Our platform encompasses a diverse range of pre-existing and novel environments, including dexterous manipulation with the Shadow Hand, whole-arm manipulation tasks with Franka and Fetch robots, quadruped locomotion, among others. Included environments are organized within and cover multiple domains such as hand manipulation, locomotion, multi-task, multi-agent, muscles, etc. In comparison to prior works, RoboHive offers a streamlined and unified task interface taking dependency on only a minimal set of well-maintained packages, features tasks with high physics fidelity and rich visual diversity, and supports common hardware drivers for real-world deployment. The unified interface of RoboHive offers a convenient and accessible abstraction for algorithmic research in imitation, reinforcement, multi-task, and hierarchical learning. Furthermore, RoboHive includes expert demonstrations and baseline results for most environments, providing a standard for benchmarking and comparisons.

We present a novel procedure for optimization based on the combination of efficient quantized tensor train representation and a generalized maximum matrix volume principle. We demonstrate the applicability of the new Tensor Train Optimizer (TTOpt) method for various tasks, ranging from minimization of multidimensional functions to reinforcement learning. Our algorithm compares favorably to popular gradient-free methods and outperforms them by the number of function evaluations or execution time, often by a significant margin.

Semi-supervised semantic segmentation requires the model to effectively propagate the label information from limited annotated images to unlabeled ones. A challenge for such a per-pixel prediction task is the large intra-class variation, i.e., regions belonging to the same class may exhibit a very different appearance even in the same picture. This diversity will make the label propagation hard from pixels to pixels. To address this problem, we propose a novel approach to regularize the distribution of within-class features to ease label propagation difficulty. Specifically, our approach encourages the consistency between the prediction from a linear predictor and the output from a prototype-based predictor, which implicitly encourages features from the same pseudo-class to be close to at least one within-class prototype while staying far from the other between-class prototypes.

We introduce the Autoregressive PDE Emulator Benchmark (APEBench), a comprehensive benchmark suite to evaluate autoregressive neural emulators for solving partial differential equations. APEBench is based on JAX and provides a seamlessly integrated differentiable simulation framework employing efficient pseudo-spectral methods, enabling 46 distinct PDEs across 1D, 2D, and 3D. Facilitating systematic analysis and comparison of learned emulators, we propose a novel taxonomy for unrolled training and introduce a unique identifier for PDE dynamics that directly relates to the stability criteria of classical numerical methods. APEBench enables the evaluation of diverse neural architectures, and unlike existing benchmarks, its tight integration of the solver enables support for differentiable physics training and neural-hybrid emulators. Moreover, APEBench emphasizes rollout metrics to understand temporal generalization, providing insights into the long-term behavior of emulating PDE dynamics. In several experiments, we highlight the similarities between neural emulators and numerical simulators.