End-to-end autonomous driving with vision-only is not only more cost-effective compared to LiDAR-vision fusion but also more reliable than traditional methods. To achieve a economical and robust purely visual autonomous driving system, we propose RenderWorld, a vision-only end-to-end autonomous driving framework, which generates 3D occupancy labels using a self-supervised gaussian-based Img2Occ Module, then encodes the labels by AM-VAE, and uses world model for forecasting and planning. RenderWorld employs Gaussian Splatting to represent 3D scenes and render 2D images greatly improves segmentation accuracy and reduces GPU memory consumption compared with NeRF-based methods. By applying AM-VAE to encode air and non-air separately, RenderWorld achieves more fine-grained scene element representation, leading to state-of-the-art performance in both 4D occupancy forecasting and motion planning from autoregressive world model.

While success in many robotics tasks can be determined by only observing the final state and how it differs from the initial state - e.g., if an apple is picked up - many tasks require observing the full motion of the robot to correctly determine success. For example, brushing hair requires repeated strokes that correspond to the contours and type of hair. Prior works often use off-the-shelf vision-language models (VLMs) as success detectors; however, when success depends on the full trajectory, VLMs struggle to make correct judgments for two reasons. First, modern VLMs are trained only on single frames, and cannot capture changes over a full trajectory. Second, even if we provide state-of-the-art VLMs with an aggregate input of multiple frames, they still fail to detect success due to a lack of robot data. Our key idea is to fine-tune VLMs using abstract representations that are able to capture trajectory-level information such as the path the robot takes by overlaying keypoint trajectories on the final image. We propose motion instruction fine-tuning (MotIF), a method that fine-tunes VLMs using the aforementioned abstract representations to semantically ground the robot's behavior in the environment. To benchmark and fine-tune VLMs for robotic motion understanding, we introduce the MotIF-1K dataset containing 653 human and 369 robot demonstrations across 13 task categories. MotIF assesses the success of robot motion given the image observation of the trajectory, task instruction, and motion description. Our model significantly outperforms state-of-the-art VLMs by at least twice in precision and 56.1% in recall, generalizing across unseen motions, tasks, and environments. Finally, we demonstrate practical applications of MotIF in refining and terminating robot planning, and ranking trajectories on how they align with task and motion descriptions. Project page: https://motif-1k.github.io

Causal language modeling using the Transformer architecture has yielded remarkable capabilities in Large Language Models (LLMs) over the last few years. However, the extent to which fundamental search and reasoning capabilities emerged within LLMs remains a topic of ongoing debate. In this work, we study if causal language modeling can learn a complex task such as solving Sudoku puzzles. To solve a Sudoku, the model is first required to search over all empty cells of the puzzle to decide on a cell to fill and then apply an appropriate strategy to fill the decided cell. Sometimes, the application of a strategy only results in thinning down the possible values in a cell rather than concluding the exact value of the cell. In such cases, multiple strategies are applied one after the other to fill a single cell. We observe that Transformer models trained on this synthetic task can indeed learn to solve Sudokus (our model solves $94.21\%$ of the puzzles fully correctly) when trained on a logical sequence of steps taken by a solver. We find that training Transformers with the logical sequence of steps is necessary and without such training, they fail to learn Sudoku. We also extend our analysis to Zebra puzzles (known as Einstein puzzles) and show that the model solves $92.04 \%$ of the puzzles fully correctly. In addition, we study the internal representations of the trained Transformer and find that through linear probing, we can decode information about the set of possible values in any given cell from them, pointing to the presence of a strong reasoning engine implicit in the Transformer weights.

This paper proposes a knowledge-enhanced disease diagnosis method based on a prompt learning framework. The method retrieves structured knowledge from external knowledge graphs related to clinical cases, encodes it, and injects it into the prompt templates to enhance the language model's understanding and reasoning capabilities for the task.We conducted experiments on three public datasets: CHIP-CTC, IMCS-V2-NER, and KUAKE-QTR. The results show that the proposed method significantly outperforms existing models across multiple evaluation metrics, with an F1 score improvement of 2.4% on the CHIP-CTC dataset, 3.1% on the IMCS-V2-NER dataset,and 4.2% on the KUAKE-QTR dataset. Additionally,ablation studies confirmed the critical role of the knowledge injection module,as the removal of this module resulted in a significant drop in F1 score. The experimental results demonstrate that the proposed method not only effectively improves the accuracy of disease diagnosis but also enhances the interpretability of the predictions, providing more reliable support and evidence for clinical diagnosis.

We introduce Diagram of Thought (DoT), a framework that models iterative reasoning in large language models (LLMs) as the construction of a directed acyclic graph (DAG) within a single model. Unlike traditional approaches that represent reasoning as linear chains or trees, DoT organizes propositions, critiques, refinements, and verifications into a cohesive DAG structure, allowing the model to explore complex reasoning pathways while maintaining logical consistency. Each node in the diagram corresponds to a proposition that has been proposed, critiqued, refined, or verified, enabling the LLM to iteratively improve its reasoning through natural language feedback. By leveraging auto-regressive next-token prediction with role-specific tokens, DoT facilitates seamless transitions between proposing ideas and critically evaluating them, providing richer feedback than binary signals. Furthermore, we formalize the DoT framework using Topos Theory, providing a mathematical foundation that ensures logical consistency and soundness in the reasoning process. This approach enhances both the training and inference processes within a single LLM, eliminating the need for multiple models or external control mechanisms. DoT offers a conceptual framework for designing next-generation reasoning-specialized models, emphasizing training efficiency, robust reasoning capabilities, and theoretical grounding. The code is available at https://github.com/diagram-of-thought/diagram-of-thought.

This paper presents a novel perspective on the bidirectional causation between language emergence and relational structure of subjective experiences, termed qualia structure, and lays out the constructive approach to the intricate dependency between the two. We hypothesize that languages with distributional semantics, e.g., syntactic-semantic structures, may have emerged through the process of aligning internal representations among individuals, and such alignment of internal representations facilitates more structured language. This mutual dependency is suggested by the recent advancements in AI and symbol emergence robotics, and collective predictive coding (CPC) hypothesis, in particular. Computational studies show that neural network-based language models form systematically structured internal representations, and multimodal language models can share representations between language and perceptual information. This perspective suggests that language emergence serves not only as a mechanism creating a communication tool but also as a mechanism for allowing people to realize shared understanding of qualitative experiences. The paper discusses the implications of this bidirectional causation in the context of consciousness studies, linguistics, and cognitive science, and outlines future constructive research directions to further explore this dynamic relationship between language emergence and qualia structure.

Teenager invents robot to solve Rubik's Cube BBCRuarcc the year 10 student who has programmed a robot that can solve a Rubik's Cube puzzle A 13-year-old schoolboy has invented a Lego robot that can solve a Rubik's cube. Ruarcc, from St Malachy's College in north Belfast, first took steps to create puzzle-solving robot prototypes in his second year at school, aged 12. This was made possible after the school launched its creative digital technology hub (CDTH) last year. Teacher Clare McGrath commented she "didn't believe" that Ruarcc's robot would work at first.'People are amazed my robot can solve Rubik's Cube' Ruarcc told BBC News NI it was "frustrating", but he worked on making it better. "People tend to be amazed that it can solve one," he said.

Articulated object manipulation is ubiquitous in daily life. In this paper, we present DexSim2Real$^{2}$, a novel robot learning framework for goal-conditioned articulated object manipulation using both two-finger grippers and multi-finger dexterous hands. The key of our framework is constructing an explicit world model of unseen articulated objects through active one-step interactions. This explicit world model enables sampling-based model predictive control to plan trajectories achieving different manipulation goals without needing human demonstrations or reinforcement learning. It first predicts an interaction motion using an affordance estimation network trained on self-supervised interaction data or videos of human manipulation from the internet. After executing this interaction on the real robot, the framework constructs a digital twin of the articulated object in simulation based on the two point clouds before and after the interaction. For dexterous multi-finger manipulation, we propose to utilize eigengrasp to reduce the high-dimensional action space, enabling more efficient trajectory searching. Extensive experiments validate the framework's effectiveness for precise articulated object manipulation in both simulation and the real world using a two-finger gripper and a 16-DoF dexterous hand. The robust generalizability of the explicit world model also enables advanced manipulation strategies, such as manipulating with different tools.

How do language models use information provided as context when generating a response? Can we infer whether a particular generated statement is actually grounded in the context, a misinterpretation, or fabricated? To help answer these questions, we introduce the problem of context attribution: pinpointing the parts of the context (if any) that led a model to generate a particular statement. We then present ContextCite, a simple and scalable method for context attribution that can be applied on top of any existing language model. Finally, we showcase the utility of ContextCite through three applications: (1) helping verify generated statements (2) improving response quality by pruning the context and (3) detecting poisoning attacks. We provide code for ContextCite at https://github.com/MadryLab/context-cite.

Correct reasoning steps are important for language models to achieve high performance on many tasks, such as commonsense reasoning, question answering, and mathematical problem-solving [Wei et al., 2022, Kojima et al., 2022, Suzgun et al., 2022]. One way to elicit reasoning is through the chain-of-thought (CoT) method Wei et al. [2022], Kojima et al. [2022], which asks the model to provide step-by-step reasoning. Another approach encourages the model to provide similar problems Yasunaga et al. [2024] as the query, indirectly compelling the model to first understand the original query. Similarly, repeating and rephrasing the query Deng et al. [2023], Mekala et al. [2023] requires the model to first understand the problem and then modify the query into its own words. This rephrasing might help simplify the problem for the model. Additionally, reasoning can be generated by indirectly providing reasoning examples in demonstrations, referred to as in-context learning (ICL) Brown et al. [2020], Min et al. [2022], Xie et al. [2021]. While these methods have demonstrated significant performance improvements, language models are still prone to errors due to incorrect context understanding or analytical steps. Furthermore, they are subject to instability when requests are paraphrased. This instability is particularly concerning in the context of adversarial prompts, where recent research [Zou et al., 2023, Zeng et al., 2024] has shown that adversaries can intentionally rewrite prompts to coax safety-aligned language models into generating objectionable content that they would not generate otherwise.