Reddit is considered one of the most human spaces left on the internet, but mods and users are overwhelmed with slop posts in the most popular subreddits. A Reddit post about a bride who demands a wedding guest wear a specific, unflattering shade is sure to provoke rage, let alone one about a bridesmaid or mother of the groom who wants to wear white. A scenario where a parent asks someone on an airplane to switch seats so they can sit next to their young child is likely to invoke the same rush of anger. But those posts may trigger a Reddit moderator's annoyance for a different reason--they are common themes within a growing genre of AI -generated, fake posts. These are examples that spring to mind for Cassie, one of dozens of moderators for r/AmItheAsshole .

Vision-Language Models (VLMs) often struggle to balance visual and textual information when summarizing complex multimodal inputs, such as entire TV show episodes. In this paper, we propose a zero-shot video-to-text summarization approach that builds its own screenplay representation of an episode, effectively integrating key video moments, dialogue, and character information into a unified document. Unlike previous approaches, we simultaneously generate screenplays and name the characters in zero-shot, using only the audio, video, and transcripts as input. Additionally, we highlight that existing summarization metrics can fail to assess the multimodal content in summaries. To address this, we introduce MFactSum, a multimodal metric that evaluates summaries with respect to both vision and text modalities. Using MFactSum, we evaluate our screenplay summaries on the SummScreen3D dataset, demonstrating superiority against state-of-the-art VLMs such as Gemini 1.5 by generating summaries containing 20% more relevant visual information while requiring 75% less of the video as input.

-- In this paper, we explore the space of running gaits for the bipedal robot Cassie. Our first contribution is to present an approach for optimizing gait efficiency across a spectrum of speeds with the aim of enabling extremely high-speed running on hardware. This raises the question of how the resulting gaits compare to human running mechanics, which are known to be highly efficient in comparison to quadrupeds. Our second contribution is to conduct this comparison based on established human biomechanical studies. We find that despite morphological differences between Cassie and humans, key properties of the gaits are highly similar across a wide range of speeds. Finally, our third contribution is to integrate the optimized running gaits into a full controller that satisfies the rules of the real-world task of the 100m dash, including starting and stopping from a standing position. We demonstrate this controller on hardware to establish the Guinness World Record for F astest 100m by a Bipedal Robot . I. INTRODUCTION In recent years, reinforcement learning (RL) has proven highly effective for sim-to-real training of bipedal locomotion [1-3].

Typically, learned robot controllers are trained via relatively unsystematic regimens and evaluated with coarse-grained outcome measures such as average cumulative reward. The typical approach is useful to compare learning algorithms but provides limited insight into the effects of different training regimens and little understanding about the richness and complexity of learned behaviors. Likewise, human infants and other animals are "trained" via unsystematic regimens, but in contrast, developmental psychologists evaluate their performance in highly-controlled experiments with fine-grained measures such as success, speed of walking, and prospective adjustments. However, the study of learned behavior in human infants is limited by the practical constraints of training and testing babies. Here, we present a case study that applies methods from developmental psychology to study the learned behavior of the simulated bipedal robot Cassie. Following research on infant walking, we systematically designed reinforcement learning training regimens and tested the resulting controllers in simulated environments analogous to those used for babies--but without the practical constraints. Results reveal new insights into the behavioral impact of different training regimens and the development of Cassie's learned behaviors relative to infants who are learning to walk. This interdisciplinary baby-robot approach provides inspiration for future research designed to systematically test effects of training on the development of complex learned robot behaviors.

This paper introduces PeopleJoin, a benchmark for evaluating LM-mediated collaborative problem solving. Given a user request, PeopleJoin agents must identify teammates who might be able to assist, converse with these teammates to gather information, and finally compile a useful answer or summary for the original user. PeopleJoin comprises two evaluation domains: PeopleJoin-QA, focused on questions about tabular data, and PeopleJoin-DocCreation, focused on document creation tasks. The two domains are adapted from existing NLP benchmarks for database question answering and multi-document summarization; here, however, the information needed to complete these tasks is distributed across synthetic ``organizations'' of 2--20 users, simulating natural multi-user collaboration scenarios. We implemented several popular LM agent architectures, evaluating their accuracy and efficiency at completing tasks, and highlight new research questions that can be studied using PeopleJoin.

Abstract--Traversing rough terrain requires dynamic bipeds to stabilize themselves through foot placement without stepping in unsafe areas. Planning these footsteps online is challenging given non-convexity of the safe terrain, and imperfect perception and state estimation. First, we develop model-predictive footstep control (MPFC), a single mixed-integer quadratic program which assumes a convex polygon terrain decomposition to optimize over discrete foothold choice, footstep position, ankle torque, template dynamics, and footstep timing at over 100 Hz. We then propose a novel approach for generating convex polygon terrain decompositions online. Our perception stack decouples safe-terrain classification from fitting planar polygons, generating a temporally consistent terrain segmentation in real time using a single CPU thread. We demonstrate the performance of our perception and control stack through outdoor experiments with the underactuated biped Cassie, achieving state of the art perceptive bipedal walking on discontinuous terrain. Figure 1: The bipedal robot Cassie walks up and down brick I. However, dynamic bipedal walking over rough terrain remains challenging for today's perception and control algorithms. This is a highly over the discrete choice of stepping surface and the robot's coupled problem where online terrain estimation is used to dynamics in real time Despite the existence and its precursor [9] represent the first deployment of such a of mature techniques for both underactuated walking, and footstep controller on hardware.

Researchers used an AI technique called reinforcement learning to help a two-legged robot nicknamed Cassie to run 400 meters, over varying terrains, and execute standing long jumps and high jumps, without being trained explicitly on each movement. Reinforcement learning works by rewarding or penalizing an AI as it tries to carry out an objective. In this case, the approach taught the robot to generalize and respond in new scenarios, instead of freezing like its predecessors may have done. "We wanted to push the limits of robot agility," says Zhongyu Li, a PhD student at University of California, Berkeley, who worked on the project, which has not yet been peer-reviewed. "The high-level goal was to teach the robot to learn how to do all kinds of dynamic motions the way a human does."

Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated bipeds have small feet and weak ankles, and must constantly adjust their planned footstep position to maintain balance. We introduce a new model-predictive footstep controller which jointly optimizes over the robot's discrete choice of stepping surface, impending footstep position sequence, ankle torque in the sagittal plane, and center of mass trajectory, to track a velocity command. The controller is formulated as a single Mixed Integer Quadratic Program (MIQP) which is solved at 50-200 Hz, depending on terrain complexity. We implement a state of the art real-time elevation mapping and convex terrain decomposition framework to inform the controller of its surroundings in the form on convex polygons representing steppable terrain. We investigate the capabilities and challenges of our approach through hardware experiments on the underactuated biped Cassie.

Reduced-order models (ROM) are popular in online motion planning due to their simplicity. A good ROM for control captures critical task-relevant aspects of the full dynamics while remaining low dimensional. However, planning within the reduced-order space unavoidably constrains the full model, and hence we sacrifice the full potential of the robot. In the community of legged locomotion, this has lead to a search for better model extensions, but many of these extensions require human intuition, and there has not existed a principled way of evaluating the model performance and discovering new models. In this work, we propose a model optimization algorithm that automatically synthesizes reduced-order models, optimal with respect to a user-specified distribution of tasks and corresponding cost functions. To demonstrate our work, we optimized models for a bipedal robot Cassie. We show in simulation that the optimal ROM reduces the cost of Cassie's joint torques by up to 23% and increases its walking speed by up to 54%. We also show hardware result that the real robot walks on flat ground with 10% lower torque cost. All videos and code can be found at https://sites.google.com/view/ymchen/research/optimal-rom.

Abstract-- Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a whole-body orientation that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the entire system while not being attached to any specific link, and (iii) has a rate of change that approximates total system angular momentum. We relate this orientation coordinate to past work, and discuss and demonstrate, including on hardware, several different uses for it. Many legged robots are best represented by nontrivial multibody dynamic models. The total system center of mass (CoM) is likely the most well-known of these model-based coordinates.