction in interval width of SPCI compared to other existing methods under the desired empirical coverage.

A reliable and accurate 3D tracking framework is essential for predicting future locations of surrounding objects and planning the observer's actions in numerous applications such as autonomous driving. We propose a framework that can effectively associate moving objects over time and estimate their full 3D bounding box information from a sequence of 2D images captured on a moving platform. The object association leverages quasi-dense similarity learning to identify objects in various poses and viewpoints with appearance cues only. After initial 2D association, we further utilize 3D bounding boxes depth-ordering heuristics for robust instance association and motion-based 3D trajectory prediction for re-identification of occluded vehicles. In the end, an LSTM-based object velocity learning module aggregates the long-term trajectory information for more accurate motion extrapolation. Experiments on our proposed simulation data and real-world benchmarks, including KITTI, nuScenes, and Waymo datasets, show that our tracking framework offers robust object association and tracking on urban-driving scenarios. On the Waymo Open benchmark, we establish the first camera-only baseline in the 3D tracking and 3D detection challenges. Our quasi-dense 3D tracking pipeline achieves impressive improvements on the nuScenes 3D tracking benchmark with near five times tracking accuracy of the best vision-only submission among all published methods. Our code, data and trained models are available at https://github.com/SysCV/qd-3dt.

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we present 3D Diffusion Policy (DP3), a novel visual imitation learning approach that incorporates the power of 3D visual representations into diffusion policies, a class of conditional action generative models. The core design of DP3 is the utilization of a compact 3D visual representation, extracted from sparse point clouds with an efficient point encoder. In our experiments involving 72 simulation tasks, DP3 successfully handles most tasks with just 10 demonstrations and surpasses baselines with a 55.3% relative improvement. In 4 real robot tasks, DP3 demonstrates precise control with a high success rate of 85%, given only 40 demonstrations of each task, and shows excellent generalization abilities in diverse aspects, including space, viewpoint, appearance, and instance. Interestingly, in real robot experiments, DP3 rarely violates safety requirements, in contrast to baseline methods which frequently do, necessitating human intervention. Our extensive evaluation highlights the critical importance of 3D representations in real-world robot learning. Videos, code, and data are available on https://3d-diffusion-policy.github.io .

Safe Reinforcement Learning (Safe RL) aims to ensure safety when an RL agent conducts learning by interacting with real-world environments where improper actions can induce high costs or lead to severe consequences. In this paper, we propose a novel Safe Skill Planning (SSkP) approach to enhance effective safe RL by exploiting auxiliary offline demonstration data. SSkP involves a two-stage process. First, we employ PU learning to learn a skill risk predictor from the offline demonstration data. Then, based on the learned skill risk predictor, we develop a novel risk planning process to enhance online safe RL and learn a risk-averse safe policy efficiently through interactions with the online RL environment, while simultaneously adapting the skill risk predictor to the environment. We conduct experiments in several benchmark robotic simulation environments. The experimental results demonstrate that the proposed approach consistently outperforms previous state-of-the-art safe RL methods.

To fully leverage the capabilities of mobile manipulation robots, it is imperative that they are able to autonomously execute long-horizon tasks in large unexplored environments. While large language models (LLMs) have shown emergent reasoning skills on arbitrary tasks, existing work primarily concentrates on explored environments, typically focusing on either navigation or manipulation tasks in isolation. In this work, we propose MoMa-LLM, a novel approach that grounds language models within structured representations derived from open-vocabulary scene graphs, dynamically updated as the environment is explored. We tightly interleave these representations with an object-centric action space. The resulting approach is zero-shot, open-vocabulary, and readily extendable to a spectrum of mobile manipulation and household robotic tasks. We demonstrate the effectiveness of MoMa-LLM in a novel semantic interactive search task in large realistic indoor environments. In extensive experiments in both simulation and the real world, we show substantially improved search efficiency compared to conventional baselines and state-of-the-art approaches, as well as its applicability to more abstract tasks. We make the code publicly available at http://moma-llm.cs.uni-freiburg.de.

Vision-and-Language Navigation (VLN) stands as a key research problem of Embodied AI, aiming at enabling agents to navigate in unseen environments following linguistic instructions. In this field, generalization is a long-standing challenge, either to out-of-distribution scenes or from Sim to Real. In this paper, we propose NaVid, a video-based large vision language model (VLM), to mitigate such a generalization gap. NaVid makes the first endeavour to showcase the capability of VLMs to achieve state-of-the-art level navigation performance without any maps, odometer and depth inputs. Following human instruction, NaVid only requires an on-the-fly video stream from a monocular RGB camera equipped on the robot to output the next-step action. Our formulation mimics how humans navigate and naturally gets rid of the problems introduced by odometer noises, and the Sim2Real gaps from map or depth inputs. Moreover, our video-based approach can effectively encode the historical observations of robots as spatio-temporal contexts for decision-making and instruction following. We train NaVid with 550k navigation samples collected from VLN-CE trajectories, including action-planning and instruction-reasoning samples, along with 665k large-scale web data. Extensive experiments show that NaVid achieves SOTA performance in simulation environments and the real world, demonstrating superior cross-dataset and Sim2Real transfer. We thus believe our proposed VLM approach plans the next step for not only the navigation agents but also this research field.

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert high-level task instructions provided as input into a multi-robot task plan. It accomplishes this by executing a series of stages, including task decomposition, coalition formation, and task allocation, all guided by programmatic LLM prompts within the few-shot prompting paradigm. We create a benchmark dataset designed for validating the multi-robot task planning problem, encompassing four distinct categories of high-level instructions that vary in task complexity. Our evaluation experiments span both simulation and real-world scenarios, demonstrating that the proposed model can achieve promising results for generating multi-robot task plans. The experimental videos, code, and datasets from the work can be found at https://sites.google.com/view/smart-llm/.

Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions to train successful policies. This necessitates the use of fast and highly-parallelizable simulators. In addition to speed, such simulators need to model the physics of the robots and their interaction with the environment to a level acceptable for transferring policies learned in simulation to reality. We present QuadSwarm, a fast, reliable simulator for research in single and multi-robot RL for quadrotors that addresses both issues. QuadSwarm, with fast forward-dynamics propagation decoupled from rendering, is designed to be highly parallelizable such that throughput scales linearly with additional compute. It provides multiple components tailored toward multi-robot RL, including diverse training scenarios, and provides domain randomization to facilitate the development and sim2real transfer of multi-quadrotor control policies. Initial experiments suggest that QuadSwarm achieves over 48,500 simulation samples per second (SPS) on a single quadrotor and over 62,000 SPS on eight quadrotors on a 16-core CPU. The code can be found in https://github.com/Zhehui-Huang/quad-swarm-rl.

Navigating safely and efficiently in dense and heterogeneous traffic scenarios is challenging for autonomous vehicles (AVs) due to their inability to infer the behaviors or intentions of nearby drivers. In this work, we introduce a distributed multi-agent reinforcement learning (MARL) algorithm that can predict trajectories and intents in dense and heterogeneous traffic scenarios. Our approach for intent-aware planning, iPLAN, allows agents to infer nearby drivers' intents solely from their local observations. We model two distinct incentives for agents' strategies: Behavioral Incentive for high-level decision-making based on their driving behavior or personality and Instant Incentive for motion planning for collision avoidance based on the current traffic state. Our approach enables agents to infer their opponents' behavior incentives and integrate this inferred information into their decision-making and motion-planning processes. We perform experiments on two simulation environments, Non-Cooperative Navigation and Heterogeneous Highway. In Heterogeneous Highway, results show that, compared with centralized training decentralized execution (CTDE) MARL baselines such as QMIX and MAPPO, our method yields a 4.3% and 38.4% higher episodic reward in mild and chaotic traffic, with 48.1% higher success rate and 80.6% longer survival time in chaotic traffic. We also compare with a decentralized training decentralized execution (DTDE) baseline IPPO and demonstrate a higher episodic reward of 12.7% and 6.3% in mild traffic and chaotic traffic, 25.3% higher success rate, and 13.7% longer survival time.

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping can help displace objects to make pushing movements more precise and collision-free. In this work, we demonstrate that it is possible to discover and learn these synergies from scratch through model-free deep reinforcement learning. Our method involves training two fully convolutional networks that map from visual observations to actions: one infers the utility of pushes for a dense pixel-wise sampling of end effector orientations and locations, while the other does the same for grasping. Both networks are trained jointly in a Q-learning framework and are entirely self-supervised by trial and error, where rewards are provided from successful grasps. In this way, our policy learns pushing motions that enable future grasps, while learning grasps that can leverage past pushes. During picking experiments in both simulation and real-world scenarios, we find that our system quickly learns complex behaviors amid challenging cases of clutter, and achieves better grasping success rates and picking efficiencies than baseline alternatives after only a few hours of training. We further demonstrate that our method is capable of generalizing to novel objects. Qualitative results (videos), code, pre-trained models, and simulation environments are available at http://vpg.cs.princeton.edu

Large Language Models (LLMs) have demonstrated remarkable potential in scientific domains, yet a fundamental question remains unanswered: Can we simulate human research communities with LLMs? Addressing this question can deepen our understanding of the processes behind idea brainstorming and inspire the automatic discovery of novel scientific insights. In this work, we propose ResearchTown, a multi-agent framework for research community simulation. Within this framework, the human research community is simplified and modeled as an agent-data graph, where researchers and papers are represented as agent-type and data-type nodes, respectively, and connected based on their collaboration relationships. We also introduce TextGNN, a text-based inference framework that models various research activities (e.g., paper reading, paper writing, and review writing) as special forms of a unified message-passing process on the agent-data graph. To evaluate the quality of the research simulation, we present ResearchBench, a benchmark that uses a node-masking prediction task for scalable and objective assessment based on similarity. Our experiments reveal three key findings: (1) ResearchTown can provide a realistic simulation of collaborative research activities, including paper writing and review writing; (2) ResearchTown can maintain robust simulation with multiple researchers and diverse papers; (3) ResearchTown can generate interdisciplinary research ideas that potentially inspire novel research directions.

Estimating physical properties for visual data is a crucial task in computer vision, graphics, and robotics, underpinning applications such as augmented reality, physical simulation, and robotic grasping. However, this area remains under-explored due to the inherent ambiguities in physical property estimation. To address these challenges, we introduce GaussianProperty, a training-free framework that assigns physical properties of materials to 3D Gaussians. Specifically, we integrate the segmentation capability of SAM with the recognition capability of GPT-4V(ision) to formulate a global-local physical property reasoning module for 2D images. Then we project the physical properties from multi-view 2D images to 3D Gaussians using a voting strategy. We demonstrate that 3D Gaussians with physical property annotations enable applications in physics-based dynamic simulation and robotic grasping. For physics-based dynamic simulation, we leverage the Material Point Method (MPM) for realistic dynamic simulation. For robot grasping, we develop a grasping force prediction strategy that estimates a safe force range required for object grasping based on the estimated physical properties. Extensive experiments on material segmentation, physics-based dynamic simulation, and robotic grasping validate the effectiveness of our proposed method, highlighting its crucial role in understanding physical properties from visual data. Online demo, code, more cases and annotated datasets are available on https://Gaussian-Property.github.io{this https URL}.

The ability to track general whole-body motions in the real world is a useful way to build general-purpose humanoid robots. However, achieving this can be challenging due to the temporal and kinematic diversity of the motions, the policy's capability, and the difficulty of coordination of the upper and lower bodies. To address these issues, we propose GMT, a general and scalable motion-tracking framework that trains a single unified policy to enable humanoid robots to track diverse motions in the real world. GMT is built upon two core components: an Adaptive Sampling strategy and a Motion Mixture-of-Experts (MoE) architecture. The Adaptive Sampling automatically balances easy and difficult motions during training. The MoE ensures better specialization of different regions of the motion manifold. We show through extensive experiments in both simulation and the real world the effectiveness of GMT, achieving state-of-the-art performance across a broad spectrum of motions using a unified general policy. Videos and additional information can be found at https://gmt-humanoid.github.io.

Learning to solve complex tasks with signal temporal logic (STL) specifications is crucial to many real-world applications. However, most previous works only consider fixed or parametrized STL specifications due to the lack of a diverse STL dataset and encoders to effectively extract temporal logic information for downstream tasks. In this paper, we propose TeLoGraF, Temporal Logic Graph-encoded Flow, which utilizes Graph Neural Networks (GNN) encoder and flow-matching to learn solutions for general STL specifications. We identify four commonly used STL templates and collect a total of 200K specifications with paired demonstrations. We conduct extensive experiments in five simulation environments ranging from simple dynamical models in the 2D space to high-dimensional 7DoF Franka Panda robot arm and Ant quadruped navigation. Results show that our method outperforms other baselines in the STL satisfaction rate. Compared to classical STL planning algorithms, our approach is 10-100X faster in inference and can work on any system dynamics. Besides, we show our graph-encoding method's capability to solve complex STLs and robustness to out-distribution STL specifications. Code is available at https://github.com/mengyuest/TeLoGraF

3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on the explicit extraction of 3D features, while still facing challenges such as the lack of large-scale robotic 3D data and the potential loss of spatial geometry. To address these limitations, we propose the Lift3D framework, which progressively enhances 2D foundation models with implicit and explicit 3D robotic representations to construct a robust 3D manipulation policy. Specifically, we first design a task-aware masked autoencoder that masks task-relevant affordance patches and reconstructs depth information, enhancing the 2D foundation model's implicit 3D robotic representation. After self-supervised fine-tuning, we introduce a 2D model-lifting strategy that establishes a positional mapping between the input 3D points and the positional embeddings of the 2D model. Based on the mapping, Lift3D utilizes the 2D foundation model to directly encode point cloud data, leveraging large-scale pretrained knowledge to construct explicit 3D robotic representations while minimizing spatial information loss. In experiments, Lift3D consistently outperforms previous state-of-the-art methods across several simulation benchmarks and real-world scenarios.

Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches that mimic whole-body motions often neglect the distinct roles of upper and lower body. This oversight leads to computationally intensive policy learning and frequently causes robot instability and falls during real-world execution. To address these issues, we propose Adversarial Locomotion and Motion Imitation (ALMI), a novel framework that enables adversarial policy learning between upper and lower body. Specifically, the lower body aims to provide robust locomotion capabilities to follow velocity commands while the upper body tracks various motions. Conversely, the upper-body policy ensures effective motion tracking when the robot executes velocity-based movements. Through iterative updates, these policies achieve coordinated whole-body control, which can be extended to loco-manipulation tasks with teleoperation systems. Extensive experiments demonstrate that our method achieves robust locomotion and precise motion tracking in both simulation and on the full-size Unitree H1 robot. Additionally, we release a large-scale whole-body motion control dataset featuring high-quality episodic trajectories from MuJoCo simulations deployable on real robots. The project page is https://almi-humanoid.github.io.

We study the problem of robot navigation in dense and interactive crowds with environmental constraints such as corridors and furniture. Previous methods fail to consider all types of interactions among agents and obstacles, leading to unsafe and inefficient robot paths. In this article, we leverage a graph-based representation of crowded and constrained scenarios and propose a structured framework to learn robot navigation policies with deep reinforcement learning. We first split the representations of different components in the environment and propose a heterogeneous spatio-temporal (st) graph to model distinct interactions among humans, robots, and obstacles. Based on the heterogeneous st-graph, we propose HEIGHT, a novel navigation policy network architecture with different components to capture heterogeneous interactions among entities through space and time. HEIGHT utilizes attention mechanisms to prioritize important interactions and a recurrent network to track changes in the dynamic scene over time, encouraging the robot to avoid collisions adaptively. Through extensive simulation and real-world experiments, we demonstrate that HEIGHT outperforms state-of-the-art baselines in terms of success and efficiency in challenging navigation scenarios. Furthermore, we demonstrate that our pipeline achieves better zero-shot generalization capability than previous works when the densities of humans and obstacles change. More videos are available at https://sites.google.com/view/crowdnav-height/home.

Cross-embodiment imitation learning enables policies trained on specific embodiments to transfer across different robots, unlocking the potential for large-scale imitation learning that is both cost-effective and highly reusable. This paper presents LEGATO, a cross-embodiment imitation learning framework for visuomotor skill transfer across varied kinematic morphologies. We introduce a handheld gripper that unifies action and observation spaces, allowing tasks to be defined consistently across robots. We train visuomotor policies on task demonstrations using this gripper through imitation learning, applying transformation to a motion-invariant space for computing the training loss. Gripper motions generated by the policies are retargeted into high-degree-of-freedom whole-body motions using inverse kinematics for deployment across diverse embodiments. Our evaluations in simulation and real-robot experiments highlight the framework's effectiveness in learning and transferring visuomotor skills across various robots. More information can be found on the project page: https://ut-hcrl.github.io/LEGATO.

Long-horizon planning is hindered by challenges such as uncertainty accumulation, computational complexity, delayed rewards and incomplete information. This work proposes an approach to exploit the task hierarchy from human instructions to facilitate multi-robot planning. Using Large Language Models (LLMs), we propose a two-step approach to translate multi-sentence instructions into a structured language, Hierarchical Linear Temporal Logic (LTL), which serves as a formal representation for planning. Initially, LLMs transform the instructions into a hierarchical representation defined as Hierarchical Task Tree, capturing the logical and temporal relations among tasks. Following this, a domain-specific fine-tuning of LLM translates sub-tasks of each task into flat LTL formulas, aggregating them to form hierarchical LTL specifications. These specifications are then leveraged for planning using off-the-shelf planners. Our framework not only bridges the gap between instructions and algorithmic planning but also showcases the potential of LLMs in harnessing hierarchical reasoning to automate multi-robot task planning. Through evaluations in both simulation and real-world experiments involving human participants, we demonstrate that our method can handle more complex instructions compared to existing methods. The results indicate that our approach achieves higher success rates and lower costs in multi-robot task allocation and plan generation. Demos videos are available at https://youtu.be/7WOrDKxIMIs .

Numerical simulation of non-linear partial differential equations plays a crucial role in modeling physical science and engineering phenomena, such as weather, climate, and aerodynamics. Recent Machine Learning (ML) models trained on low-resolution spatio-temporal signals have shown new promises in capturing important dynamics in high-resolution signals, under the condition that the models can effectively recover the missing details. However, this study shows that significant information is often lost in the low-resolution down-sampled features. To address such issues, we propose a new approach, namely Temporal Stencil Modeling (TSM), which combines the strengths of advanced time-series sequence modeling (with the HiPPO features) and state-of-the-art neural PDE solvers (with learnable stencil modeling). TSM aims to recover the lost information from the PDE trajectories and can be regarded as a temporal generalization of classic finite volume methods such as WENO. Our experimental results show that TSM achieves the new state-of-the-art simulation accuracy for 2-D incompressible Navier-Stokes turbulent flows: it significantly outperforms the previously reported best results by 19.9% in terms of the highly-correlated duration time and reduces the inference latency into 80%. We also show a strong generalization ability of the proposed method to various out-of-distribution turbulent flow settings. Our code is available at "https://github.com/Edward-Sun/TSM-PDE".

Despite the great interest in the bandit problem, designing efficient algorithms for complex models remains challenging, as there is typically no analytical way to quantify uncertainty. In this paper, we propose Multiplier Bootstrap-based Exploration (MBE), a novel exploration strategy that is applicable to any reward model amenable to weighted loss minimization. We prove both instance-dependent and instance-independent rate-optimal regret bounds for MBE in sub-Gaussian multi-armed bandits. With extensive simulation and real data experiments, we show the generality and adaptivity of MBE.

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial understanding required for precise manipulation tasks. Fine-tuning VLM on robotic datasets to create Vision-Language-Action Models(VLA) is a potential solution, but it is hindered by high data collection costs and generalization issues. To address these challenges, we propose a novel object-centric representation that bridges the gap between VLM's high-level reasoning and the low-level precision required for manipulation. Our key insight is that an object's canonical space, defined by its functional affordances, provides a structured and semantically meaningful way to describe interaction primitives, such as points and directions. These primitives act as a bridge, translating VLM's commonsense reasoning into actionable 3D spatial constraints. In this context, we introduce a dual closed-loop, open-vocabulary robotic manipulation system: one loop for high-level planning through primitive resampling, interaction rendering and VLM checking, and another for low-level execution via 6D pose tracking. This design ensures robust, real-time control without requiring VLM fine-tuning. Extensive experiments demonstrate strong zero-shot generalization across diverse robotic manipulation tasks, highlighting the potential of this approach for automating large-scale simulation data generation.

Novel view acoustic synthesis (NVAS) aims to render binaural audio at any target viewpoint, given a mono audio emitted by a sound source at a 3D scene. Existing methods have proposed NeRF-based implicit models to exploit visual cues as a condition for synthesizing binaural audio. However, in addition to low efficiency originating from heavy NeRF rendering, these methods all have a limited ability of characterizing the entire scene environment such as room geometry, material properties, and the spatial relation between the listener and sound source. To address these issues, we propose a novel Audio-Visual Gaussian Splatting (AV-GS) model. To obtain a material-aware and geometry-aware condition for audio synthesis, we learn an explicit point-based scene representation with an audio-guidance parameter on locally initialized Gaussian points, taking into account the space relation from the listener and sound source. To make the visual scene model audio adaptive, we propose a point densification and pruning strategy to optimally distribute the Gaussian points, with the per-point contribution in sound propagation (e.g., more points needed for texture-less wall surfaces as they affect sound path diversion). Extensive experiments validate the superiority of our AV-GS over existing alternatives on the real-world RWAS and simulation-based SoundSpaces datasets.

Visuomotor policy learning has witnessed substantial progress in robotic manipulation, with recent approaches predominantly relying on generative models to model the action distribution. However, these methods often overlook the critical coupling between visual perception and action prediction. In this work, we introduce Triply-Hierarchical Diffusion Policy~(H^{\mathbf{3}DP}), a novel visuomotor learning framework that explicitly incorporates hierarchical structures to strengthen the integration between visual features and action generation. H^{3}DP contains 3 levels of hierarchy: (1) depth-aware input layering that organizes RGB-D observations based on depth information; (2) multi-scale visual representations that encode semantic features at varying levels of granularity; and (3) a hierarchically conditioned diffusion process that aligns the generation of coarse-to-fine actions with corresponding visual features. Extensive experiments demonstrate that H^{3}DP yields a +27.5% average relative improvement over baselines across 44 simulation tasks and achieves superior performance in 4 challenging bimanual real-world manipulation tasks. Project Page: https://lyy-iiis.github.io/h3dp/.

World models aim to learn action-controlled prediction models and have proven essential for the development of intelligent agents. However, most existing world models rely heavily on substantial action-labeled data and costly training, making it challenging to adapt to novel environments with heterogeneous actions through limited interactions. This limitation can hinder their applicability across broader domains. To overcome this challenge, we propose AdaWorld, an innovative world model learning approach that enables efficient adaptation. The key idea is to incorporate action information during the pretraining of world models. This is achieved by extracting latent actions from videos in a self-supervised manner, capturing the most critical transitions between frames. We then develop an autoregressive world model that conditions on these latent actions. This learning paradigm enables highly adaptable world models, facilitating efficient transfer and learning of new actions even with limited interactions and finetuning. Our comprehensive experiments across multiple environments demonstrate that AdaWorld achieves superior performance in both simulation quality and visual planning.

Recent advancements in vision-language models (VLMs) for common-sense reasoning have led to the development of vision-language-action (VLA) models, enabling robots to perform generalized manipulation. Although existing autoregressive VLA methods leverage large-scale pretrained knowledge, they disrupt the continuity of actions. Meanwhile, some VLA methods incorporate an additional diffusion head to predict continuous actions, relying solely on VLM-extracted features, which limits their reasoning capabilities. In this paper, we introduce HybridVLA, a unified framework that seamlessly integrates the strengths of both autoregressive and diffusion policies within a single large language model, rather than simply connecting them. To bridge the generation gap, a collaborative training recipe is proposed that injects the diffusion modeling directly into the next-token prediction. With this recipe, we find that these two forms of action prediction not only reinforce each other but also exhibit varying performance across different tasks. Therefore, we design a collaborative action ensemble mechanism that adaptively fuses these two predictions, leading to more robust control. In experiments, HybridVLA outperforms previous state-of-the-art VLA methods across various simulation and real-world tasks, including both single-arm and dual-arm robots, while demonstrating stable manipulation in previously unseen configurations.

While large language models (LLMs) have shown promising capabilities as zero-shot planners for embodied agents, their inability to learn from experience and build persistent mental models limits their robustness in complex open-world environments like Minecraft. We introduce MINDSTORES, an experience-augmented planning framework that enables embodied agents to build and leverage mental models through natural interaction with their environment. Drawing inspiration from how humans construct and refine cognitive mental models, our approach extends existing zero-shot LLM planning by maintaining a database of past experiences that informs future planning iterations. The key innovation is representing accumulated experiences as natural language embeddings of (state, task, plan, outcome) tuples, which can then be efficiently retrieved and reasoned over by an LLM planner to generate insights and guide plan refinement for novel states and tasks. Through extensive experiments in the MineDojo environment, a simulation environment for agents in Minecraft that provides low-level controls for Minecraft, we find that MINDSTORES learns and applies its knowledge significantly better than existing memory-based LLM planners while maintaining the flexibility and generalization benefits of zero-shot approaches, representing an important step toward more capable embodied AI systems that can learn continuously through natural experience.

In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the first time, we propose ASGrasp, a 6-DoF grasp detection network that uses an RGB-D active stereo camera. ASGrasp utilizes a two-layer learning-based stereo network for the purpose of transparent object reconstruction, enabling material-agnostic object grasping in cluttered environments. In contrast to existing RGB-D based grasp detection methods, which heavily depend on depth restoration networks and the quality of depth maps generated by depth cameras, our system distinguishes itself by its ability to directly utilize raw IR and RGB images for transparent object geometry reconstruction. We create an extensive synthetic dataset through domain randomization, which is based on GraspNet-1Billion. Our experiments demonstrate that ASGrasp can achieve over 90% success rate for generalizable transparent object grasping in both simulation and the real via seamless sim-to-real transfer. Our method significantly outperforms SOTA networks and even surpasses the performance upper bound set by perfect visible point cloud inputs.Project page: https://pku-epic.github.io/ASGrasp

We present a method for planning robust grasps over uncertain shape completed objects. For shape completion, a deep neural network is trained to take a partial view of the object as input and outputs the completed shape as a voxel grid. The key part of the network is dropout layers which are enabled not only during training but also at run-time to generate a set of shape samples representing the shape uncertainty through Monte Carlo sampling. Given the set of shape completed objects, we generate grasp candidates on the mean object shape but evaluate them based on their joint performance in terms of analytical grasp metrics on all the shape candidates. We experimentally validate and benchmark our method against another state-of-the-art method with a Barrett hand on 90000 grasps in simulation and 200 grasps on a real Franka Emika Panda. All experimental results show statistically significant improvements both in terms of grasp quality metrics and grasp success rate, demonstrating that planning shape-uncertainty-aware grasps brings significant advantages over solely planning on a single shape estimate, especially when dealing with complex or unknown objects.

Creating immersive and playable 3D worlds from texts or images remains a fundamental challenge in computer vision and graphics. Existing world generation approaches typically fall into two categories: video-based methods that offer rich diversity but lack 3D consistency and rendering efficiency, and 3D-based methods that provide geometric consistency but struggle with limited training data and memory-inefficient representations. To address these limitations, we present HunyuanWorld 1.0, a novel framework that combines the best of both worlds for generating immersive, explorable, and interactive 3D scenes from text and image conditions. Our approach features three key advantages: 1) 360{\deg} immersive experiences via panoramic world proxies; 2) mesh export capabilities for seamless compatibility with existing computer graphics pipelines; 3) disentangled object representations for augmented interactivity. The core of our framework is a semantically layered 3D mesh representation that leverages panoramic images as 360{\deg} world proxies for semantic-aware world decomposition and reconstruction, enabling the generation of diverse 3D worlds. Extensive experiments demonstrate that our method achieves state-of-the-art performance in generating coherent, explorable, and interactive 3D worlds while enabling versatile applications in virtual reality, physical simulation, game development, and interactive content creation.

Synthesizing interactive 3D scenes from text is essential for gaming, virtual reality, and embodied AI. However, existing methods face several challenges. Learning-based approaches depend on small-scale indoor datasets, limiting the scene diversity and layout complexity. While large language models (LLMs) can leverage diverse text-domain knowledge, they struggle with spatial realism, often producing unnatural object placements that fail to respect common sense. Our key insight is that vision perception can bridge this gap by providing realistic spatial guidance that LLMs lack. To this end, we introduce Scenethesis, a training-free agentic framework that integrates LLM-based scene planning with vision-guided layout refinement. Given a text prompt, Scenethesis first employs an LLM to draft a coarse layout. A vision module then refines it by generating an image guidance and extracting scene structure to capture inter-object relations. Next, an optimization module iteratively enforces accurate pose alignment and physical plausibility, preventing artifacts like object penetration and instability. Finally, a judge module verifies spatial coherence. Comprehensive experiments show that Scenethesis generates diverse, realistic, and physically plausible 3D interactive scenes, making it valuable for virtual content creation, simulation environments, and embodied AI research.

Recent advancements in vision-language models (VLMs) for common-sense reasoning have led to the development of vision-language-action (VLA) models, enabling robots to perform generalized manipulation. Although existing autoregressive VLA methods design a specific architecture like dual-system to leverage large-scale pretrained knowledge, they tend to capture static information, often neglecting the dynamic aspects vital for embodied tasks. To this end, we propose TriVLA, a unified Vision-Language-Action model with a triple-system architecture for general robot control. The vision-language module (System 2) interprets the environment through vision and language instructions. The dynamics perception module (System 3) inherently produces visual representations that encompass both current static information and predicted future dynamics, thereby providing valuable guidance for policy learning. TriVLA utilizes pre-trained VLM model and fine-tunes pre-trained video foundation model on robot datasets along with internet human manipulation data. The subsequent policy learning module (System 1) generates fluid motor actions in real time. Experimental evaluation demonstrates that TriVLA operates at approximately 36 Hz and surpasses state-of-the-art imitation learning baselines on standard simulation benchmarks as well as challenging real-world manipulation tasks.

In this work, we present WeatherEdit, a novel weather editing pipeline for generating realistic weather effects with controllable types and severity in 3D scenes. Our approach is structured into two key components: weather background editing and weather particle construction. For weather background editing, we introduce an all-in-one adapter that integrates multiple weather styles into a single pretrained diffusion model, enabling the generation of diverse weather effects in 2D image backgrounds. During inference, we design a Temporal-View (TV-) attention mechanism that follows a specific order to aggregate temporal and spatial information, ensuring consistent editing across multi-frame and multi-view images. To construct the weather particles, we first reconstruct a 3D scene using the edited images and then introduce a dynamic 4D Gaussian field to generate snowflakes, raindrops and fog in the scene. The attributes and dynamics of these particles are precisely controlled through physical-based modelling and simulation, ensuring realistic weather representation and flexible severity adjustments. Finally, we integrate the 4D Gaussian field with the 3D scene to render consistent and highly realistic weather effects. Experiments on multiple driving datasets demonstrate that WeatherEdit can generate diverse weather effects with controllable condition severity, highlighting its potential for autonomous driving simulation in adverse weather. See project page: https://jumponthemoon.github.io/w-edit

Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like occlusion and limited field of view. Furthermore, cameras are often placed in broad, general locations, without an effective viewpoint specific to the robot's task. In this work, we investigate the utility of active vision (AV) for imitation learning and manipulation, in which, in addition to the manipulation policy, the robot learns an AV policy from human demonstrations to dynamically change the robot's camera viewpoint to obtain better information about its environment and the given task. We introduce AV-ALOHA, a new bimanual teleoperation robot system with AV, an extension of the ALOHA 2 robot system, incorporating an additional 7-DoF robot arm that only carries a stereo camera and is solely tasked with finding the best viewpoint. This camera streams stereo video to an operator wearing a virtual reality (VR) headset, allowing the operator to control the camera pose using head and body movements. The system provides an immersive teleoperation experience, with bimanual first-person control, enabling the operator to dynamically explore and search the scene and simultaneously interact with the environment. We conduct imitation learning experiments of our system both in real-world and in simulation, across a variety of tasks that emphasize viewpoint planning. Our results demonstrate the effectiveness of human-guided AV for imitation learning, showing significant improvements over fixed cameras in tasks with limited visibility. Project website: https://soltanilara.github.io/av-aloha/

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to acquire bimanual policies. However, transferring knowledge from single-arm datasets or pre-trained VLA models often fails to generalize effectively, primarily due to the scarcity of bimanual data and the fundamental differences between single-arm and bimanual manipulation. In this paper, we propose a novel bimanual foundation policy by fine-tuning the leading text-to-video models to predict robot trajectories and training a lightweight diffusion policy for action generation. Given the lack of embodied knowledge in text-to-video models, we introduce a two-stage paradigm that fine-tunes independent text-to-flow and flow-to-video models derived from a pre-trained text-to-video model. Specifically, optical flow serves as an intermediate variable, providing a concise representation of subtle movements between images. The text-to-flow model predicts optical flow to concretize the intent of language instructions, and the flow-to-video model leverages this flow for fine-grained video prediction. Our method mitigates the ambiguity of language in single-stage text-to-video prediction and significantly reduces the robot-data requirement by avoiding direct use of low-level actions. In experiments, we collect high-quality manipulation data for real dual-arm robot, and the results of simulation and real-world experiments demonstrate the effectiveness of our method.

Vision-language-action models (VLAs) have shown potential in leveraging pretrained vision-language models and diverse robot demonstrations for learning generalizable sensorimotor control. While this paradigm effectively utilizes large-scale data from both robotic and non-robotic sources, current VLAs primarily focus on direct input--output mappings, lacking the intermediate reasoning steps crucial for complex manipulation tasks. As a result, existing VLAs lack temporal planning or reasoning capabilities. In this paper, we introduce a method that incorporates explicit visual chain-of-thought (CoT) reasoning into vision-language-action models (VLAs) by predicting future image frames autoregressively as visual goals before generating a short action sequence to achieve these goals. We introduce CoT-VLA, a state-of-the-art 7B VLA that can understand and generate visual and action tokens. Our experimental results demonstrate that CoT-VLA achieves strong performance, outperforming the state-of-the-art VLA model by 17% in real-world manipulation tasks and 6% in simulation benchmarks. Project website: https://cot-vla.github.io/

Recent large visual-language action models pretrained on diverse robot datasets have demonstrated the potential for generalizing to new environments with a few in-domain data. However, those approaches usually predict discretized or continuous actions by a small action head, which limits the ability in handling diverse action spaces. In contrast, we model the continuous action with a large multi-modal diffusion transformer, dubbed as Diffusion Transformer Policy, in which we directly denoise action chunks by a large transformer model rather than a small action head. By leveraging the scaling capability of transformers, the proposed approach can effectively model continuous end-effector actions across large diverse robot datasets, and achieve better generalization performance. Extensive experiments demonstrate Diffusion Transformer Policy pretrained on diverse robot data can generalize to different embodiments, including simulation environments like Maniskill2 and Calvin, as well as the real-world Franka arm. Specifically, without bells and whistles, the proposed approach achieves state-of-the-art performance with only a single third-view camera stream in the Calvin novel task setting (ABC->D), improving the average number of tasks completed in a row of 5 to 3.6, and the pretraining stage significantly facilitates the success sequence length on the Calvin by over 1.2. The code will be publicly available.

Analog front-end design heavily relies on specialized human expertise and costly trial-and-error simulations, which motivated many prior works on analog design automation. However, efficient and effective exploration of the vast and complex design space remains constrained by the time-consuming nature of SPICE simulations, making effective design automation a challenging endeavor. In this paper, we introduce INSIGHT, a GPU-powered, technology-agnostic, effective universal neural simulator in the analog front-end design automation loop. INSIGHT accurately predicts the performance metrics of analog circuits across various technologies with just a few microseconds of inference time. Notably, its autoregressive capabilities enable INSIGHT to accurately predict simulation-costly critical transient specifications leveraging less expensive performance metric information. The low cost and high fidelity feature make INSIGHT a good substitute for standard simulators in analog front-end optimization frameworks. INSIGHT is compatible with any optimization framework, facilitating enhanced design space exploration for sample efficiency through sophisticated offline learning and adaptation techniques. Our experiments demonstrate that INSIGHT-M, a model-based batch reinforcement learning sizing framework with INSIGHT as the accurate surrogate, only requires < 20 real-time simulations with 100-1000x lower simulation costs and significant speedup over existing sizing methods.

Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated objects insufficiently address noise in point clouds and struggle to bridge the gap between simulation and reality, thus limiting the practical deployment in real-world scenarios. To tackle these challenges, we propose a framework towards Robust Perception and Manipulation for Articulated Objects (RPMArt), which learns to estimate the articulation parameters and manipulate the articulation part from the noisy point cloud. Our primary contribution is a Robust Articulation Network (RoArtNet) that is able to predict both joint parameters and affordable points robustly by local feature learning and point tuple voting. Moreover, we introduce an articulation-aware classification scheme to enhance its ability for sim-to-real transfer. Finally, with the estimated affordable point and articulation joint constraint, the robot can generate robust actions to manipulate articulated objects. After learning only from synthetic data, RPMArt is able to transfer zero-shot to real-world articulated objects. Experimental results confirm our approach's effectiveness, with our framework achieving state-of-the-art performance in both noise-added simulation and real-world environments. The code and data will be open-sourced for reproduction. More results are published on the project website at https://r-pmart.github.io .

Reliably reconstructing physical fields from sparse sensor data is a challenge that frequently arises in many scientific domains. In practice, the process generating the data often is not understood to sufficient accuracy. Therefore, there is a growing interest in using the deep neural network route to address the problem. This work presents a novel approach that learns a continuous representation of the physical field using implicit neural representations (INRs). Specifically, after factorizing spatiotemporal variability into spatial and temporal components using the separation of variables technique, the method learns relevant basis functions from sparsely sampled irregular data points to develop a continuous representation of the data. In experimental evaluations, the proposed model outperforms recent INR methods, offering superior reconstruction quality on simulation data from a state-of-the-art climate model and a second dataset that comprises ultra-high resolution satellite-based sea surface temperature fields.

With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic models are able to interpret complex tasks using language commands, but they often have difficulties generalizing to out-of-distribution objects due to the inability of low-level action primitives. In contrast, existing task-specific models excel in low-level manipulation of unknown objects, but only work for a single type of action. To bridge this gap, we present M2T2, a single model that supplies different types of low-level actions that work robustly on arbitrary objects in cluttered scenes. M2T2 is a transformer model which reasons about contact points and predicts valid gripper poses for different action modes given a raw point cloud of the scene. Trained on a large-scale synthetic dataset with 128K scenes, M2T2 achieves zero-shot sim2real transfer on the real robot, outperforming the baseline system with state-of-the-art task-specific models by about 19% in overall performance and 37.5% in challenging scenes where the object needs to be re-oriented for collision-free placement. M2T2 also achieves state-of-the-art results on a subset of language conditioned tasks in RLBench. Videos of robot experiments on unseen objects in both real world and simulation are available on our project website https://m2-t2.github.io.

This work introduces Video Diffusion Transformer (VDT), which pioneers the use of transformers in diffusion-based video generation. It features transformer blocks with modularized temporal and spatial attention modules to leverage the rich spatial-temporal representation inherited in transformers. We also propose a unified spatial-temporal mask modeling mechanism, seamlessly integrated with the model, to cater to diverse video generation scenarios. VDT offers several appealing benefits. 1) It excels at capturing temporal dependencies to produce temporally consistent video frames and even simulate the physics and dynamics of 3D objects over time. 2) It facilitates flexible conditioning information, \eg, simple concatenation in the token space, effectively unifying different token lengths and modalities. 3) Pairing with our proposed spatial-temporal mask modeling mechanism, it becomes a general-purpose video diffuser for harnessing a range of tasks, including unconditional generation, video prediction, interpolation, animation, and completion, etc. Extensive experiments on these tasks spanning various scenarios, including autonomous driving, natural weather, human action, and physics-based simulation, demonstrate the effectiveness of VDT. Additionally, we present comprehensive studies on how \model handles conditioning information with the mask modeling mechanism, which we believe will benefit future research and advance the field. Project page: https:VDT-2023.github.io

There have been remarkable successes in computer vision with deep learning. While such breakthroughs show robust performance, there have still been many challenges in learning in-depth knowledge, like occlusion or predicting physical interactions. Although some recent works show the potential of 3D data in serving such context, it is unclear how we efficiently provide 3D input to the 2D models due to the misalignment in dimensionality between 2D and 3D. To leverage the successes of 2D models in predicting self-occlusions, we design Ray-marching in Camera Space (RiCS), a new method to represent the self-occlusions of foreground objects in 3D into a 2D self-occlusion map. We test the effectiveness of our representation on the human image harmonization task by predicting shading that is coherent with a given background image. Our experiments demonstrate that our representation map not only allows us to enhance the image quality but also to model temporally coherent complex shadow effects compared with the simulation-to-real and harmonization methods, both quantitatively and qualitatively. We further show that we can significantly improve the performance of human parts segmentation networks trained on existing synthetic datasets by enhancing the harmonization quality with our method.

Recently, 3D assets created via reconstruction and generation have matched the quality of manually crafted assets, highlighting their potential for replacement. However, this potential is largely unrealized because these assets always need to be converted to meshes for 3D industry applications, and the meshes produced by current mesh extraction methods are significantly inferior to Artist-Created Meshes (AMs), i.e., meshes created by human artists. Specifically, current mesh extraction methods rely on dense faces and ignore geometric features, leading to inefficiencies, complicated post-processing, and lower representation quality. To address these issues, we introduce MeshAnything, a model that treats mesh extraction as a generation problem, producing AMs aligned with specified shapes. By converting 3D assets in any 3D representation into AMs, MeshAnything can be integrated with various 3D asset production methods, thereby enhancing their application across the 3D industry. The architecture of MeshAnything comprises a VQ-VAE and a shape-conditioned decoder-only transformer. We first learn a mesh vocabulary using the VQ-VAE, then train the shape-conditioned decoder-only transformer on this vocabulary for shape-conditioned autoregressive mesh generation. Our extensive experiments show that our method generates AMs with hundreds of times fewer faces, significantly improving storage, rendering, and simulation efficiencies, while achieving precision comparable to previous methods.

Runtime energy management has become quintessential for multi-sensor autonomous systems at the edge for achieving high performance given the platform constraints. Typical for such systems, however, is to have their controllers designed with formal guarantees on safety that precede in priority such optimizations, which in turn limits their application in real settings. In this paper, we propose a novel energy optimization framework that is aware of the autonomous system's safety state, and leverages it to regulate the application of energy optimization methods so that the system's formal safety properties are preserved. In particular, through the formal characterization of a system's safety state as a dynamic processing deadline, the computing workloads of the underlying models can be adapted accordingly. For our experiments, we model two popular runtime energy optimization methods, offloading and gating, and simulate an autonomous driving system (ADS) use-case in the CARLA simulation environment with performance characterizations obtained from the standard Nvidia Drive PX2 ADS platform. Our results demonstrate that through a formal awareness of the perceived risks in the test case scenario, energy efficiency gains are still achieved (reaching 89.9%) while maintaining the desired safety properties.

This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control of the upper and lower bodies into two independent controllers, so that they can better focus on their distinct tasks. This separation alleviates the dimensionality curse and improves fault tolerance. JAEGER supports both root velocity tracking (coarse-grained control) and local joint angle tracking (fine-grained control), enabling versatile and stable movements. To train the controller, we utilize a human motion dataset (AMASS), retargeting human poses to humanoid poses through an efficient retargeting network, and employ a curriculum learning approach. This method performs supervised learning for initialization, followed by reinforcement learning for further exploration. We conduct our experiments on two humanoid platforms and demonstrate the superiority of our approach against state-of-the-art methods in both simulation and real environments.

Generative models have shown great promise in generating 3D geometric systems, which is a fundamental problem in many natural science domains such as molecule and protein design. However, existing approaches only operate on static structures, neglecting the fact that physical systems are always dynamic in nature. In this work, we propose geometric trajectory diffusion models (GeoTDM), the first diffusion model for modeling the temporal distribution of 3D geometric trajectories. Modeling such distribution is challenging as it requires capturing both the complex spatial interactions with physical symmetries and temporal correspondence encapsulated in the dynamics. We theoretically justify that diffusion models with equivariant temporal kernels can lead to density with desired symmetry, and develop a novel transition kernel leveraging SE(3)-equivariant spatial convolution and temporal attention. Furthermore, to induce an expressive trajectory distribution for conditional generation, we introduce a generalized learnable geometric prior into the forward diffusion process to enhance temporal conditioning. We conduct extensive experiments on both unconditional and conditional generation in various scenarios, including physical simulation, molecular dynamics, and pedestrian motion. Empirical results on a wide suite of metrics demonstrate that GeoTDM can generate realistic geometric trajectories with significantly higher quality.

Food computing is both important and challenging in computer vision (CV). It significantly contributes to the development of CV algorithms due to its frequent presence in datasets across various applications, ranging from classification and instance segmentation to 3D reconstruction. The polymorphic shapes and textures of food, coupled with high variation in forms and vast multimodal information, including language descriptions and nutritional data, make food computing a complex and demanding task for modern CV algorithms. 3D food modeling is a new frontier for addressing food-related problems, due to its inherent capability to deal with random camera views and its straightforward representation for calculating food portion size. However, the primary hurdle in the development of algorithms for food object analysis is the lack of nutrition values in existing 3D datasets. Moreover, in the broader field of 3D research, there is a critical need for domain-specific test datasets. To bridge the gap between general 3D vision and food computing research, we propose MetaFood3D. This dataset consists of 637 meticulously labeled 3D food objects across 108 categories, featuring detailed nutrition information, weight, and food codes linked to a comprehensive nutrition database. The dataset emphasizes intra-class diversity and includes rich modalities such as textured mesh files, RGB-D videos, and segmentation masks. Experimental results demonstrate our dataset's significant potential for improving algorithm performance, highlight the challenging gap between video captures and 3D scanned data, and show the strength of the MetaFood3D dataset in high-quality data generation, simulation, and augmentation.

Learning from unstructured and uncurated data has become the dominant paradigm for generative approaches in language and vision. Such unstructured and unguided behavior data, commonly known as play, is also easier to collect in robotics but much more difficult to learn from due to its inherently multimodal, noisy, and suboptimal nature. In this paper, we study this problem of learning goal-directed skill policies from unstructured play data which is labeled with language in hindsight. Specifically, we leverage advances in diffusion models to learn a multi-task diffusion model to extract robotic skills from play data. Using a conditional denoising diffusion process in the space of states and actions, we can gracefully handle the complexity and multimodality of play data and generate diverse and interesting robot behaviors. To make diffusion models more useful for skill learning, we encourage robotic agents to acquire a vocabulary of skills by introducing discrete bottlenecks into the conditional behavior generation process. In our experiments, we demonstrate the effectiveness of our approach across a wide variety of environments in both simulation and the real world. Results visualizations and videos at https://play-fusion.github.io

Hardware security vulnerabilities in computing systems compromise the security defenses of not only the hardware but also the software running on it. Recent research has shown that hardware fuzzing is a promising technique to efficiently detect such vulnerabilities in large-scale designs such as modern processors. However, the current fuzzing techniques do not adjust their strategies dynamically toward faster and higher design space exploration, resulting in slow vulnerability detection, evident through their low design coverage. To address this problem, we propose PSOFuzz, which uses particle swarm optimization (PSO) to schedule the mutation operators and to generate initial input programs dynamically with the objective of detecting vulnerabilities quickly. Unlike traditional PSO, which finds a single optimal solution, we use a modified PSO that dynamically computes the optimal solution for selecting mutation operators required to explore new design regions in hardware. We also address the challenge of inefficient initial seed generation by employing PSO-based seed generation. Including these optimizations, our final formulation outperforms fuzzers without PSO. Experiments show that PSOFuzz achieves up to 15.25times speedup for vulnerability detection and up to 2.22times speedup for coverage compared to the state-of-the-art simulation-based hardware fuzzer.

We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a hierarchical learning framework, named PRELUDE, which decomposes the problem of perceptive locomotion into high-level decision-making to predict navigation commands and low-level gait generation to realize the target commands. In this framework, we train the high-level navigation controller with imitation learning on human demonstrations collected on a steerable cart and the low-level gait controller with reinforcement learning (RL). Therefore, our method can acquire complex navigation behaviors from human supervision and discover versatile gaits from trial and error. We demonstrate the effectiveness of our approach in simulation and with hardware experiments. Videos and code can be found at the project page: https://ut-austin-rpl.github.io/PRELUDE.

As robots become increasingly capable of operating over extended periods -- spanning days, weeks, and even months -- they are expected to accumulate knowledge of their environments and leverage this experience to assist humans more effectively. This paper studies the problem of Long-term Active Embodied Question Answering (LA-EQA), a new task in which a robot must both recall past experiences and actively explore its environment to answer complex, temporally-grounded questions. Unlike traditional EQA settings, which typically focus either on understanding the present environment alone or on recalling a single past observation, LA-EQA challenges an agent to reason over past, present, and possible future states, deciding when to explore, when to consult its memory, and when to stop gathering observations and provide a final answer. Standard EQA approaches based on large models struggle in this setting due to limited context windows, absence of persistent memory, and an inability to combine memory recall with active exploration. To address this, we propose a structured memory system for robots, inspired by the mind palace method from cognitive science. Our method encodes episodic experiences as scene-graph-based world instances, forming a reasoning and planning algorithm that enables targeted memory retrieval and guided navigation. To balance the exploration-recall trade-off, we introduce value-of-information-based stopping criteria that determines when the agent has gathered sufficient information. We evaluate our method on real-world experiments and introduce a new benchmark that spans popular simulation environments and actual industrial sites. Our approach significantly outperforms state-of-the-art baselines, yielding substantial gains in both answer accuracy and exploration efficiency.

LLM-based digital twin simulation, where large language models are used to emulate individual human behavior, holds great promise for research in AI, social science, and digital experimentation. However, progress in this area has been hindered by the scarcity of real, individual-level datasets that are both large and publicly available. This lack of high-quality ground truth limits both the development and validation of digital twin methodologies. To address this gap, we introduce a large-scale, public dataset designed to capture a rich and holistic view of individual human behavior. We survey a representative sample of N = 2,058 participants (average 2.42 hours per person) in the US across four waves with 500 questions in total, covering a comprehensive battery of demographic, psychological, economic, personality, and cognitive measures, as well as replications of behavioral economics experiments and a pricing survey. The final wave repeats tasks from earlier waves to establish a test-retest accuracy baseline. Initial analyses suggest the data are of high quality and show promise for constructing digital twins that predict human behavior well at the individual and aggregate levels. By making the full dataset publicly available, we aim to establish a valuable testbed for the development and benchmarking of LLM-based persona simulations. Beyond LLM applications, due to its unique breadth and scale the dataset also enables broad social science research, including studies of cross-construct correlations and heterogeneous treatment effects.

Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event cameras, which register pixel-level brightness changes at high temporal resolution (called ``events''), offer an elegant feature when mounted on a robot's end effector: since they only detect motion relative to their viewpoint, a properly grasped object produces no events, while a slipping object immediately triggers them. To research this feature, representative datasets are essential, both for analytic approaches and for training machine learning models. The majority of current research on slip detection with event-based data is done on real-world scenarios and manual data collection, as well as additional setups for data labeling. This can result in a significant increase in the time required for data collection, a lack of flexibility in scene setups, and a high level of complexity in the repetition of experiments. This paper presents a simulation pipeline for generating slip data using the described camera-gripper configuration in a robot arm, and demonstrates its effectiveness through initial data-driven experiments. The use of a simulator, once it is set up, has the potential to reduce the time spent on data collection, provide the ability to alter the setup at any time, simplify the process of repetition and the generation of arbitrarily large data sets. Two distinct datasets were created and validated through visual inspection and artificial neural networks (ANNs). Visual inspection confirmed photorealistic frame generation and accurate slip modeling, while three ANNs trained on this data achieved high validation accuracy and demonstrated good generalization capabilities on a separate test set, along with initial applicability to real-world data. Project page: https://github.com/tub-rip/event_slip

Photoacoustic computed tomography (PACT) is a non-invasive imaging modality, similar to ultrasound, with wide-ranging medical applications. Conventional PACT images are degraded by wavefront distortion caused by the heterogeneous speed of sound (SOS) in tissue. Accounting for these effects can improve image quality and provide medically useful information, but measuring the SOS directly is burdensome and the existing joint reconstruction method is computationally expensive. Traditional supervised learning techniques are currently inaccessible in this data-starved domain. In this work, we introduce an efficient, self-supervised joint reconstruction method that recovers SOS and high-quality images for ring array PACT systems. To solve this semi-blind inverse problem, we parametrize the SOS using either a pixel grid or a neural field (NF) and update it directly by backpropagating the gradients through a differentiable imaging forward model. Our method removes SOS aberrations more accurately and 35x faster than the current SOTA. We demonstrate the success of our method quantitatively in simulation and qualitatively on experimentally-collected and in vivo data. Our code and synthetic numerical phantoms are available on our project page: https://lukeli0425.github.io/Coord-SoS-PACT/.

We present Galactic, a large-scale simulation and reinforcement-learning (RL) framework for robotic mobile manipulation in indoor environments. Specifically, a Fetch robot (equipped with a mobile base, 7DoF arm, RGBD camera, egomotion, and onboard sensing) is spawned in a home environment and asked to rearrange objects - by navigating to an object, picking it up, navigating to a target location, and then placing the object at the target location. Galactic is fast. In terms of simulation speed (rendering + physics), Galactic achieves over 421,000 steps-per-second (SPS) on an 8-GPU node, which is 54x faster than Habitat 2.0 (7699 SPS). More importantly, Galactic was designed to optimize the entire rendering + physics + RL interplay since any bottleneck in the interplay slows down training. In terms of simulation+RL speed (rendering + physics + inference + learning), Galactic achieves over 108,000 SPS, which 88x faster than Habitat 2.0 (1243 SPS). These massive speed-ups not only drastically cut the wall-clock training time of existing experiments, but also unlock an unprecedented scale of new experiments. First, Galactic can train a mobile pick skill to >80% accuracy in under 16 minutes, a 100x speedup compared to the over 24 hours it takes to train the same skill in Habitat 2.0. Second, we use Galactic to perform the largest-scale experiment to date for rearrangement using 5B steps of experience in 46 hours, which is equivalent to 20 years of robot experience. This scaling results in a single neural network composed of task-agnostic components achieving 85% success in GeometricGoal rearrangement, compared to 0% success reported in Habitat 2.0 for the same approach. The code is available at github.com/facebookresearch/galactic.

Financial markets are complex systems characterized by high statistical noise, nonlinearity, and constant evolution. Thus, modeling them is extremely hard. We address the task of generating realistic and responsive Limit Order Book (LOB) market simulations, which are fundamental for calibrating and testing trading strategies, performing market impact experiments, and generating synthetic market data. Previous works lack realism, usefulness, and responsiveness of the generated simulations. To bridge this gap, we propose a novel TRAnsformer-based Denoising Diffusion Probabilistic Engine for LOB Simulations (TRADES). TRADES generates realistic order flows conditioned on the state of the market, leveraging a transformer-based architecture that captures the temporal and spatial characteristics of high-frequency market data. There is a notable absence of quantitative metrics for evaluating generative market simulation models in the literature. To tackle this problem, we adapt the predictive score, a metric measured as an MAE, by training a stock price predictive model on synthetic data and testing it on real data. We compare TRADES with previous works on two stocks, reporting an x3.27 and x3.47 improvement over SoTA according to the predictive score, demonstrating that we generate useful synthetic market data for financial downstream tasks. We assess TRADES's market simulation realism and responsiveness, showing that it effectively learns the conditional data distribution and successfully reacts to an experimental agent, giving sprout to possible calibrations and evaluations of trading strategies and market impact experiments. We developed DeepMarket, the first open-source Python framework for market simulation with deep learning. Our repository includes a synthetic LOB dataset composed of TRADES's generates simulations. We release the code at github.com/LeonardoBerti00/DeepMarket.

We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing methods rely on interactive expert labeling, additional offline datasets, or domain-specific invariances, our approach requires minimal additional assumptions beyond access to expert data. The key insight is to leverage local continuity in the environment dynamics to generate corrective labels. Our method first constructs a dynamics model from the expert demonstration, encouraging local Lipschitz continuity in the learned model. In locally continuous regions, this model allows us to generate corrective labels within the neighborhood of the demonstrations but beyond the actual set of states and actions in the dataset. Training on this augmented data enhances the agent's ability to recover from perturbations and deal with compounding errors. We demonstrate the effectiveness of our generated labels through experiments in a variety of robotics domains in simulation that have distinct forms of continuity and discontinuity, including classic control problems, drone flying, navigation with high-dimensional sensor observations, legged locomotion, and tabletop manipulation.

This paper will discuss the microphysical simulation of interactions in liquid xenon, the active detector medium in many leading rare-event searches for new physics, and describe experimental observables useful for understanding detector performance. The scintillation and ionization yield distributions for signal and background will be presented using the Noble Element Simulation Technique (NEST), which is a toolkit based on experimental data and simple, empirical formulae, which mimic previous microphysics modeling, but are guided by data. The NEST models for light and charge production as a function of the particle type, energy, and electric field will be reviewed, as well as models for energy resolution and final pulse areas. NEST will be compared to other models or sets of models, and vetted against real data, with several specific examples pulled from XENON, ZEPLIN, LUX, LZ, PandaX, and table-top experiments used for calibrations.

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen environment, and placing it in a commanded location. This is a foundational challenge for robots to be useful assistants in human environments, because it involves tackling sub-problems from across robotics: perception, language understanding, navigation, and manipulation are all essential to OVMM. In addition, integration of the solutions to these sub-problems poses its own substantial challenges. To drive research in this area, we introduce the HomeRobot OVMM benchmark, where an agent navigates household environments to grasp novel objects and place them on target receptacles. HomeRobot has two components: a simulation component, which uses a large and diverse curated object set in new, high-quality multi-room home environments; and a real-world component, providing a software stack for the low-cost Hello Robot Stretch to encourage replication of real-world experiments across labs. We implement both reinforcement learning and heuristic (model-based) baselines and show evidence of sim-to-real transfer. Our baselines achieve a 20% success rate in the real world; our experiments identify ways future research work improve performance. See videos on our website: https://ovmm.github.io/.

Sparse large language models (LLMs) with Mixture of Experts (MoE) and close to a trillion parameters are dominating the realm of most capable language models. However, the massive model scale poses significant challenges for the underlying software and hardware systems. In this paper, we aim to uncover a recipe to harness such scale on Ascend NPUs. The key goals are better usage of the computing resources under the dynamic sparse model structures and materializing the expected performance gain on the actual hardware. To select model configurations suitable for Ascend NPUs without repeatedly running the expensive experiments, we leverage simulation to compare the trade-off of various model hyperparameters. This study led to Pangu Ultra MoE, a sparse LLM with 718 billion parameters, and we conducted experiments on the model to verify the simulation results. On the system side, we dig into Expert Parallelism to optimize the communication between NPU devices to reduce the synchronization overhead. We also optimize the memory efficiency within the devices to further reduce the parameter and activation management overhead. In the end, we achieve an MFU of 30.0% when training Pangu Ultra MoE, with performance comparable to that of DeepSeek R1, on 6K Ascend NPUs, and demonstrate that the Ascend system is capable of harnessing all the training stages of the state-of-the-art language models. Extensive experiments indicate that our recipe can lead to efficient training of large-scale sparse language models with MoE. We also study the behaviors of such models for future reference.

Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable features for visuomotor policy learning. Despite the progress achieved, prior endeavors disregard the interactive dynamics that capture behavior patterns and physical interaction during the manipulation process, resulting in an inadequate understanding of the relationship between objects and the environment. To this end, we propose a general pre-training pipeline that learns Manipulation by Predicting the Interaction (MPI) and enhances the visual representation.Given a pair of keyframes representing the initial and final states, along with language instructions, our algorithm predicts the transition frame and detects the interaction object, respectively. These two learning objectives achieve superior comprehension towards "how-to-interact" and "where-to-interact". We conduct a comprehensive evaluation of several challenging robotic tasks.The experimental results demonstrate that MPI exhibits remarkable improvement by 10% to 64% compared with previous state-of-the-art in real-world robot platforms as well as simulation environments. Code and checkpoints are publicly shared at https://github.com/OpenDriveLab/MPI.

This paper describes the development of an on-board data-driven system that can monitor and localize the fault in a quadrotor unmanned aerial vehicle (UAV) and at the same time, evaluate the degree of damage of the fault under real scenarios. To achieve offline training data generation, a hybrid approach is proposed for the development of a virtual data-generative model using a combination of data-driven models as well as well-established dynamic models that describe the kinematics of the UAV. To effectively represent the drop in performance of a faulty propeller, a variation of the deep neural network, a LSTM network is proposed. With the RPM of the propeller as input and based on the fault condition of the propeller, the proposed propeller model estimates the resultant torque and thrust. Then, flight datasets of the UAV under various fault scenarios are generated via simulation using the developed data-generative model. Lastly, a fault classifier using a CNN model is proposed to identify as well as evaluate the degree of damage to the damaged propeller. The scope of this paper focuses on the identification of faulty propellers and classification of the fault level for quadrotor UAVs using RPM as well as flight data. Doing so allows for early minor fault detection to prevent serious faults from occurring if the fault is left unrepaired. To further validate the workability of this approach outside of simulation, a real-flight test is conducted indoors. The real flight data is collected and a simulation to real sim-real test is conducted. Due to the imperfections in the build of our experimental UAV, a slight calibration approach to our simulation model is further proposed and the experimental results obtained show that our trained model can identify the location of propeller fault as well as the degree/type of damage. Currently, the diagnosis accuracy on the testing set is over 80%.

Solving partial differential equations (PDEs) with machine learning has recently attracted great attention, as PDEs are fundamental tools for modeling real-world systems that range from fundamental physical science to advanced engineering disciplines. Most real-world physical systems across various disciplines are actually involved in multiple coupled physical fields rather than a single field. However, previous machine learning studies mainly focused on solving single-field problems, but overlooked the importance and characteristics of multiphysics problems in real world. Multiphysics PDEs typically entail multiple strongly coupled variables, thereby introducing additional complexity and challenges, such as inter-field coupling. Both benchmarking and solving multiphysics problems with machine learning remain largely unexamined. To identify and address the emerging challenges in multiphysics problems, we mainly made three contributions in this work. First, we collect the first general multiphysics dataset, the Multiphysics Bench, that focuses on multiphysics PDE solving with machine learning. Multiphysics Bench is also the most comprehensive PDE dataset to date, featuring the broadest range of coupling types, the greatest diversity of PDE formulations, and the largest dataset scale. Second, we conduct the first systematic investigation on multiple representative learning-based PDE solvers, such as PINNs, FNO, DeepONet, and DiffusionPDE solvers, on multiphysics problems. Unfortunately, naively applying these existing solvers usually show very poor performance for solving multiphysics. Third, through extensive experiments and discussions, we report multiple insights and a bag of useful tricks for solving multiphysics with machine learning, motivating future directions in the study and simulation of complex, coupled physical systems.

Cavity quantum electrodynamics has been studied as a potential approach to modify free charge carrier generation in donor-acceptor heterojunctions because of the delocalization and controllable energy level properties of hybridized light-matter states known as polaritons. However, in many experimental systems, cavity coupling decreases charge separation. Here, we theoretically study the quantum dynamics of a coherent and dissipative donor-acceptor cavity system, to investigate the dynamical mechanism and further discover the conditions under which polaritons may enhance free charge carrier generation. We use open quantum system methods based on single-pulse pumping to find that polaritons have the potential to connect excitonic states and charge separated states, further enhancing free charge generation on an ultrafast timescale of several hundred femtoseconds. The mechanism involves that polaritons with proper energy levels allow the exciton to overcome the high Coulomb barrier induced by electron-hole attraction. Moreover, we propose that a second-hybridization between a polariton state and dark states with similar energy enables the formation of the hybrid charge separated states that are optically active. These two mechanisms lead to a maximum of 50% enhancement of free charge carrier generation on a short timescale. However, our simulation reveals that on the longer timescale of picoseconds, internal conversion and cavity loss dominate and suppress free charge carrier generation, reproducing the experimental results. Thus, our work shows that polaritons can affect the charge separation mechanism and promote free charge carrier generation efficiency, but predominantly on a short timescale after photoexcitation.

Randomized controlled trials (RCTs) are considered the gold standard for estimating the average treatment effect (ATE) of interventions. One use of RCTs is to study the causes of global poverty -- a subject explicitly cited in the 2019 Nobel Memorial Prize awarded to Duflo, Banerjee, and Kremer "for their experimental approach to alleviating global poverty." Because the ATE is a population summary, anti-poverty experiments often seek to unpack the effect variation around the ATE by conditioning (CATE) on tabular variables such as age and ethnicity that were measured during the RCT data collection. Although such variables are key to unpacking CATE, using only such variables may fail to capture historical, geographical, or neighborhood-specific contributors to effect variation, as tabular RCT data are often only observed near the time of the experiment. In global poverty research, when the location of the experiment units is approximately known, satellite imagery can provide a window into such factors important for understanding heterogeneity. However, there is no method that specifically enables applied researchers to analyze CATE from images. In this paper, using a deep probabilistic modeling framework, we develop such a method that estimates latent clusters of images by identifying images with similar treatment effects distributions. Our interpretable image CATE model also includes a sensitivity factor that quantifies the importance of image segments contributing to the effect cluster prediction. We compare the proposed methods against alternatives in simulation; also, we show how the model works in an actual RCT, estimating the effects of an anti-poverty intervention in northern Uganda and obtaining a posterior predictive distribution over effects for the rest of the country where no experimental data was collected. We make all models available in open-source software.

Novel machine learning methods for tabular data generation are often developed on small datasets which do not match the scale required for scientific applications. We investigate a recent proposal to use XGBoost as the function approximator in diffusion and flow-matching models on tabular data, which proved to be extremely memory intensive, even on tiny datasets. In this work, we conduct a critical analysis of the existing implementation from an engineering perspective, and show that these limitations are not fundamental to the method; with better implementation it can be scaled to datasets 370x larger than previously used. Our efficient implementation also unlocks scaling models to much larger sizes which we show directly leads to improved performance on benchmark tasks. We also propose algorithmic improvements that can further benefit resource usage and model performance, including multi-output trees which are well-suited to generative modeling. Finally, we present results on large-scale scientific datasets derived from experimental particle physics as part of the Fast Calorimeter Simulation Challenge. Code is available at https://github.com/layer6ai-labs/calo-forest.

Scientific discovery is a complex cognitive process that has driven human knowledge and technological progress for centuries. While artificial intelligence (AI) has made significant advances in automating aspects of scientific reasoning, simulation, and experimentation, we still lack integrated AI systems capable of performing autonomous long-term scientific research and discovery. This paper examines the current state of AI for scientific discovery, highlighting recent progress in large language models and other AI techniques applied to scientific tasks. We then outline key challenges and promising research directions toward developing more comprehensive AI systems for scientific discovery, including the need for science-focused AI agents, improved benchmarks and evaluation metrics, multimodal scientific representations, and unified frameworks combining reasoning, theorem proving, and data-driven modeling. Addressing these challenges could lead to transformative AI tools to accelerate progress across disciplines towards scientific discovery.

To realize effective large-scale, real-world robotic applications, we must evaluate how well our robot policies adapt to changes in environmental conditions. Unfortunately, a majority of studies evaluate robot performance in environments closely resembling or even identical to the training setup. We present THE COLOSSEUM, a novel simulation benchmark, with 20 diverse manipulation tasks, that enables systematical evaluation of models across 14 axes of environmental perturbations. These perturbations include changes in color, texture, and size of objects, table-tops, and backgrounds; we also vary lighting, distractors, physical properties perturbations and camera pose. Using THE COLOSSEUM, we compare 5 state-of-the-art manipulation models to reveal that their success rate degrades between 30-50% across these perturbation factors. When multiple perturbations are applied in unison, the success rate degrades geq75%. We identify that changing the number of distractor objects, target object color, or lighting conditions are the perturbations that reduce model performance the most. To verify the ecological validity of our results, we show that our results in simulation are correlated (R^2 = 0.614) to similar perturbations in real-world experiments. We open source code for others to use THE COLOSSEUM, and also release code to 3D print the objects used to replicate the real-world perturbations. Ultimately, we hope that THE COLOSSEUM will serve as a benchmark to identify modeling decisions that systematically improve generalization for manipulation. See https://robot-colosseum.github.io/ for more details.

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in different domains such as simulation, real robots, and human videos. Current methods usually collect and pool all data from one domain to train a single policy to handle such heterogeneity in tasks and domains, which is prohibitively expensive and difficult. In this work, we present a flexible approach, dubbed Policy Composition, to combine information across such diverse modalities and domains for learning scene-level and task-level generalized manipulation skills, by composing different data distributions represented with diffusion models. Our method can use task-level composition for multi-task manipulation and be composed with analytic cost functions to adapt policy behaviors at inference time. We train our method on simulation, human, and real robot data and evaluate in tool-use tasks. The composed policy achieves robust and dexterous performance under varying scenes and tasks and outperforms baselines from a single data source in both simulation and real-world experiments. See https://liruiw.github.io/policycomp for more details .

Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in DOM due to the complex dynamics and high degree of freedom of deformable objects. In this paper, we develop a novel image-processing algorithm based on Gabor filters to extract useful features from cloth, and based on this, devise a strategy for cloth flattening tasks. We also evaluate the overall framework experimentally and compare it with three human operators. The results show that our algorithm can determine the direction of wrinkles on the cloth accurately in simulation as well as in real robot experiments. Furthermore, our dewrinkling strategy compares favorably to baseline methods. The experiment video is available on https://sites.google.com/view/robotic-fabric-flattening/home

Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of capable language and vision foundation models, motivating large-scale efforts to create general-purpose robot foundation models. While these models have garnered significant enthusiasm and investment, meaningful evaluation of real-world performance remains a challenge, limiting both the pace of development and inhibiting a nuanced understanding of current capabilities. In this paper, we rigorously evaluate multitask robot manipulation policies, referred to as Large Behavior Models (LBMs), by extending the Diffusion Policy paradigm across a corpus of simulated and real-world robot data. We propose and validate an evaluation pipeline to rigorously analyze the capabilities of these models with statistical confidence. We compare against single-task baselines through blind, randomized trials in a controlled setting, using both simulation and real-world experiments. We find that multi-task pretraining makes the policies more successful and robust, and enables teaching complex new tasks more quickly, using a fraction of the data when compared to single-task baselines. Moreover, performance predictably increases as pretraining scale and diversity grows. Project page: https://toyotaresearchinstitute.github.io/lbm1/

Foundation Vision Language Models (VLMs) exhibit strong capabilities in multi-modal representation learning, comprehension, and reasoning. By injecting action components into the VLMs, Vision-Language-Action Models (VLAs) can be naturally formed and also show promising performance. Existing work has demonstrated the effectiveness and generalization of VLAs in multiple scenarios and tasks. Nevertheless, the transfer from VLMs to VLAs is not trivial since existing VLAs differ in their backbones, action-prediction formulations, data distributions, and training recipes. This leads to a missing piece for a systematic understanding of the design choices of VLAs. In this work, we disclose the key factors that significantly influence the performance of VLA and focus on answering three essential design choices: which backbone to select, how to formulate the VLA architectures, and when to add cross-embodiment data. The obtained results convince us firmly to explain why we need VLA and develop a new family of VLAs, RoboVLMs, which require very few manual designs and achieve a new state-of-the-art performance in three simulation tasks and real-world experiments. Through our extensive experiments, which include over 8 VLM backbones, 4 policy architectures, and over 600 distinct designed experiments, we provide a detailed guidebook for the future design of VLAs. In addition to the study, the highly flexible RoboVLMs framework, which supports easy integrations of new VLMs and free combinations of various design choices, is made public to facilitate future research. We open-source all details, including codes, models, datasets, and toolkits, along with detailed training and evaluation recipes at: robovlms.github.io.

Differentiable particle filters are an emerging class of sequential Bayesian inference techniques that use neural networks to construct components in state space models. Existing approaches are mostly based on offline supervised training strategies. This leads to the delay of the model deployment and the obtained filters are susceptible to distribution shift of test-time data. In this paper, we propose an online learning framework for differentiable particle filters so that model parameters can be updated as data arrive. The technical constraint is that there is no known ground truth state information in the online inference setting. We address this by adopting an unsupervised loss to construct the online model updating procedure, which involves a sequence of filtering operations for online maximum likelihood-based parameter estimation. We empirically evaluate the effectiveness of the proposed method, and compare it with supervised learning methods in simulation settings including a multivariate linear Gaussian state-space model and a simulated object tracking experiment.

Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient diversity, limiting their applicability to practical scenarios. We present GraspClutter6D, a large-scale real-world grasping dataset featuring: (1) 1,000 highly cluttered scenes with dense arrangements (14.1 objects/scene, 62.6\% occlusion), (2) comprehensive coverage across 200 objects in 75 environment configurations (bins, shelves, and tables) captured using four RGB-D cameras from multiple viewpoints, and (3) rich annotations including 736K 6D object poses and 9.3B feasible robotic grasps for 52K RGB-D images. We benchmark state-of-the-art segmentation, object pose estimation, and grasping detection methods to provide key insights into challenges in cluttered environments. Additionally, we validate the dataset's effectiveness as a training resource, demonstrating that grasping networks trained on GraspClutter6D significantly outperform those trained on existing datasets in both simulation and real-world experiments. The dataset, toolkit, and annotation tools are publicly available on our project website: https://sites.google.com/view/graspclutter6d.

Current efforts to learn scalable policies in robotic manipulation primarily fall into two categories: one focuses on "action," which involves behavior cloning from extensive collections of robotic data, while the other emphasizes "vision," enhancing model generalization by pre-training representations or generative models, also referred to as world models, using large-scale visual datasets. This paper presents an end-to-end paradigm that predicts actions using inverse dynamics models conditioned on the robot's forecasted visual states, named Predictive Inverse Dynamics Models (PIDM). By closing the loop between vision and action, the end-to-end PIDM can be a better scalable action learner. In practice, we use Transformers to process both visual states and actions, naming the model Seer. It is initially pre-trained on large-scale robotic datasets, such as DROID, and can be adapted to realworld scenarios with a little fine-tuning data. Thanks to large-scale, end-to-end training and the synergy between vision and action, Seer significantly outperforms previous methods across both simulation and real-world experiments. It achieves improvements of 13% on the LIBERO-LONG benchmark, 21% on CALVIN ABC-D, and 43% in real-world tasks. Notably, Seer sets a new state-of-the-art on CALVIN ABC-D benchmark, achieving an average length of 4.28, and exhibits superior generalization for novel objects, lighting conditions, and environments under high-intensity disturbances on real-world scenarios. Code and models are publicly available at https://github.com/OpenRobotLab/Seer/.

In many real-world applications, graph-structured data used for training and testing have differences in distribution, such as in high energy physics (HEP) where simulation data used for training may not match real experiments. Graph domain adaptation (GDA) is a method used to address these differences. However, current GDA primarily works by aligning the distributions of node representations output by a single graph neural network encoder shared across the training and testing domains, which may often yield sub-optimal solutions. This work examines different impacts of distribution shifts caused by either graph structure or node attributes and identifies a new type of shift, named conditional structure shift (CSS), which current GDA approaches are provably sub-optimal to deal with. A novel approach, called structural reweighting (StruRW), is proposed to address this issue and is tested on synthetic graphs, four benchmark datasets, and a new application in HEP. StruRW has shown significant performance improvement over the baselines in the settings with large graph structure shifts, and reasonable performance improvement when node attribute shift dominates.

Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various complex, long-horizon manipulation tasks. However, existing approaches vary significantly in terms of network architectures, planning paradigms, representations, and training data sources, making it challenging for researchers to identify the precise sources of performance gains and components to be further improved. To systematically investigate the impacts of different planning paradigms and representations isolating from network architectures and training data, in this paper, we introduce VLA-OS, a unified VLA architecture series capable of various task planning paradigms, and design a comprehensive suite of controlled experiments across diverse object categories (rigid and deformable), visual modalities (2D and 3D), environments (simulation and real-world), and end-effectors (grippers and dexterous hands). Our results demonstrate that: 1) visually grounded planning representations are generally better than language planning representations; 2) the Hierarchical-VLA paradigm generally achieves superior or comparable performance than other paradigms on task performance, pretraining, generalization ability, scalability, and continual learning ability, albeit at the cost of slower training and inference speeds.

Front-end electronics equipped with high-speed digitizers are being used and proposed for future nuclear detectors. Recent literature reveals that deep learning models, especially one-dimensional convolutional neural networks, are promising when dealing with digital signals from nuclear detectors. Simulations and experiments demonstrate the satisfactory accuracy and additional benefits of neural networks in this area. However, specific hardware accelerating such models for online operations still needs to be studied. In this work, we introduce PulseDL-II, a system-on-chip (SoC) specially designed for applications of event feature (time, energy, etc.) extraction from pulses with deep learning. Based on the previous version, PulseDL-II incorporates a RISC CPU into the system structure for better functional flexibility and integrity. The neural network accelerator in the SoC adopts a three-level (arithmetic unit, processing element, neural network) hierarchical architecture and facilitates parameter optimization of the digital design. Furthermore, we devise a quantization scheme compatible with deep learning frameworks (e.g., TensorFlow) within a selected subset of layer types. We validate the correct operations of PulseDL-II on field programmable gate arrays (FPGA) alone and with an experimental setup comprising a direct digital synthesis (DDS) and analog-to-digital converters (ADC). The proposed system achieved 60 ps time resolution and 0.40% energy resolution at signal to noise ratio (SNR) of 47.4 dB.

One major goal of the AI security community is to securely and reliably produce and deploy deep learning models for real-world applications. To this end, data poisoning based backdoor attacks on deep neural networks (DNNs) in the production stage (or training stage) and corresponding defenses are extensively explored in recent years. Ironically, backdoor attacks in the deployment stage, which can often happen in unprofessional users' devices and are thus arguably far more threatening in real-world scenarios, draw much less attention of the community. We attribute this imbalance of vigilance to the weak practicality of existing deployment-stage backdoor attack algorithms and the insufficiency of real-world attack demonstrations. To fill the blank, in this work, we study the realistic threat of deployment-stage backdoor attacks on DNNs. We base our study on a commonly used deployment-stage attack paradigm -- adversarial weight attack, where adversaries selectively modify model weights to embed backdoor into deployed DNNs. To approach realistic practicality, we propose the first gray-box and physically realizable weights attack algorithm for backdoor injection, namely subnet replacement attack (SRA), which only requires architecture information of the victim model and can support physical triggers in the real world. Extensive experimental simulations and system-level real-world attack demonstrations are conducted. Our results not only suggest the effectiveness and practicality of the proposed attack algorithm, but also reveal the practical risk of a novel type of computer virus that may widely spread and stealthily inject backdoor into DNN models in user devices. By our study, we call for more attention to the vulnerability of DNNs in the deployment stage.

The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been planned to avoid collisions with obstacles in a complex environment. Based on the planned virtual tube for a large number of speed-constrained robots, the average forward speed and density along the virtual tube are further planned in this paper to ensure safety and improve efficiency. Compared with the existing methods, the proposed method is based on global information and can be applied to traversing narrow spaces for speed-constrained robot swarms. Numerical simulations and experiments are conducted to show that the safety and efficiency of the passing-through process are improved. A video about simulations and experiments is available on https://youtu.be/lJHdMQMqSpc.

This paper focuses on a novel approach for detecting moving objects during camera motion. We present an optical-flow-based transformation that yields a consistent 2D invariant image output regardless of time instants, range of points in 3D, and the speed of the camera. In other words, this transformation generates a lookup image that remains invariant despite the changing projection of the 3D scene and camera motion. In the new domain, projections of 3D points that deviate from the values of the predefined lookup image can be clearly identified as moving relative to the stationary 3D environment, making them seamlessly detectable. The method does not require prior knowledge of the direction of motion or speed of the camera, nor does it necessitate 3D point range information. It is well-suited for real-time parallel processing, rendering it highly practical for implementation. We have validated the effectiveness of the new domain through simulations and experiments, demonstrating its robustness in scenarios involving rectilinear camera motion, both in simulations and with real-world data. This approach introduces new ways for moving objects detection during camera motion, and also lays the foundation for future research in the context of moving object detection during six-degrees-of-freedom camera motion.

Molecular dynamics (MD) simulations play a crucial role in scientific research. Yet their computational cost often limits the timescales and system sizes that can be explored. Most data-driven efforts have been focused on reducing the computational cost of accurate interatomic forces required for solving the equations of motion. Despite their success, however, these machine learning interatomic potentials (MLIPs) are still bound to small time-steps. In this work, we introduce TrajCast, a transferable and data-efficient framework based on autoregressive equivariant message passing networks that directly updates atomic positions and velocities lifting the constraints imposed by traditional numerical integration. We benchmark our framework across various systems, including a small molecule, crystalline material, and bulk liquid, demonstrating excellent agreement with reference MD simulations for structural, dynamical, and energetic properties. Depending on the system, TrajCast allows for forecast intervals up to 30times larger than traditional MD time-steps, generating over 15 ns of trajectory data per day for a solid with more than 4,000 atoms. By enabling efficient large-scale simulations over extended timescales, TrajCast can accelerate materials discovery and explore physical phenomena beyond the reach of traditional simulations and experiments. An open-source implementation of TrajCast is accessible under https://github.com/IBM/trajcast.

The outstanding performance of Large Multimodal Models (LMMs) has made them widely applied in vision-related tasks. However, various corruptions in the real world mean that images will not be as ideal as in simulations, presenting significant challenges for the practical application of LMMs. To address this issue, we introduce R-Bench, a benchmark focused on the **Real-world Robustness of LMMs**. Specifically, we: (a) model the complete link from user capture to LMMs reception, comprising 33 corruption dimensions, including 7 steps according to the corruption sequence, and 7 groups based on low-level attributes; (b) collect reference/distorted image dataset before/after corruption, including 2,970 question-answer pairs with human labeling; (c) propose comprehensive evaluation for absolute/relative robustness and benchmark 20 mainstream LMMs. Results show that while LMMs can correctly handle the original reference images, their performance is not stable when faced with distorted images, and there is a significant gap in robustness compared to the human visual system. We hope that R-Bench will inspire improving the robustness of LMMs, **extending them from experimental simulations to the real-world application**. Check https://q-future.github.io/R-Bench for details.

The modern surge in camera usage alongside widespread computer vision technology applications poses significant privacy and security concerns. Current artificial intelligence (AI) technologies aid in recognizing relevant events and assisting in daily tasks in homes, offices, hospitals, etc. The need to access or process personal information for these purposes raises privacy concerns. While software-level solutions like face de-identification provide a good privacy/utility trade-off, they present vulnerabilities to sniffing attacks. In this paper, we propose a hardware-level face de-identification method to solve this vulnerability. Specifically, our approach first learns an optical encoder along with a regression model to obtain a face heatmap while hiding the face identity from the source image. We also propose an anonymization framework that generates a new face using the privacy-preserving image, face heatmap, and a reference face image from a public dataset as input. We validate our approach with extensive simulations and hardware experiments.

The application of computer vision to nuanced subjective use cases is growing. While crowdsourcing has served the vision community well for most objective tasks (such as labeling a "zebra"), it now falters on tasks where there is substantial subjectivity in the concept (such as identifying "gourmet tuna"). However, empowering any user to develop a classifier for their concept is technically difficult: users are neither machine learning experts, nor have the patience to label thousands of examples. In reaction, we introduce the problem of Agile Modeling: the process of turning any subjective visual concept into a computer vision model through a real-time user-in-the-loop interactions. We instantiate an Agile Modeling prototype for image classification and show through a user study (N=14) that users can create classifiers with minimal effort under 30 minutes. We compare this user driven process with the traditional crowdsourcing paradigm and find that the crowd's notion often differs from that of the user's, especially as the concepts become more subjective. Finally, we scale our experiments with simulations of users training classifiers for ImageNet21k categories to further demonstrate the efficacy.

Complex vector modes, entangled in spin and orbital angular momentum, are opening burgeoning opportunities for a wide variety of applications. Importantly, the flexible manipulation the various properties of such beams will pave the way to novel applications. As such, in this manuscript, we demonstrate a longitudinal spin-orbit separation of complex vector modes propagating in free space. To achieve this we employed the recently demonstrated circular Airy Gaussian vortex vector (CAGVV) modes, which feature a self-focusing property. More precisely, by properly manipulating the intrinsic parameters of CAGVV modes, the strong coupling between the two constituting orthogonal components of CAGVV mode undergo a spin-orbit separation along the propagation direction namely, while one polarisation component, focuses at a specific plane, the other focuses at a different plane. Such spin-orbit separation, which we demonstrated by numerical simulations and corroborated experimentally, can be adjusted on-demand by simply changing the initial parameters of CAGVV modes. Our findings will be of great relevance, for example in optical tweezers, to manipulate micro- or nano-particles at two different parallel planes.

To build effective therapeutics, biologists iteratively mutate antibody sequences to improve binding and stability. Proposed mutations can be informed by previous measurements or by learning from large antibody databases to predict only typical antibodies. Unfortunately, the space of typical antibodies is enormous to search, and experiments often fail to find suitable antibodies on a budget. We introduce Clone-informed Bayesian Optimization (CloneBO), a Bayesian optimization procedure that efficiently optimizes antibodies in the lab by teaching a generative model how our immune system optimizes antibodies. Our immune system makes antibodies by iteratively evolving specific portions of their sequences to bind their target strongly and stably, resulting in a set of related, evolving sequences known as a clonal family. We train a large language model, CloneLM, on hundreds of thousands of clonal families and use it to design sequences with mutations that are most likely to optimize an antibody within the human immune system. We propose to guide our designs to fit previous measurements with a twisted sequential Monte Carlo procedure. We show that CloneBO optimizes antibodies substantially more efficiently than previous methods in realistic in silico experiments and designs stronger and more stable binders in in vitro wet lab experiments.

Neural network language models (LMs) have been shown to successfully capture complex linguistic knowledge. However, their utility for understanding language acquisition is still debated. We contribute to this debate by presenting a case study where we use LMs as simulated learners to derive novel experimental hypotheses to be tested with humans. We apply this paradigm to study cross-dative generalization (CDG): productive generalization of novel verbs across dative constructions (she pilked me the ball/she pilked the ball to me) -- acquisition of which is known to involve a large space of contextual features -- using LMs trained on child-directed speech. We specifically ask: "what properties of the training exposure facilitate a novel verb's generalization to the (unmodeled) alternate construction?" To answer this, we systematically vary the exposure context in which a novel dative verb occurs in terms of the properties of the theme and recipient, and then analyze the LMs' usage of the novel verb in the unmodeled dative construction. We find LMs to replicate known patterns of children's CDG, as a precondition to exploring novel hypotheses. Subsequent simulations reveal a nuanced role of the features of the novel verbs' exposure context on the LMs' CDG. We find CDG to be facilitated when the first postverbal argument of the exposure context is pronominal, definite, short, and conforms to the prototypical animacy expectations of the exposure dative. These patterns are characteristic of harmonic alignment in datives, where the argument with features ranking higher on the discourse prominence scale tends to precede the other. This gives rise to a novel hypothesis that CDG is facilitated insofar as the features of the exposure context -- in particular, its first postverbal argument -- are harmonically aligned. We conclude by proposing future experiments that can test this hypothesis in children.

When communicating with elders with cognitive impairment, cognitive stimulation (CS) help to maintain the cognitive health of elders. Data sparsity is the main challenge in building CS-based dialogue systems, particularly in the Chinese language. To fill this gap, we construct a Chinese CS conversation (CSConv) dataset, which contains about 2.6K groups of dialogues with CS principles and emotional support strategy labels. Making chit chat while providing emotional support is overlooked by the majority of existing cognitive dialogue systems. In this paper, we propose a multi-source knowledge fusion method for CS dialogue (CSD), to generate open-ended responses guided by the CS principle and emotional support strategy. We first use a progressive mask method based on external knowledge to learn encoders as effective classifiers, which is the prerequisite to predict the CS principle and emotional support strategy of the target response. Then a decoder interacts with the perceived CS principle and emotional support strategy to generate responses. Extensive experiments conducted on the CSConv dataset demonstrate the effectiveness of the proposed method, while there is still a large space for improvement compared to human performance.

In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn policies from real-world video demonstrations, and only focus on limited material types and tasks (e.g., cloth unfolding). However, these approaches face significant challenges when extended to a wider variety of thin-shell materials and a diverse range of tasks. While virtual simulations are shown to be effective in diverse robot skill learning and evaluation, prior thin-shell simulation environments only support a subset of thin-shell materials, which also limits their supported range of tasks. We introduce ThinShellLab - a fully differentiable simulation platform tailored for robotic interactions with diverse thin-shell materials possessing varying material properties, enabling flexible thin-shell manipulation skill learning and evaluation. Our experiments suggest that manipulating thin-shell objects presents several unique challenges: 1) thin-shell manipulation relies heavily on frictional forces due to the objects' co-dimensional nature, 2) the materials being manipulated are highly sensitive to minimal variations in interaction actions, and 3) the constant and frequent alteration in contact pairs makes trajectory optimization methods susceptible to local optima, and neither standard reinforcement learning algorithms nor trajectory optimization methods (either gradient-based or gradient-free) are able to solve the tasks alone. To overcome these challenges, we present an optimization scheme that couples sampling-based trajectory optimization and gradient-based optimization, boosting both learning efficiency and converged performance across various proposed tasks. In addition, the differentiable nature of our platform facilitates a smooth sim-to-real transition.

Simulating physics using Graph Neural Networks (GNNs) is predominantly driven by message-passing architectures, which face challenges in scaling and efficiency, particularly in handling large, complex meshes. These architectures have inspired numerous enhancements, including multigrid approaches and K-hop aggregation (using neighbours of distance K), yet they often introduce significant complexity and suffer from limited in-depth investigations. In response to these challenges, we propose a novel Graph Transformer architecture that leverages the adjacency matrix as an attention mask. The proposed approach incorporates innovative augmentations, including Dilated Sliding Windows and Global Attention, to extend receptive fields without sacrificing computational efficiency. Through extensive experimentation, we evaluate model size, adjacency matrix augmentations, positional encoding and K-hop configurations using challenging 3D computational fluid dynamics (CFD) datasets. We also train over 60 models to find a scaling law between training FLOPs and parameters. The introduced models demonstrate remarkable scalability, performing on meshes with up to 300k nodes and 3 million edges. Notably, the smallest model achieves parity with MeshGraphNet while being 7times faster and 6times smaller. The largest model surpasses the previous state-of-the-art by 38.8\% on average and outperforms MeshGraphNet by 52\% on the all-rollout RMSE, while having a similar training speed. Code and datasets are available at https://github.com/DonsetPG/graph-physics.

Foundation models have achieved remarkable success across video, image, and language domains. By scaling up the number of parameters and training datasets, these models acquire generalizable world knowledge and often surpass task-specific approaches. However, such progress has yet to extend to the domain of physics simulation. A primary bottleneck is data scarcity: while millions of images, videos, and textual resources are readily available on the internet, the largest physics simulation datasets contain only tens of thousands of samples. This data limitation hinders the use of large models, as overfitting becomes a major concern. As a result, physics applications typically rely on small models, which struggle with long-range prediction due to limited context understanding. Additionally, unlike images, videos, or text-which typically exhibit fixed granularity-physics datasets often vary drastically in scale, amplifying the challenges of scaling up multitask training. We introduce PhysiX, the first large-scale foundation model for physics simulation. PhysiX is a 4.5B parameter autoregressive generative model. It uses a discrete tokenizer to encode physical processes at different scales into a sequence of discrete tokens, and employs an autoregressive next-token prediction objective to model such processes in the token space. To mitigate the rounding error in the discretization process, PhysiX incorporates a specialized refinement module. Through extensive experiments, we show that PhysiX effectively addresses the data bottleneck, outperforming task-specific baselines under comparable settings as well as the previous absolute state-of-the-art approaches on The Well benchmark. Our results indicate that knowledge learned from natural videos can be successfully transferred to physics simulation, and that joint training across diverse simulation tasks enables synergistic learning.

Scripting interfaces enable users to automate tasks and customize software workflows, but creating scripts traditionally requires programming expertise and familiarity with specific APIs, posing barriers for many users. While Large Language Models (LLMs) can generate code from natural language queries, runtime code generation is severely limited due to unverified code, security risks, longer response times, and higher computational costs. To bridge the gap, we propose an offline simulation framework to curate a software-specific skillset, a collection of verified scripts, by exploiting LLMs and publicly available scripting guides. Our framework comprises two components: (1) task creation, using top-down functionality guidance and bottom-up API synergy exploration to generate helpful tasks; and (2) skill generation with trials, refining and validating scripts based on execution feedback. To efficiently navigate the extensive API landscape, we introduce a Graph Neural Network (GNN)-based link prediction model to capture API synergy, enabling the generation of skills involving underutilized APIs and expanding the skillset's diversity. Experiments with Adobe Illustrator demonstrate that our framework significantly improves automation success rates, reduces response time, and saves runtime token costs compared to traditional runtime code generation. This is the first attempt to use software scripting interfaces as a testbed for LLM-based systems, highlighting the advantages of leveraging execution feedback in a controlled environment and offering valuable insights into aligning AI capabilities with user needs in specialized software domains.

The abundance of data has given machine learning considerable momentum in natural sciences and engineering, though modeling of physical processes is often difficult. A particularly tough problem is the efficient representation of geometric boundaries. Triangularized geometric boundaries are well understood and ubiquitous in engineering applications. However, it is notoriously difficult to integrate them into machine learning approaches due to their heterogeneity with respect to size and orientation. In this work, we introduce an effective theory to model particle-boundary interactions, which leads to our new Boundary Graph Neural Networks (BGNNs) that dynamically modify graph structures to obey boundary conditions. The new BGNNs are tested on complex 3D granular flow processes of hoppers, rotating drums and mixers, which are all standard components of modern industrial machinery but still have complicated geometry. BGNNs are evaluated in terms of computational efficiency as well as prediction accuracy of particle flows and mixing entropies. BGNNs are able to accurately reproduce 3D granular flows within simulation uncertainties over hundreds of thousands of simulation timesteps. Most notably, in our experiments, particles stay within the geometric objects without using handcrafted conditions or restrictions.

As AI systems increasingly assume roles where trust and alignment with human values are essential, understanding when and why they engage in deception has become a critical research priority. We introduce The Traitors, a multi-agent simulation framework inspired by social deduction games, designed to probe deception, trust formation, and strategic communication among large language model (LLM) agents under asymmetric information. A minority of agents the traitors seek to mislead the majority, while the faithful must infer hidden identities through dialogue and reasoning. Our contributions are: (1) we ground the environment in formal frameworks from game theory, behavioral economics, and social cognition; (2) we develop a suite of evaluation metrics capturing deception success, trust dynamics, and collective inference quality; (3) we implement a fully autonomous simulation platform where LLMs reason over persistent memory and evolving social dynamics, with support for heterogeneous agent populations, specialized traits, and adaptive behaviors. Our initial experiments across DeepSeek-V3, GPT-4o-mini, and GPT-4o (10 runs per model) reveal a notable asymmetry: advanced models like GPT-4o demonstrate superior deceptive capabilities yet exhibit disproportionate vulnerability to others' falsehoods. This suggests deception skills may scale faster than detection abilities. Overall, The Traitors provides a focused, configurable testbed for investigating LLM behavior in socially nuanced interactions. We position this work as a contribution toward more rigorous research on deception mechanisms, alignment challenges, and the broader social reliability of AI systems.

Nitrogen (N) management is critical to sustain soil fertility and crop production while minimizing the negative environmental impact, but is challenging to optimize. This paper proposes an intelligent N management system using deep reinforcement learning (RL) and crop simulations with Decision Support System for Agrotechnology Transfer (DSSAT). We first formulate the N management problem as an RL problem. We then train management policies with deep Q-network and soft actor-critic algorithms, and the Gym-DSSAT interface that allows for daily interactions between the simulated crop environment and RL agents. According to the experiments on the maize crop in both Iowa and Florida in the US, our RL-trained policies outperform previous empirical methods by achieving higher or similar yield while using less fertilizers

The promise of human behavioral simulation--general-purpose computational agents that replicate human behavior across domains--could enable broad applications in policymaking and social science. We present a novel agent architecture that simulates the attitudes and behaviors of 1,052 real individuals--applying large language models to qualitative interviews about their lives, then measuring how well these agents replicate the attitudes and behaviors of the individuals that they represent. The generative agents replicate participants' responses on the General Social Survey 85% as accurately as participants replicate their own answers two weeks later, and perform comparably in predicting personality traits and outcomes in experimental replications. Our architecture reduces accuracy biases across racial and ideological groups compared to agents given demographic descriptions. This work provides a foundation for new tools that can help investigate individual and collective behavior.

We introduce Augmented Physics, a machine learning-integrated authoring tool designed for creating embedded interactive physics simulations from static textbook diagrams. Leveraging recent advancements in computer vision, such as Segment Anything and Multi-modal LLMs, our web-based system enables users to semi-automatically extract diagrams from physics textbooks and generate interactive simulations based on the extracted content. These interactive diagrams are seamlessly integrated into scanned textbook pages, facilitating interactive and personalized learning experiences across various physics concepts, such as optics, circuits, and kinematics. Drawing from an elicitation study with seven physics instructors, we explore four key augmentation strategies: 1) augmented experiments, 2) animated diagrams, 3) bi-directional binding, and 4) parameter visualization. We evaluate our system through technical evaluation, a usability study (N=12), and expert interviews (N=12). Study findings suggest that our system can facilitate more engaging and personalized learning experiences in physics education.

Massive molecular simulations of drug-target proteins have been used as a tool to understand disease mechanism and develop therapeutics. This work focuses on learning a generative neural network on a structural ensemble of a drug-target protein, e.g. SARS-CoV-2 Spike protein, obtained from computationally expensive molecular simulations. Model tasks involve characterizing the distinct structural fluctuations of the protein bound to various drug molecules, as well as efficient generation of protein conformations that can serve as an complement of a molecular simulation engine. Specifically, we present a geometric autoencoder framework to learn separate latent space encodings of the intrinsic and extrinsic geometries of the protein structure. For this purpose, the proposed Protein Geometric AutoEncoder (ProGAE) model is trained on the protein contact map and the orientation of the backbone bonds of the protein. Using ProGAE latent embeddings, we reconstruct and generate the conformational ensemble of a protein at or near the experimental resolution, while gaining better interpretability and controllability in term of protein structure generation from the learned latent space. Additionally, ProGAE models are transferable to a different state of the same protein or to a new protein of different size, where only the dense layer decoding from the latent representation needs to be retrained. Results show that our geometric learning-based method enjoys both accuracy and efficiency for generating complex structural variations, charting the path toward scalable and improved approaches for analyzing and enhancing high-cost simulations of drug-target proteins.

Recent advances in image and video generation raise hopes that these models possess world modeling capabilities, the ability to generate realistic, physically plausible videos. This could revolutionize applications in robotics, autonomous driving, and scientific simulation. However, before treating these models as world models, we must ask: Do they adhere to physical conservation laws? To answer this, we introduce Morpheus, a benchmark for evaluating video generation models on physical reasoning. It features 80 real-world videos capturing physical phenomena, guided by conservation laws. Since artificial generations lack ground truth, we assess physical plausibility using physics-informed metrics evaluated with respect to infallible conservation laws known per physical setting, leveraging advances in physics-informed neural networks and vision-language foundation models. Our findings reveal that even with advanced prompting and video conditioning, current models struggle to encode physical principles despite generating aesthetically pleasing videos. All data, leaderboard, and code are open-sourced at our project page.

Over the last years, several works have explored the application of deep learning algorithms to determine the large-scale signal fading (also referred to as ``path loss'') between transmitter and receiver pairs in urban communication networks. The central idea is to replace costly measurement campaigns, inaccurate statistical models or computationally expensive ray-tracing simulations by machine learning models which, once trained, produce accurate predictions almost instantly. Although the topic has attracted attention from many researchers, there are few open benchmark datasets and codebases that would allow everyone to test and compare the developed methods and algorithms. We take a step towards filling this gap by releasing a publicly available dataset of simulated path loss radio maps together with realistic city maps from real-world locations and aerial images from open datasources. Initial experiments regarding model architectures, input feature design and estimation of radio maps from aerial images are presented and the code is made available.

Closed-loop brain stimulation refers to capturing neurophysiological measures such as electroencephalography (EEG), quickly identifying neural events of interest, and producing auditory, magnetic or electrical stimulation so as to interact with brain processes precisely. It is a promising new method for fundamental neuroscience and perhaps for clinical applications such as restoring degraded memory function; however, existing tools are expensive, cumbersome, and offer limited experimental flexibility. In this article, we propose the Portiloop, a deep learning-based, portable and low-cost closed-loop stimulation system able to target specific brain oscillations. We first document open-hardware implementations that can be constructed from commercially available components. We also provide a fast, lightweight neural network model and an exploration algorithm that automatically optimizes the model hyperparameters to the desired brain oscillation. Finally, we validate the technology on a challenging test case of real-time sleep spindle detection, with results comparable to off-line expert performance on the Massive Online Data Annotation spindle dataset (MODA; group consensus). Software and plans are available to the community as an open science initiative to encourage further development and advance closed-loop neuroscience research.

Systematic under-counting effects are observed in data collected across many disciplines, e.g., epidemiology and ecology. Under-counted tensor completion (UC-TC) is well-motivated for many data analytics tasks, e.g., inferring the case numbers of infectious diseases at unobserved locations from under-counted case numbers in neighboring regions. However, existing methods for similar problems often lack supports in theory, making it hard to understand the underlying principles and conditions beyond empirical successes. In this work, a low-rank Poisson tensor model with an expressive unknown nonlinear side information extractor is proposed for under-counted multi-aspect data. A joint low-rank tensor completion and neural network learning algorithm is designed to recover the model. Moreover, the UC-TC formulation is supported by theoretical analysis showing that the fully counted entries of the tensor and each entry's under-counting probability can be provably recovered from partial observations -- under reasonable conditions. To our best knowledge, the result is the first to offer theoretical supports for under-counted multi-aspect data completion. Simulations and real-data experiments corroborate the theoretical claims.

Achieving general agile whole-body control on humanoid robots remains a major challenge due to diverse motion demands and data conflicts. While existing frameworks excel in training single motion-specific policies, they struggle to generalize across highly varied behaviors due to conflicting control requirements and mismatched data distributions. In this work, we propose BumbleBee (BB), an expert-generalist learning framework that combines motion clustering and sim-to-real adaptation to overcome these challenges. BB first leverages an autoencoder-based clustering method to group behaviorally similar motions using motion features and motion descriptions. Expert policies are then trained within each cluster and refined with real-world data through iterative delta action modeling to bridge the sim-to-real gap. Finally, these experts are distilled into a unified generalist controller that preserves agility and robustness across all motion types. Experiments on two simulations and a real humanoid robot demonstrate that BB achieves state-of-the-art general whole-body control, setting a new benchmark for agile, robust, and generalizable humanoid performance in the real world.

The increasing complexity of tasks in robotics demands efficient strategies for multitask and continual learning. Traditional models typically rely on a universal policy for all tasks, facing challenges such as high computational costs and catastrophic forgetting when learning new tasks. To address these issues, we introduce a sparse, reusable, and flexible policy, Sparse Diffusion Policy (SDP). By adopting Mixture of Experts (MoE) within a transformer-based diffusion policy, SDP selectively activates experts and skills, enabling efficient and task-specific learning without retraining the entire model. SDP not only reduces the burden of active parameters but also facilitates the seamless integration and reuse of experts across various tasks. Extensive experiments on diverse tasks in both simulations and real world show that SDP 1) excels in multitask scenarios with negligible increases in active parameters, 2) prevents forgetting in continual learning of new tasks, and 3) enables efficient task transfer, offering a promising solution for advanced robotic applications. Demos and codes can be found in https://forrest-110.github.io/sparse_diffusion_policy/.

Control barrier functions (CBFs) enable guaranteed safe multi-agent navigation in the continuous domain. The resulting navigation performance, however, is highly sensitive to the underlying hyperparameters. Traditional approaches consider fixed CBFs (where parameters are tuned apriori), and hence, typically do not perform well in cluttered and highly dynamic environments: conservative parameter values can lead to inefficient agent trajectories, or even failure to reach goal positions, whereas aggressive parameter values can lead to infeasible controls. To overcome these issues, in this paper, we propose online CBFs, whereby hyperparameters are tuned in real-time, as a function of what agents perceive in their immediate neighborhood. Since the explicit relationship between CBFs and navigation performance is hard to model, we leverage reinforcement learning to learn CBF-tuning policies in a model-free manner. Because we parameterize the policies with graph neural networks (GNNs), we are able to synthesize decentralized agent controllers that adjust parameter values locally, varying the degree of conservative and aggressive behaviors across agents. Simulations as well as real-world experiments show that (i) online CBFs are capable of solving navigation scenarios that are infeasible for fixed CBFs, and (ii), that they improve navigation performance by adapting to other agents and changes in the environment.

Self-Supervised Learning (SSL) is a reliable learning mechanism in which a robot uses an original, trusted sensor cue for training to recognize an additional, complementary sensor cue. We study for the first time in SSL how a robot's learning behavior should be organized, so that the robot can keep performing its task in the case that the original cue becomes unavailable. We study this persistent form of SSL in the context of a flying robot that has to avoid obstacles based on distance estimates from the visual cue of stereo vision. Over time it will learn to also estimate distances based on monocular appearance cues. A strategy is introduced that has the robot switch from stereo vision based flight to monocular flight, with stereo vision purely used as 'training wheels' to avoid imminent collisions. This strategy is shown to be an effective approach to the 'feedback-induced data bias' problem as also experienced in learning from demonstration. Both simulations and real-world experiments with a stereo vision equipped AR drone 2.0 show the feasibility of this approach, with the robot successfully using monocular vision to avoid obstacles in a 5 x 5 room. The experiments show the potential of persistent SSL as a robust learning approach to enhance the capabilities of robots. Moreover, the abundant training data coming from the own sensors allows to gather large data sets necessary for deep learning approaches.

Multi-agent collaboration holds great promise for enhancing the safety, reliability, and mobility of autonomous driving systems by enabling information sharing among multiple connected agents. However, existing multi-agent communication approaches are hindered by limitations of existing communication media, including high bandwidth demands, agent heterogeneity, and information loss. To address these challenges, we introduce LangCoop, a new paradigm for collaborative autonomous driving that leverages natural language as a compact yet expressive medium for inter-agent communication. LangCoop features two key innovations: Mixture Model Modular Chain-of-thought (M^3CoT) for structured zero-shot vision-language reasoning and Natural Language Information Packaging (LangPack) for efficiently packaging information into concise, language-based messages. Through extensive experiments conducted in the CARLA simulations, we demonstrate that LangCoop achieves a remarkable 96\% reduction in communication bandwidth (< 2KB per message) compared to image-based communication, while maintaining competitive driving performance in the closed-loop evaluation. Our project page and code are at https://xiangbogaobarry.github.io/LangCoop/.

We introduce Diffusion World Model (DWM), a conditional diffusion model capable of predicting multistep future states and rewards concurrently. As opposed to traditional one-step dynamics models, DWM offers long-horizon predictions in a single forward pass, eliminating the need for recursive quires. We integrate DWM into model-based value estimation, where the short-term return is simulated by future trajectories sampled from DWM. In the context of offline reinforcement learning, DWM can be viewed as a conservative value regularization through generative modeling. Alternatively, it can be seen as a data source that enables offline Q-learning with synthetic data. Our experiments on the D4RL dataset confirm the robustness of DWM to long-horizon simulation. In terms of absolute performance, DWM significantly surpasses one-step dynamics models with a 44% performance gain, and achieves state-of-the-art performance.

We present Free energy Estimators with Adaptive Transport (FEAT), a novel framework for free energy estimation -- a critical challenge across scientific domains. FEAT leverages learned transports implemented via stochastic interpolants and provides consistent, minimum-variance estimators based on escorted Jarzynski equality and controlled Crooks theorem, alongside variational upper and lower bounds on free energy differences. Unifying equilibrium and non-equilibrium methods under a single theoretical framework, FEAT establishes a principled foundation for neural free energy calculations. Experimental validation on toy examples, molecular simulations, and quantum field theory demonstrates improvements over existing learning-based methods.

In recent years, large language models have achieved breakthroughs on a wide range of benchmarks in natural language processing and continue to increase in performance. Recently, the advances of large language models have raised interest outside the natural language processing community and could have a large impact on daily life. In this paper, we pose the question: How will large language models and other foundation models shape the future product development process? We provide the reader with an overview of the subject by summarizing both recent advances in natural language processing and the use of information technology in the engineering design process. We argue that discourse should be regarded as the core of engineering design processes, and therefore should be represented in a digital artifact. On this basis, we describe how foundation models such as large language models could contribute to the design discourse by automating parts thereof that involve creativity and reasoning, and were previously reserved for humans. We describe how simulations, experiments, topology optimizations, and other process steps can be integrated into a machine-actionable, discourse-centric design process. Finally, we outline the future research that will be necessary for the implementation of the conceptualized framework.

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making capabilities is lacking. To address this, we present MetaVQA: a comprehensive benchmark designed to assess and enhance VLMs' understanding of spatial relationships and scene dynamics through Visual Question Answering (VQA) and closed-loop simulations. MetaVQA leverages Set-of-Mark prompting and top-down view ground-truth annotations from nuScenes and Waymo datasets to automatically generate extensive question-answer pairs based on diverse real-world traffic scenarios, ensuring object-centric and context-rich instructions. Our experiments show that fine-tuning VLMs with the MetaVQA dataset significantly improves their spatial reasoning and embodied scene comprehension in safety-critical simulations, evident not only in improved VQA accuracies but also in emerging safety-aware driving maneuvers. In addition, the learning demonstrates strong transferability from simulation to real-world observation. Code and data will be publicly available at https://metadriverse.github.io/metavqa .

Large language models (LLMs) propel the prosperity of interactive AI applications showcased by ChatGPT that demand timely response of inference services. However, LLM inference is computation intensive and memory intensive, and improper parameter configuration at LLM platforms may exacerbate the inference time. In this paper, we analyze the impact of LLM output token distribution on the inference queueing delay, where the max-token clipping and the batched inference are considered. By formulating an M/G/1 model, we observe that enforcing a maximum output token limit on a very small fraction of inference requests can significantly reduce the queueing delay, and our model facilitates the selection of the optimal limit. For the batch inference, we model the service process as a bulk queue in which the batch processing time is affected by the batch size and the maximum token size inside this batch jointly. The queueing delays of the batching of all buffered requests (dynamic batching), the batching of constant number of requests (fixed batching), and the batching without intra-batch waiting (elastic batching) are derived. Experimental results show that our mathematical models coincide with the event-driven simulations well.

Liquid electrolytes are critical components of next-generation energy storage systems, enabling fast ion transport, minimizing interfacial resistance, and ensuring electrochemical stability for long-term battery performance. However, measuring electrolyte properties and designing formulations remain experimentally and computationally expensive. In this work, we present a unified framework for designing liquid electrolyte formulation, integrating a forward predictive model with an inverse generative approach. Leveraging both computational and experimental data collected from literature and extensive molecular simulations, we train a predictive model capable of accurately estimating electrolyte properties from ionic conductivity to solvation structure. Our physics-informed architecture preserves permutation invariance and incorporates empirical dependencies on temperature and salt concentration, making it broadly applicable to property prediction tasks across molecular mixtures. Furthermore, we introduce -- to the best of our knowledge -- the first generative machine learning framework for molecular mixture design, demonstrated on electrolyte systems. This framework supports multi-condition-constrained generation, addressing the inherently multi-objective nature of materials design. As a proof of concept, we experimentally identified three liquid electrolytes with both high ionic conductivity and anion-concentrated solvation structure. This unified framework advances data-driven electrolyte design and can be readily extended to other complex chemical systems beyond electrolytes.

Machine learning models are known to be susceptible to adversarial perturbation. One famous attack is the adversarial patch, a sticker with a particularly crafted pattern that makes the model incorrectly predict the object it is placed on. This attack presents a critical threat to cyber-physical systems that rely on cameras such as autonomous cars. Despite the significance of the problem, conducting research in this setting has been difficult; evaluating attacks and defenses in the real world is exceptionally costly while synthetic data are unrealistic. In this work, we propose the REAP (REalistic Adversarial Patch) benchmark, a digital benchmark that allows the user to evaluate patch attacks on real images, and under real-world conditions. Built on top of the Mapillary Vistas dataset, our benchmark contains over 14,000 traffic signs. Each sign is augmented with a pair of geometric and lighting transformations, which can be used to apply a digitally generated patch realistically onto the sign. Using our benchmark, we perform the first large-scale assessments of adversarial patch attacks under realistic conditions. Our experiments suggest that adversarial patch attacks may present a smaller threat than previously believed and that the success rate of an attack on simpler digital simulations is not predictive of its actual effectiveness in practice. We release our benchmark publicly at https://github.com/wagner-group/reap-benchmark.

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be demanding in many cases. To cope with this limitation, we propose a method, dubbed DMotion, that trains a forward model from video data only, via disentangling the motion of controllable agent to model the transition dynamics. An object extractor and an interaction learner are trained in an end-to-end manner without supervision. The agent's motions are explicitly represented using spatial transformation matrices containing physical meanings. In the experiments, DMotion achieves superior performance on learning an accurate forward model in a Grid World environment, as well as a more realistic robot control environment in simulation. With the accurate learned forward models, we further demonstrate their usage in model predictive control as an effective approach for robotic manipulations.

In the last decade many research efforts have been focused on understanding the rheology of disordered materials, and several theoretical predictions have been put forward regarding their yielding behavior. Nevertheless, not many experiments nor molecular dynamics simulations were dedicated to testing those theoretical predictions. Here we use computer simulations to study the yielding transition under two different loading schemes: standard simple shear dynamics, and self-propelled, dense active systems. In the active systems a yielding transition is observed as expected, when the self-propulsion is increased. However, the range of self-propulsions in which a pure liquid regime exist appears to vanish upon approaching the so-called "jamming point" at which solidity of soft-sphere packings is lost. Such an "active yielding" transition shares similarities with the generic yielding transition for shear flows. A Herschel-Bulkley law is observed in both loading scenarios, with a clear difference in the critical scaling exponents between the two, suggesting the existent of different universality classes for the yielding transition under different driving conditions. In addition, we present direct measurements of length and time scales for both driving scenarios. A comparison with theoretical predictions from recent literature reveals poor agreement with our numerical results.

Previous work has highlighted that existing post-hoc explanation methods exhibit disparities in explanation fidelity (across 'race' and 'gender' as sensitive attributes), and while a large body of work focuses on mitigating these issues at the explanation metric level, the role of the data generating process and black box model in relation to explanation disparities remains largely unexplored. Accordingly, through both simulations as well as experiments on a real-world dataset, we specifically assess challenges to explanation disparities that originate from properties of the data: limited sample size, covariate shift, concept shift, omitted variable bias, and challenges based on model properties: inclusion of the sensitive attribute and appropriate functional form. Through controlled simulation analyses, our study demonstrates that increased covariate shift, concept shift, and omission of covariates increase explanation disparities, with the effect pronounced higher for neural network models that are better able to capture the underlying functional form in comparison to linear models. We also observe consistent findings regarding the effect of concept shift and omitted variable bias on explanation disparities in the Adult income dataset. Overall, results indicate that disparities in model explanations can also depend on data and model properties. Based on this systematic investigation, we provide recommendations for the design of explanation methods that mitigate undesirable disparities.

Generating entanglement between distant quantum systems is at the core of quantum networking. In recent years, numerous theoretical protocols for remote entanglement generation have been proposed, of which many have been experimentally realized. Here, we provide a modular theoretical framework to elucidate the general mechanisms of photon-mediated entanglement generation between single spins in atomic or solid-state systems. Our framework categorizes existing protocols at various levels of abstraction and allows for combining the elements of different schemes in new ways. These abstraction layers make it possible to readily compare protocols for different quantum hardware. To enable the practical evaluation of protocols tailored to specific experimental parameters, we have devised numerical simulations based on the framework with our codes available online.

In this work, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies on precise dynamic models to achieve the desired closed-loop performance. However, the presence of uncertainties in complex systems and the environments they operate in poses a challenge in obtaining sufficiently accurate representations of the system dynamics. In this work, we make use of a deep learning tool, knowledge-based neural ordinary differential equations (KNODE), to augment a model obtained from first principles. The resulting hybrid model encompasses both a nominal first-principle model and a neural network learnt from simulated or real-world experimental data. Using a quadrotor, we benchmark our hybrid model against a state-of-the-art Gaussian Process (GP) model and show that the hybrid model provides more accurate predictions of the quadrotor dynamics and is able to generalize beyond the training data. To improve closed-loop performance, the hybrid model is integrated into a novel MPC framework, known as KNODE-MPC. Results show that the integrated framework achieves 60.2% improvement in simulations and more than 21% in physical experiments, in terms of trajectory tracking performance.

Structured illumination microscopy (SIM) has become an important technique for optical super-resolution imaging because it allows a doubling of image resolution at speeds compatible for live-cell imaging. However, the reconstruction of SIM images is often slow and prone to artefacts. Here we propose a versatile reconstruction method, ML-SIM, which makes use of machine learning. The model is an end-to-end deep residual neural network that is trained on a simulated data set to be free of common SIM artefacts. ML-SIM is thus robust to noise and irregularities in the illumination patterns of the raw SIM input frames. The reconstruction method is widely applicable and does not require the acquisition of experimental training data. Since the training data are generated from simulations of the SIM process on images from generic libraries the method can be efficiently adapted to specific experimental SIM implementations. The reconstruction quality enabled by our method is compared with traditional SIM reconstruction methods, and we demonstrate advantages in terms of noise, reconstruction fidelity and contrast for both simulated and experimental inputs. In addition, reconstruction of one SIM frame typically only takes ~100ms to perform on PCs with modern Nvidia graphics cards, making the technique compatible with real-time imaging. The full implementation and the trained networks are available at http://ML-SIM.com.