We present a fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards object interactions and prevents stagnation near goal states, 2) efficient policy learning by leveraging basic task knowledge in behavior priors, and 3) formulating generic rewards that combine human-interpretable semantic information with low-level, fine-grained observations. We demonstrate that our approach allows Spot robots to continually improve their performance on a set of four challenging mobile manipulation tasks, obtaining an average success rate of 80% across tasks, a 3-4 improvement over existing approaches. Videos can be found at https://continual-mobile-manip.github.io/

For AI agents to be helpful to humans, they should be able to follow natural language instructions to complete everyday cooperative tasks in human environments. However, real human instructions inherently possess ambiguity, because the human speakers assume sufficient prior knowledge about their hidden goals and intentions. Standard language grounding and planning methods fail to address such ambiguities because they do not model human internal goals as additional partially observable factors in the environment. We propose a new framework, Follow Instructions with Social and Embodied Reasoning (FISER), aiming for better natural language instruction following in collaborative embodied tasks. Our framework makes explicit inferences about human goals and intentions as intermediate reasoning steps. We implement a set of Transformer-based models and evaluate them over a challenging benchmark, HandMeThat. We empirically demonstrate that using social reasoning to explicitly infer human intentions before making action plans surpasses purely end-to-end approaches. We also compare our implementation with strong baselines, including Chain of Thought prompting on the largest available pre-trained language models, and find that FISER provides better performance on the embodied social reasoning tasks under investigation, reaching the state-of-the-art on HandMeThat.

Manifestly and logically displaying the line of reasoning from evidence to answer is significant to explainable question answering (QA). The entailment tree exhibits the lines structurally, which is different from the self-explanation principle in large-scale language models. Existing methods rarely consider the semantic association of sentences between and within hierarchies within the tree structure, which is prone to apparent mistakes in combinations. In this work, we propose an architecture of integrating the Hierarchical Semantics of sentences under the framework of Controller-Generator (HiSCG) to explain answers. The HiSCG designs a hierarchical mapping between hypotheses and facts, discriminates the facts involved in tree constructions, and optimizes single-step entailments. To the best of our knowledge, We are the first to notice hierarchical semantics of sentences between the same layer and adjacent layers to yield improvements. The proposed method achieves comparable performance on all three settings of the EntailmentBank dataset. The generalization results on two out-of-domain datasets also demonstrate the effectiveness of our method.

This paper addresses a challenging interactive task learning scenario we call rearrangement under unawareness: to manipulate a rigid-body environment in a context where the robot is unaware of a concept that's key to solving the instructed task. We propose SECURE, an interactive task learning framework designed to solve such problems by fixing a deficient domain model using embodied conversation. Through dialogue, the robot discovers and then learns to exploit unforeseen possibilities. Using SECURE, the robot not only learns from the user's corrective feedback when it makes a mistake, but it also learns to make strategic dialogue decisions for revealing useful evidence about novel concepts for solving the instructed task. Together, these abilities allow the robot to generalise to subsequent tasks using newly acquired knowledge. We demonstrate that a robot that is semantics-aware -- that is, it exploits the logical consequences of both sentence and discourse semantics in the learning and inference process -- learns to solve rearrangement under unawareness more effectively than a robot that lacks such capabilities.

Verbalization of robot experience, i.e., summarization of and question answering about a robot's past, is a crucial ability for improving human-robot interaction. Previous works applied rule-based systems or fine-tuned deep models to verbalize short (several-minute-long) streams of episodic data, limiting generalization and transferability. In our work, we apply large pretrained models to tackle this task with zero or few examples, and specifically focus on verbalizing life-long experiences. For this, we derive a tree-like data structure from episodic memory (EM), with lower levels representing raw perception and proprioception data, and higher levels abstracting events to natural language concepts. Given such a hierarchical representation built from the experience stream, we apply a large language model as an agent to interactively search the EM given a user's query, dynamically expanding (initially collapsed) tree nodes to find the relevant information. The approach keeps computational costs low even when scaling to months of robot experience data. We evaluate our method on simulated household robot data, human egocentric videos, and real-world robot recordings, demonstrating its flexibility and scalability.

Ontological commitment, i.e., used concepts, relations, and assumptions, are a corner stone of qualitative reasoning (QR) models. The state-of-the-art for processing raw inputs, though, are deep neural networks (DNNs), nowadays often based off from multimodal foundation models. These automatically learn rich representations of concepts and respective reasoning. Unfortunately, the learned qualitative knowledge is opaque, preventing easy inspection, validation, or adaptation against available QR models. So far, it is possible to associate pre-defined concepts with latent representations of DNNs, but extractable relations are mostly limited to semantic similarity. As a next step towards QR for validation and verification of DNNs: Concretely, we propose a method that extracts the learned superclass hierarchy from a multimodal DNN for a given set of leaf concepts. Under the hood we (1) obtain leaf concept embeddings using the DNN's textual input modality; (2) apply hierarchical clustering to them, using that DNNs encode semantic similarities via vector distances; and (3) label the such-obtained parent concepts using search in available ontologies from QR. An initial evaluation study shows that meaningful ontological class hierarchies can be extracted from state-of-the-art foundation models. Furthermore, we demonstrate how to validate and verify a DNN's learned representations against given ontologies. Lastly, we discuss potential future applications in the context of QR.

Heuristics are commonly used to tackle diverse search and optimization problems. Design heuristics usually require tedious manual crafting with domain knowledge. Recent works have incorporated large language models (LLMs) into automatic heuristic search leveraging their powerful language and coding capacity. However, existing research focuses on the optimal performance on the target problem as the sole objective, neglecting other criteria such as efficiency and scalability, which are vital in practice. To tackle this challenge, we propose to model heuristic search as a multi-objective optimization problem and consider introducing other practical criteria beyond optimal performance. Due to the complexity of the search space, conventional multi-objective optimization methods struggle to effectively handle multi-objective heuristic search. We propose the first LLM-based multi-objective heuristic search framework, Multi-objective Evolution of Heuristic (MEoH), which integrates LLMs in a zero-shot manner to generate a non-dominated set of heuristics to meet multiple design criteria. We design a new dominance-dissimilarity mechanism for effective population management and selection, which incorporates both code dissimilarity in the search space and dominance in the objective space. MEoH is demonstrated in two well-known combinatorial optimization problems: the online Bin Packing Problem (BPP) and the Traveling Salesman Problem (TSP). Results indicate that a variety of elite heuristics are automatically generated in a single run, offering more trade-off options than existing methods. It successfully achieves competitive or superior performance while improving efficiency up to 10 times. Moreover, we also observe that the multi-objective search introduces novel insights into heuristic design and leads to the discovery of diverse heuristics.

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often data-inefficient and intricate. To address this issue, traditional methods attempt to learn a teacher policy with access to privileged information first and then learn a student policy to imitate the teacher's behavior with visual input. Despite some progress, this imitation framework prevents the student policy from achieving optimal performance due to the information gap between inputs. Furthermore, the learning process is unnatural since animals intuitively learn to traverse different terrains based on their understanding of the world without privileged knowledge. Inspired by this natural ability, we propose a simple yet effective method, World Model-based Perception (WMP), which builds a world model of the environment and learns a policy based on the world model. We illustrate that though completely trained in simulation, the world model can make accurate predictions of real-world trajectories, thus providing informative signals for the policy controller. Extensive simulated and real-world experiments demonstrate that WMP outperforms state-of-the-art baselines in traversability and robustness. Videos and Code are available at: https://wmp-loco.github.io/.

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By leveraging a world model during training, the driving policy effectively mitigates covariate shift without requiring an excessive amount of training data. During end-to-end training, our policy learns how to recover from errors by aligning with states observed in human demonstrations, so that at runtime it can recover from perturbations outside the training distribution. Additionally, we introduce a novel transformer-based perception encoder that employs multi-view cross-attention and a learned scene query. We present qualitative and quantitative results, demonstrating significant improvements upon prior state of the art in closed-loop testing in the CARLA simulator, as well as showing the ability to handle perturbations in both CARLA and NVIDIA's DRIVE Sim.

The autoregressive world model exhibits robust generalization capabilities in vectorized scene understanding but encounters difficulties in deriving actions due to insufficient uncertainty modeling and self-delusion. In this paper, we explore the feasibility of deriving decisions from an autoregressive world model by addressing these challenges through the formulation of multiple probabilistic hypotheses. We propose LatentDriver, a framework models the environment's next states and the ego vehicle's possible actions as a mixture distribution, from which a deterministic control signal is then derived. By incorporating mixture modeling, the stochastic nature of decisionmaking is captured. Additionally, the self-delusion problem is mitigated by providing intermediate actions sampled from a distribution to the world model. Experimental results on the recently released close-loop benchmark Waymax demonstrate that LatentDriver surpasses state-of-the-art reinforcement learning and imitation learning methods, achieving expert-level performance. The code and models will be made available at https://github.com/Sephirex-X/LatentDriver.