Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments

Robot models, particularly those trained with large amounts of data, have recently shown a plethora of real-world manipulation and navigation capabilities. Several independent efforts have shown that given sufficient training data in an environment, robot policies can generalize to demonstrated variations in that environment. However, needing to finetune robot models to every new environment stands in stark contrast to models in language or vision that can be deployed zero-shot for open-world problems. In this work, we present Robot Utility Models (RUMs), a framework for training and deploying zero-shot robot policies that can directly generalize to new environments without any finetuning. To create RUMs efficiently, we develop new tools to quickly collect data for mobile manipulation tasks, integrate such data into a policy with multi-modal imitation learning, and deploy policies on-device on Hello Robot Stretch, a cheap commodity robot, with an external mLLM verifier for retrying. We train five such utility models for opening cabinet doors, opening drawers, picking up napkins, picking up paper bags, and reorienting fallen objects. Our system, on average, achieves 90% success rate in unseen, novel environments interacting with unseen objects. Moreover, the utility models can also succeed in different robot and camera set-ups with no further data, training, or fine-tuning. Primary among our lessons are the importance of training data over training algorithm and policy class, guidance about data scaling, necessity for diverse yet high-quality demonstrations, and a recipe for robot introspection and retrying to improve performance on individual environments. Our code, data, models, hardware designs, as well as our experiment and deployment videos are open sourced and can be found on our project website: https://robotutilitymodels.com

Can You Learn Semantics Through Next-Word Prediction? The Case of Entailment

Do LMs infer the semantics of text from co-occurrence patterns in their training data? Merrill et al. (2022) argue that, in theory, probabilities predicted by an optimal LM encode semantic information about entailment relations, but it is unclear whether neural LMs trained on corpora learn entailment in this way because of strong idealizing assumptions made by Merrill et al. In this work, we investigate whether their theory can be used to decode entailment judgments from neural LMs. We find that a test similar to theirs can decode entailment relations between natural sentences, well above random chance, though not perfectly, across many datasets and LMs. This suggests LMs implicitly model aspects of semantics to predict semantic effects on sentence co-occurrence patterns. However, we find the test that predicts entailment in practice works in the opposite direction to the theoretical test. We thus revisit the assumptions underlying the original test, finding its derivation did not adequately account for redundancy in human-written text. We argue that correctly accounting for redundancy related to explanations might derive the observed flipped test and, more generally, improve linguistic theories of human speakers.