$π_0$: A Vision-Language-Action Flow Model for General Robot Control

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the level of generality required for effective real-world systems faces major obstacles in terms of data, generalization, and robustness. In this paper, we discuss how generalist robot policies (i.e., robot foundation models) can address these challenges, and how we can design effective generalist robot policies for complex and highly dexterous tasks. We propose a novel flow matching architecture built on top of a pre-trained vision-language model (VLM) to inherit Internet-scale semantic knowledge. We then discuss how this model can be trained on a large and diverse dataset from multiple dexterous robot platforms, including single-arm robots, dual-arm robots, and mobile manipulators. We evaluate our model in terms of its ability to perform tasks in zero shot after pre-training, follow language instructions from people and from a high-level VLM policy, and its ability to acquire new skills via fine-tuning. Our results cover a wide variety of tasks, such as laundry folding, table cleaning, and assembling boxes.

Exploring the anatomy of articulation rate in spontaneous English speech: relationships between utterance length effects and social factors

Speech rate has been shown to vary across social categories such as gender, age, and dialect, while also being conditioned by properties of speech planning. The effect of utterance length, where speech rate is faster and less variable for longer utterances, has also been shown to reduce the role of social factors once it has been accounted for, leaving unclear the relationship between social factors and speech production in conditioning speech rate. Through modelling of speech rate across 13 English speech corpora, it is found that utterance length has the largest effect on speech rate, though this effect itself varies little across corpora and speakers. While age and gender also modulate speech rate, their effects are much smaller in magnitude. These findings suggest utterance length effects may be conditioned by articulatory and perceptual constraints, and that social influences on speech rate should be interpreted in the broader context of how speech rate variation is structured.

Reconciling saliency and object center-bias hypotheses in explaining free-viewing fixations

Predicting where people look in natural scenes has attracted a lot of interest in computer vision and computational neuroscience over the past two decades. Two seemingly contrasting categories of cues have been proposed to influence where people look: \textit{low-level image saliency} and \textit{high-level semantic information}. Our first contribution is to take a detailed look at these cues to confirm the hypothesis proposed by Henderson~\cite{henderson1993eye} and Nuthmann \& Henderson~\cite{nuthmann2010object} that observers tend to look at the center of objects. We analyzed fixation data for scene free-viewing over 17 observers on 60 fully annotated images with various types of objects. Images contained different types of scenes, such as natural scenes, line drawings, and 3D rendered scenes. Our second contribution is to propose a simple combined model of low-level saliency and object center-bias that outperforms each individual component significantly over our data, as well as on the OSIE dataset by Xu et al.~\cite{xu2014predicting}. The results reconcile saliency with object center-bias hypotheses and highlight that both types of cues are important in guiding fixations. Our work opens new directions to understand strategies that humans use in observing scenes and objects, and demonstrates the construction of combined models of low-level saliency and high-level object-based information.