10 papers
Verbosity Tradeoffs and the Impact of Scale on the Faithfulness of LLM Self-Explanations
Noah Y. Siegel, Nicolas Heess, Maria Perez-Ortiz +1
When asked to explain their decisions, LLMs can often give explanations which sound plausible to humans. But are these explanations faithful, i.e. do they convey the factors actual…
Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
Gemini Robotics Team, Abbas Abdolmaleki, Saminda Abeyruwan +169
General-purpose robots need a deep understanding of the physical world, advanced reasoning, and general and dexterous control. This report introduces the latest generation of the G…
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
Zilin Si, Jose Enrique Chen, M. Emre Karagozler +15
Recent advancements in teleoperation systems have enabled high-quality data collection for robotic manipulators, showing impressive results in learning manipulation at scale. This…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Exploiting Policy Idling for Dexterous Manipulation
Annie S. Chen, Philemon Brakel, Antonia Bronars +7
Learning-based methods for dexterous manipulation have made notable progress in recent years. However, learned policies often still lack reliability and exhibit limited robustness…
Learning-Order Autoregressive Models with Application to Molecular Graph Generation
Zhe Wang, Jiaxin Shi, Nicolas Heess +2
Autoregressive models (ARMs) have become the workhorse for sequence generation tasks, since many problems can be modeled as next-token prediction. While there appears to be a natur…