D4W: Dependable Data-Driven Dynamics for Wheeled Robots

Wheeled robots have gained significant attention due to their wide range of applications in manufacturing, logistics, and service industries. However, due to the difficulty of building a highly accurate dynamics model for wheeled robots, developing and testing control algorithms for them remains challenging and time-consuming, requiring extensive physical experimentation. To address this problem, we propose D4W, i.e., Dependable Data-Driven Dynamics for Wheeled Robots, a simulation framework incorporating data-driven methods to accelerate the development and evaluation of algorithms for wheeled robots. The key contribution of D4W is a solution that utilizes real-world sensor data to learn accurate models of robot dynamics. The learned dynamics can capture complex robot behaviors and interactions with the environment throughout simulations, surpassing the limitations of analytical methods, which only work in simplified scenarios. Experimental results show that D4W achieves the best simulation accuracy compared to traditional approaches, allowing for rapid iteration of wheel robot algorithms with less or no need for fine-tuning in reality. We further verify the usability and practicality of the proposed framework through integration with existing simulators and controllers.

GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs

Robotic simulation today remains challenging to scale up due to the human efforts required to create diverse simulation tasks and scenes. Simulation-trained policies also face scalability issues as many sim-to-real methods focus on a single task. To address these challenges, this work proposes GenSim2, a scalable framework that leverages coding LLMs with multi-modal and reasoning capabilities for complex and realistic simulation task creation, including long-horizon tasks with articulated objects. To automatically generate demonstration data for these tasks at scale, we propose planning and RL solvers that generalize within object categories. The pipeline can generate data for up to 100 articulated tasks with 200 objects and reduce the required human efforts. To utilize such data, we propose an effective multi-task language-conditioned policy architecture, dubbed proprioceptive point-cloud transformer (PPT), that learns from the generated demonstrations and exhibits strong sim-to-real zero-shot transfer. Combining the proposed pipeline and the policy architecture, we show a promising usage of GenSim2 that the generated data can be used for zero-shot transfer or co-train with real-world collected data, which enhances the policy performance by 20% compared with training exclusively on limited real data.

ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation

Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse robot platforms has become more crucial than ever. However, there is a notable lack of cost-effective and user-friendly teleoperation systems for different end-effectors, e.g., anthropomorphic robot hands and grippers, that can operate across multiple platforms. To address this issue, we develop ACE, a cross-platform visual-exoskeleton system for low-cost dexterous teleoperation. Our system utilizes a hand-facing camera to capture 3D hand poses and an exoskeleton mounted on a portable base, enabling accurate real-time capture of both finger and wrist poses. Compared to previous systems, which often require hardware customization according to different robots, our single system can generalize to humanoid hands, arm-hands, arm-gripper, and quadruped-gripper systems with high-precision teleoperation. This enables imitation learning for complex manipulation tasks on diverse platforms.

Long-Horizon Rollout via Dynamics Diffusion for Offline Reinforcement Learning

With the great success of diffusion models (DMs) in generating realistic synthetic vision data, many researchers have investigated their potential in decision-making and control. Most of these works utilized DMs to sample directly from the trajectory space, where DMs can be viewed as a combination of dynamics models and policies. In this work, we explore how to decouple DMs' ability as dynamics models in fully offline settings, allowing the learning policy to roll out trajectories. As DMs learn the data distribution from the dataset, their intrinsic policy is actually the behavior policy induced from the dataset, which results in a mismatch between the behavior policy and the learning policy. We propose Dynamics Diffusion, short as DyDiff, which can inject information from the learning policy to DMs iteratively. DyDiff ensures long-horizon rollout accuracy while maintaining policy consistency and can be easily deployed on model-free algorithms. We provide theoretical analysis to show the advantage of DMs on long-horizon rollout over models and demonstrate the effectiveness of DyDiff in the context of offline reinforcement learning, where the rollout dataset is provided but no online environment for interaction. Our code is at https://github.com/FineArtz/DyDiff.

Diffusion-based Dynamics Models for Long-Horizon Rollout in Offline Reinforcement Learning

With the great success of diffusion models (DMs) in generating realistic synthetic vision data, many researchers have investigated their potential in decision-making and control. Most of these works utilized DMs to sample directly from the trajectory space, where DMs can be viewed as a combination of dynamics models and policies. In this work, we explore how to decouple DMs' ability as dynamics models in fully offline settings, allowing the learning policy to roll out trajectories. As DMs learn the data distribution from the dataset, their intrinsic policy is actually the behavior policy induced from the dataset, which results in a mismatch between the behavior policy and the learning policy. We propose Dynamics Diffusion, short as DyDiff, which can inject information from the learning policy to DMs iteratively. DyDiff ensures long-horizon rollout accuracy while maintaining policy consistency and can be easily deployed on model-free algorithms. We provide theoretical analysis to show the advantage of DMs on long-horizon rollout over models and demonstrate the effectiveness of DyDiff in the context of offline reinforcement learning, where the rollout dataset is provided but no online environment for interaction. Our code is at https://github.com/FineArtz/DyDiff.

Visual Whole-Body Control for Legged Loco-Manipulation

We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by conducting whole-body control. That is, the robot can control the legs and the arm at the same time to extend its workspace. We propose a framework that can conduct the whole-body control autonomously with visual observations. Our approach, namely Visual Whole-Body Control(VBC), is composed of a low-level policy using all degrees of freedom to track the end-effector manipulator position and a high-level policy proposing the end-effector position based on visual inputs. We train both levels of policies in simulation and perform Sim2Real transfer for real robot deployment. We perform extensive experiments and show significant improvements over baselines in picking up diverse objects in different configurations (heights, locations, orientations) and environments. Project page: https://wholebody-b1.github.io

Looking Ahead to Avoid Being Late: Solving Hard-Constrained Traveling Salesman Problem

Many real-world problems can be formulated as a constrained Traveling Salesman Problem (TSP). However, the constraints are always complex and numerous, making the TSPs challenging to solve. When the number of complicated constraints grows, it is time-consuming for traditional heuristic algorithms to avoid illegitimate outcomes. Learning-based methods provide an alternative to solve TSPs in a soft manner, which also supports GPU acceleration to generate solutions quickly. Nevertheless, the soft manner inevitably results in difficulty solving hard-constrained problems with learning algorithms, and the conflicts between legality and optimality may substantially affect the optimality of the solution. To overcome this problem and to have an effective solution against hard constraints, we proposed a novel learning-based method that uses looking-ahead information as the feature to improve the legality of TSP with Time Windows (TSPTW) solutions. Besides, we constructed TSPTW datasets with hard constraints in order to accurately evaluate and benchmark the statistical performance of various approaches, which can serve the community for future research. With comprehensive experiments on diverse datasets, MUSLA outperforms existing baselines and shows generalizability potential.

Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation

Generative pre-trained models have demonstrated remarkable effectiveness in language and vision domains by learning useful representations. In this paper, we extend the scope of this effectiveness by showing that visual robot manipulation can significantly benefit from large-scale video generative pre-training. We introduce GR-1, a straightforward GPT-style model designed for multi-task language-conditioned visual robot manipulation. GR-1 takes as inputs a language instruction, a sequence of observation images, and a sequence of robot states. It predicts robot actions as well as future images in an end-to-end manner. Thanks to a flexible design, GR-1 can be seamlessly finetuned on robot data after pre-trained on a large-scale video dataset. We perform extensive experiments on the challenging CALVIN benchmark and a real robot. On CALVIN benchmark, our method outperforms state-of-the-art baseline methods and improves the success rate from 88.9% to 94.9%. In the setting of zero-shot unseen scene generalization, GR-1 improves the success rate from 53.3% to 85.4%. In real robot experiments, GR-1 also outperforms baseline methods and shows strong potentials in generalization to unseen scenes and objects. We provide inaugural evidence that a unified GPT-style transformer, augmented with large-scale video generative pre-training, exhibits remarkable generalization to multi-task visual robot manipulation. Project page: https://GR1-Manipulation.github.io

Vision-Language Foundation Models as Effective Robot Imitators

Recent progress in vision language foundation models has shown their ability to understand multimodal data and resolve complicated vision language tasks, including robotics manipulation. We seek a straightforward way of making use of existing vision-language models (VLMs) with simple fine-tuning on robotics data. To this end, we derive a simple and novel vision-language manipulation framework, dubbed RoboFlamingo, built upon the open-source VLMs, OpenFlamingo. Unlike prior works, RoboFlamingo utilizes pre-trained VLMs for single-step vision-language comprehension, models sequential history information with an explicit policy head, and is slightly fine-tuned by imitation learning only on language-conditioned manipulation datasets. Such a decomposition provides RoboFlamingo the flexibility for open-loop control and deployment on low-performance platforms. By exceeding the state-of-the-art performance with a large margin on the tested benchmark, we show RoboFlamingo can be an effective and competitive alternative to adapt VLMs to robot control. Our extensive experimental results also reveal several interesting conclusions regarding the behavior of different pre-trained VLMs on manipulation tasks. We believe RoboFlamingo has the potential to be a cost-effective and easy-to-use solution for robotics manipulation, empowering everyone with the ability to fine-tune their own robotics policy.

Is Risk-Sensitive Reinforcement Learning Properly Resolved?

Due to the nature of risk management in learning applicable policies, risk-sensitive reinforcement learning (RSRL) has been realized as an important direction. RSRL is usually achieved by learning risk-sensitive objectives characterized by various risk measures, under the framework of distributional reinforcement learning. However, it remains unclear if the distributional Bellman operator properly optimizes the RSRL objective in the sense of risk measures. In this paper, we prove that the existing RSRL methods do not achieve unbiased optimization and can not guarantee optimality or even improvements regarding risk measures over accumulated return distributions. To remedy this issue, we further propose a novel algorithm, namely Trajectory Q-Learning (TQL), for RSRL problems with provable convergence to the optimal policy. Based on our new learning architecture, we are free to introduce a general and practical implementation for different risk measures to learn disparate risk-sensitive policies. In the experiments, we verify the learnability of our algorithm and show how our method effectively achieves better performances toward risk-sensitive objectives.