Predicting upcoming events is critical to our ability to effectively interact with ourenvironment and conspecifics. In natural language processing, transformer models,which are trained on next-word prediction, appear to construct a general-purposerepresentation of language that can support diverse downstream tasks. However, westill lack an understanding of how a predictive objective shapes such representations.Inspired by recent work in vision neuroscience Hénaff et al. (2019), here we test ahypothesis about predictive representations of autoregressive transformer models.In particular, we test whether the neural trajectory of a sequence of words in asentence becomes progressively more straight as it passes through the layers of thenetwork. The key insight behind this hypothesis is that straighter trajectories shouldfacilitate prediction via linear extrapolation. We quantify straightness using a 1-dimensional curvature metric, and present four findings in support of the trajectorystraightening hypothesis: i) In trained models, the curvature progressively decreasesfrom the first to the middle layers of the network.

A central challenge in neuroscience is understanding how neural system implements computation through its dynamics. We propose a nonlinear time series model aimed at characterizing interpretable dynamics from neural trajectories. Our model assumes low-dimensional continuous dynamics in a finite volume. It incorporates a prior assumption about globally contractional dynamics to avoid overly enthusiastic extrapolation outside of the support of observed trajectories. We show that our model can recover qualitative features of the phase portrait such as attractors, slow points, and bifurcations, while also producing reliable long-term future predictions in a variety of dynamical models and in real neural data.

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models. DreamGen leverages state-of-the-art image-to-video generative models, adapting them to the target robot embodiment to produce photorealistic synthetic videos of familiar or novel tasks in diverse environments. Since these models generate only videos, we recover pseudo-action sequences using either a latent action model or an inverse-dynamics model (IDM). Despite its simplicity, DreamGen unlocks strong behavior and environment generalization: a humanoid robot can perform 22 new behaviors in both seen and unseen environments, while requiring teleoperation data from only a single pick-and-place task in one environment. To evaluate the pipeline systematically, we introduce DreamGen Bench, a video generation benchmark that shows a strong correlation between benchmark performance and downstream policy success. Our work establishes a promising new axis for scaling robot learning well beyond manual data collection. Code available at https://github.com/NVIDIA/GR00T-Dreams.

General-purpose robots need a versatile body and an intelligent mind. Recent advancements in humanoid robots have shown great promise as a hardware platform for building generalist autonomy in the human world. A robot foundation model, trained on massive and diverse data sources, is essential for enabling the robots to reason about novel situations, robustly handle real-world variability, and rapidly learn new tasks. To this end, we introduce GR00T N1, an open foundation model for humanoid robots. GR00T N1 is a Vision-Language-Action (VLA) model with a dual-system architecture. The vision-language module (System 2) interprets the environment through vision and language instructions. The subsequent diffusion transformer module (System 1) generates fluid motor actions in real time. Both modules are tightly coupled and jointly trained end-to-end. We train GR00T N1 with a heterogeneous mixture of real-robot trajectories, human videos, and synthetically generated datasets. We show that our generalist robot model GR00T N1 outperforms the state-of-the-art imitation learning baselines on standard simulation benchmarks across multiple robot embodiments. Furthermore, we deploy our model on the Fourier GR-1 humanoid robot for language-conditioned bimanual manipulation tasks, achieving strong performance with high data efficiency.

A central challenge in neuroscience is understanding how neural system implements computation through its dynamics. We propose a nonlinear time series model aimed at characterizing interpretable dynamics from neural trajectories. Our model assumes low-dimensional continuous dynamics in a finite volume. It incorporates a prior assumption about globally contractional dynamics to avoid overly enthusiastic extrapolation outside of the support of observed trajectories. We show that our model can recover qualitative features of the phase portrait such as attractors, slow points, and bifurcations, while also producing reliable long-term future predictions in a variety of dynamical models and in real neural data.

Overall I found the paper to be solid and rather enjoyable, and I would qualify it as a strong candidate for a poster. The authors' method of plotting velocity fields by decomposing the velocity into direction and speed, which they've apparently introduced, is especially effective. It made their arguments and conclusions much easier to follow, and will hopefully be picked up by others. In my opinion stating that this approach leads to "interpretable models" might be somewhat overselling the results – the interpretability of the results is still hampered by the fact that models are composed by 10-100 more or less arbitrary basis functions. That being said, their capacity to reproduce salient features of the phase diagram certainly makes them more interpretable than, say, recurrent neural networks.

Predicting upcoming events is critical to our ability to effectively interact with ourenvironment and conspecifics. In natural language processing, transformer models,which are trained on next-word prediction, appear to construct a general-purposerepresentation of language that can support diverse downstream tasks. However, westill lack an understanding of how a predictive objective shapes such representations.Inspired by recent work in vision neuroscience Hénaff et al. (2019), here we test ahypothesis about predictive representations of autoregressive transformer models.In particular, we test whether the neural trajectory of a sequence of words in asentence becomes progressively more straight as it passes through the layers of thenetwork. The key insight behind this hypothesis is that straighter trajectories shouldfacilitate prediction via linear extrapolation. We quantify straightness using a 1-dimensional curvature metric, and present four findings in support of the trajectorystraightening hypothesis: i) In trained models, the curvature progressively decreasesfrom the first to the middle layers of the network.

We consider the problem of extracting smooth low-dimensional neural trajectories'' that summarize the activity recorded simultaneously from tens to hundreds of neurons on individual experimental trials. Beyond the benefit of visualizing the high-dimensional noisy spiking activity in a compact denoised form, such trajectories can offer insight into the dynamics of the neural circuitry underlying the recorded activity. Current methods for extracting neural trajectories involve a two-stage process: the data are first denoised'' by smoothing over time, then a static dimensionality reduction technique is applied. We first describe extensions of the two-stage methods that allow the degree of smoothing to be chosen in a principled way, and account for spiking variability that may vary both across neurons and across time. We then present a novel method for extracting neural trajectories, Gaussian-process factor analysis (GPFA), which unifies the smoothing and dimensionality reduction operations in a common probabilistic framework.

A central challenge in neuroscience is understanding how neural system implements computation through its dynamics. We propose a nonlinear time series model aimed at characterizing interpretable dynamics from neural trajectories. Our model assumes low-dimensional continuous dynamics in a finite volume. It incorporates a prior assumption about globally contractional dynamics to avoid overly enthusiastic extrapolation outside of the support of observed trajectories. We show that our model can recover qualitative features of the phase portrait such as attractors, slow points, and bifurcations, while also producing reliable long-term future predictions in a variety of dynamical models and in real neural data.

We consider the problem of extracting smooth low-dimensional ``neural trajectories'' that summarize the activity recorded simultaneously from tens to hundreds of neurons on individual experimental trials. Beyond the benefit of visualizing the high-dimensional noisy spiking activity in a compact denoised form, such trajectories can offer insight into the dynamics of the neural circuitry underlying the recorded activity. Current methods for extracting neural trajectories involve a two-stage process: the data are first ``denoised'' by smoothing over time, then a static dimensionality reduction technique is applied. We first describe extensions of the two-stage methods that allow the degree of smoothing to be chosen in a principled way, and account for spiking variability that may vary both across neurons and across time. We then present a novel method for extracting neural trajectories, Gaussian-process factor analysis (GPFA), which unifies the smoothing and dimensionality reduction operations in a common probabilistic framework. We applied these methods to the activity of 61 neurons recorded simultaneously in macaque premotor and motor cortices during reach planning and execution. By adopting a goodness-of-fit metric that measures how well the activity of each neuron can be predicted by all other recorded neurons, we found that GPFA provided a better characterization of the population activity than the two-stage methods. From the extracted single-trial neural trajectories, we directly observed a convergence in neural state during motor planning, an effect suggestive of attractor dynamics that was shown indirectly by previous studies.