Jonathan Francis

Jonathan Francis, Nariaki Kitamura, Felix Labelle et al. · cmu

Recent advances in the areas of Multimodal Machine Learning and Artificial Intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision, Natural Language Processing, and Robotics. Whereas many approaches and previous survey pursuits have characterised one or two of these dimensions, there has not been a holistic analysis at the center of all three. Moreover, even when combinations of these topics are considered, more focus is placed on describing, e.g., current architectural methods, as opposed to also illustrating high-level challenges and opportunities for the field. In this survey paper, we discuss Embodied Vision-Language Planning (EVLP) tasks, a family of prominent embodied navigation and manipulation problems that jointly leverage computer vision and natural language for interaction in physical environments. We propose a taxonomy to unify these tasks and provide an in-depth analysis and comparison of the current and new algorithmic approaches, metrics, simulators, and datasets used for EVLP tasks. Finally, we present the core challenges that we believe new EVLP works should seek to address, and we advocate for task construction that enables model generalisability and furthers real-world deployment.

Jonathan Francis, Bingqing Chen, Siddha Ganju et al. · cmu, nvidia

We present the results of our autonomous racing virtual challenge, based on the newly-released Learn-to-Race (L2R) simulation framework, which seeks to encourage interdisciplinary research in autonomous driving and to help advance the state of the art on a realistic benchmark. Analogous to racing being used to test cutting-edge vehicles, we envision autonomous racing to serve as a particularly challenging proving ground for autonomous agents as: (i) they need to make sub-second, safety-critical decisions in a complex, fast-changing environment; and (ii) both perception and control must be robust to distribution shifts, novel road features, and unseen obstacles. Thus, the main goal of the challenge is to evaluate the joint safety, performance, and generalisation capabilities of reinforcement learning agents on multi-modal perception, through a two-stage process. In the first stage of the challenge, we evaluate an autonomous agent's ability to drive as fast as possible, while adhering to safety constraints. In the second stage, we additionally require the agent to adapt to an unseen racetrack through safe exploration. In this paper, we describe the new L2R Task 2.0 benchmark, with refined metrics and baseline approaches. We also provide an overview of deployment, evaluation, and rankings for the inaugural instance of the L2R Autonomous Racing Virtual Challenge (supported by Carnegie Mellon University, Arrival Ltd., AICrowd, Amazon Web Services, and Honda Research), which officially used the new L2R Task 2.0 benchmark and received over 20,100 views, 437 active participants, 46 teams, and 733 model submissions -- from 88+ unique institutions, in 58+ different countries. Finally, we release leaderboard results from the challenge and provide description of the two top-ranking approaches in cross-domain model transfer, across multiple sensor configurations and simulated races.

Sriram Yenamandra, Arun Ramachandran, Mukul Khanna et al. · cmu

In order to develop robots that can effectively serve as versatile and capable home assistants, it is crucial for them to reliably perceive and interact with a wide variety of objects across diverse environments. To this end, we proposed Open Vocabulary Mobile Manipulation as a key benchmark task for robotics: finding any object in a novel environment and placing it on any receptacle surface within that environment. We organized a NeurIPS 2023 competition featuring both simulation and real-world components to evaluate solutions to this task. Our baselines on the most challenging version of this task, using real perception in simulation, achieved only an 0.8% success rate; by the end of the competition, the best participants achieved an 10.8\% success rate, a 13x improvement. We observed that the most successful teams employed a variety of methods, yet two common threads emerged among the best solutions: enhancing error detection and recovery, and improving the integration of perception with decision-making processes. In this paper, we detail the results and methodologies used, both in simulation and real-world settings. We discuss the lessons learned and their implications for future research. Additionally, we compare performance in real and simulated environments, emphasizing the necessity for robust generalization to novel settings.

Kaixin Ma, Filip Ilievski, Jonathan Francis et al. · cmu

Procedural text understanding is a challenging language reasoning task that requires models to track entity states across the development of a narrative. A complete procedural understanding solution should combine three core aspects: local and global views of the inputs, and global view of outputs. Prior methods considered a subset of these aspects, resulting in either low precision or low recall. In this paper, we propose Coalescing Global and Local Information (CGLI), a new model that builds entity- and timestep-aware input representations (local input) considering the whole context (global input), and we jointly model the entity states with a structured prediction objective (global output). Thus, CGLI simultaneously optimizes for both precision and recall. We extend CGLI with additional output layers and integrate it into a story reasoning framework. Extensive experiments on a popular procedural text understanding dataset show that our model achieves state-of-the-art results; experiments on a story reasoning benchmark show the positive impact of our model on downstream reasoning.

Gyan Tatiya, Jonathan Francis, Luca Bondi et al. · cmu

Generalisation to unseen contexts remains a challenge for embodied navigation agents. In the context of semantic audio-visual navigation (SAVi) tasks, the notion of generalisation should include both generalising to unseen indoor visual scenes as well as generalising to unheard sounding objects. However, previous SAVi task definitions do not include evaluation conditions on truly novel sounding objects, resorting instead to evaluating agents on unheard sound clips of known objects; meanwhile, previous SAVi methods do not include explicit mechanisms for incorporating domain knowledge about object and region semantics. These weaknesses limit the development and assessment of models' abilities to generalise their learned experience. In this work, we introduce the use of knowledge-driven scene priors in the semantic audio-visual embodied navigation task: we combine semantic information from our novel knowledge graph that encodes object-region relations, spatial knowledge from dual Graph Encoder Networks, and background knowledge from a series of pre-training tasks -- all within a reinforcement learning framework for audio-visual navigation. We also define a new audio-visual navigation sub-task, where agents are evaluated on novel sounding objects, as opposed to unheard clips of known objects. We show improvements over strong baselines in generalisation to unseen regions and novel sounding objects, within the Habitat-Matterport3D simulation environment, under the SoundSpaces task.

Jiarui Zhang, Filip Ilievski, Kaixin Ma et al. · cmu

Intelligent Traffic Monitoring (ITMo) technologies hold the potential for improving road safety/security and for enabling smart city infrastructure. Understanding traffic situations requires a complex fusion of perceptual information with domain-specific and causal commonsense knowledge. Whereas prior work has provided benchmarks and methods for traffic monitoring, it remains unclear whether models can effectively align these information sources and reason in novel scenarios. To address this assessment gap, we devise three novel text-based tasks for situational reasoning in the traffic domain: i) BDD-QA, which evaluates the ability of Language Models (LMs) to perform situational decision-making, ii) TV-QA, which assesses LMs' abilities to reason about complex event causality, and iii) HDT-QA, which evaluates the ability of models to solve human driving exams. We adopt four knowledge-enhanced methods that have shown generalization capability across language reasoning tasks in prior work, based on natural language inference, commonsense knowledge-graph self-supervision, multi-QA joint training, and dense retrieval of domain information. We associate each method with a relevant knowledge source, including knowledge graphs, relevant benchmarks, and driving manuals. In extensive experiments, we benchmark various knowledge-aware methods against the three datasets, under zero-shot evaluation; we provide in-depth analyses of model performance on data partitions and examine model predictions categorically, to yield useful insights on traffic understanding, given different background knowledge and reasoning strategies.

Jonathan Francis, Bingqing Chen, Weiran Yao et al. · cmu

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on imitation can limit agents' generalisability to novel scenarios that are outside the support of the training data. In this paper, we address this challenge by factorising the driving task, based on the intuition that modular architectures are more generalisable and more robust to changes in the environment compared to monolithic, end-to-end frameworks. Specifically, we draw inspiration from the trajectory forecasting community and reformulate the learning-to-drive task as obstacle-aware perception and grounding, distribution-aware goal prediction, and model-based planning. Firstly, we train the obstacle-aware perception module to extract salient representation of the visual context. Then, we learn a multi-modal goal distribution by performing conditional density-estimation using normalising flow. Finally, we ground candidate trajectory predictions road geometry, and plan the actions based on on vehicle dynamics. Under the CARLA simulator, we report state-of-the-art results on the CARNOVEL benchmark.

Jiarui Zhang, Filip Ilievski, Kaixin Ma et al. · cmu

Self-supervision based on the information extracted from large knowledge graphs has been shown to improve the generalization of language models, in zero-shot evaluation on various downstream language reasoning tasks. Since these improvements are reported in aggregate, however, little is known about (i) how to select the appropriate knowledge for solid performance across tasks, (ii) how to combine this knowledge with neural language models, and (iii) how these pairings affect granular task performance. In this paper, we study the effect of knowledge sampling strategies and sizes that can be used to generate synthetic data for adapting language models. We study the effect of different synthetic datasets on language models with various architectures and sizes. The resulting models are evaluated against four task properties: domain overlap, answer similarity, vocabulary overlap, and answer length. Our experiments show that encoder-decoder models benefit from more data to learn from, whereas sampling strategies that balance across different aspects yield best performance. Most of the improvement occurs on questions with short answers and dissimilar answer candidates, which corresponds to the characteristics of the data used for pre-training.

Jiarui Zhang, Filip Ilievski, Aravinda Kollaa et al. · cmu

Understanding novel situations in the traffic domain requires an intricate combination of domain-specific and causal commonsense knowledge. Prior work has provided sufficient perception-based modalities for traffic monitoring, in this paper, we focus on a complementary research aspect of Intelligent Transportation: traffic understanding. We scope our study to text-based methods and datasets given the abundant commonsense knowledge that can be extracted using language models from large corpus and knowledge graphs. We adopt three knowledge-driven approaches for zero-shot QA over traffic situations, based on prior natural language inference methods, commonsense models with knowledge graph self-supervision, and dense retriever-based models. We constructed two text-based multiple-choice question answering sets: BDD-QA for evaluating causal reasoning in the traffic domain and HDT-QA for measuring the possession of domain knowledge akin to human driving license tests. Among the methods, Unified-QA reaches the best performance on the BDD-QA dataset with the adaptation of multiple formats of question answers. Language models trained with inference information and commonsense knowledge are also good at predicting the cause and effect in the traffic domain but perform badly at answering human-driving QA sets. For such sets, DPR+Unified-QA performs the best due to its efficient knowledge extraction.

Rajshekhar Das, Jonathan Francis, Sanket Vaibhav Mehta et al. · cmu, deepmind

Self-training based on pseudo-labels has emerged as a dominant approach for addressing conditional distribution shifts in unsupervised domain adaptation (UDA) for semantic segmentation problems. A notable drawback, however, is that this family of approaches is susceptible to erroneous pseudo labels that arise from confirmation biases in the source domain and that manifest as nuisance factors in the target domain. A possible source for this mismatch is the reliance on only photometric cues provided by RGB image inputs, which may ultimately lead to sub-optimal adaptation. To mitigate the effect of mismatched pseudo-labels, we propose to incorporate structural cues from auxiliary modalities, such as depth, to regularise conventional self-training objectives. Specifically, we introduce a contrastive pixel-level objectness constraint that pulls the pixel representations within a region of an object instance closer, while pushing those from different object categories apart. To obtain object regions consistent with the true underlying object, we extract information from both depth maps and RGB-images in the form of multimodal clustering. Crucially, the objectness constraint is agnostic to the ground-truth semantic labels and, hence, appropriate for unsupervised domain adaptation. In this work, we show that our regularizer significantly improves top performing self-training methods (by up to $2$ points) in various UDA benchmarks for semantic segmentation. We include all code in the supplementary.

Benjamin Stoler, Ingrid Navarro, Jonathan Francis et al.

Verification and validation of autonomous driving (AD) systems and components is of increasing importance, as such technology increases in real-world prevalence. Safety-critical scenario generation is a key approach to robustify AD policies through closed-loop training. However, existing approaches for scenario generation rely on simplistic objectives, resulting in overly-aggressive or non-reactive adversarial behaviors. To generate diverse adversarial yet realistic scenarios, we propose SEAL, a scenario perturbation approach which leverages learned objective functions and adversarial, human-like skills. SEAL-perturbed scenarios are more realistic than SOTA baselines, leading to improved ego task success across real-world, in-distribution, and out-of-distribution scenarios, of more than 20%. To facilitate future research, we release our code and tools: https://github.com/cmubig/SEAL

Aaron Lohner, Francesco Compagno, Jonathan Francis et al.

Recognizing a traffic accident is an essential part of any autonomous driving or road monitoring system. An accident can appear in a wide variety of forms, and understanding what type of accident is taking place may be useful to prevent it from recurring. This work focuses on classifying traffic scenes into specific accident types. We approach the problem by representing a traffic scene as a graph, where objects such as cars can be represented as nodes, and relative distances and directions between them as edges. This representation of a traffic scene is referred to as a scene graph, and can be used as input for an accident classifier. Better results are obtained with a classifier that fuses the scene graph input with visual and textual representations. This work introduces a multi-stage, multimodal pipeline that pre-processes videos of traffic accidents, encodes them as scene graphs, and aligns this representation with vision and language modalities before executing the classification task. When trained on 4 classes, our method achieves a balanced accuracy score of 57.77% on an (unbalanced) subset of the popular Detection of Traffic Anomaly (DoTA) benchmark, representing an increase of close to 5 percentage points from the case where scene graph information is not taken into account.

Siyu Wu, Alessandro Oltramari, Jonathan Francis et al.

Resolving the dichotomy between the human-like yet constrained reasoning processes of Cognitive Architectures and the broad but often noisy inference behavior of Large Language Models (LLMs) remains a challenging but exciting pursuit, for enabling reliable machine reasoning capabilities in production systems. Because Cognitive Architectures are famously developed for the purpose of modeling the internal mechanisms of human cognitive decision-making at a computational level, new investigations consider the goal of informing LLMs with the knowledge necessary for replicating such processes, e.g., guided perception, memory, goal-setting, and action. Previous approaches that use LLMs for grounded decision-making struggle with complex reasoning tasks that require slower, deliberate cognition over fast and intuitive inference -- reporting issues related to the lack of sufficient grounding, as in hallucination. To resolve these challenges, we introduce LLM-ACTR, a novel neuro-symbolic architecture that provides human-aligned and versatile decision-making by integrating the ACT-R Cognitive Architecture with LLMs. Our framework extracts and embeds knowledge of ACT-R's internal decision-making process as latent neural representations, injects this information into trainable LLM adapter layers, and fine-tunes the LLMs for downstream prediction. Our experiments on novel Design for Manufacturing tasks show both improved task performance as well as improved grounded decision-making capability of our approach, compared to LLM-only baselines that leverage chain-of-thought reasoning strategies.

Pablo Ortega-Kral, Eliot Xing, Arthur Bucker et al.

Despite recent efforts to collect multi-task, multi-embodiment datasets, to design recipes for training Vision-Language-Action models (VLAs), and to showcase these models on different robot platforms, generalist cross-embodiment robot capabilities remains a largely elusive ideal. Progress is limited by fragmented infrastructure: most robot code is highly specific to the exact setup the user decided on, which adds major overhead when attempting to reuse, recycle, or share artifacts between users. We present RIO (Robot I/O), an open source Python framework that provides flexible, lightweight components for robot control, teleoperation, data formatting, sensor configuration, and policy deployment across diverse hardware platforms and morphologies. RIO provides abstractions that enable users to make any choice and to switch between them, with minimal reconfiguration effort. We validate RIO on VLA deployment workflows across three morphologies (single-arm, bimanual, humanoid) and four hardware platforms with varying grippers and cameras. Using teleoperated data collected with RIO, we fine-tune state-of-the-art VLAs including $π_{0.5}$ and GR00T on household tasks such as pick-and-place, folding, and bowl scrubbing. By open sourcing all our efforts, we hope the community can accelerate their pace of robot learning on real-world robot hardware. Additional details at: https://robot-i-o.github.io

Yaru Niu, Zhenlong Fang, Binghong Chen et al.

Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, dexterous hands, and contact-aware perception under frequent contact changes. In this work, we study dexterous, contact-rich humanoid loco-manipulation. We first develop an RL-based whole-body controller that provides stable lower-body and torso execution during complex manipulation. Built on this controller, we develop a whole-body humanoid data collection system that combines VR-based teleoperation with human-to-humanoid motion mapping, enabling efficient collection of real-world demonstrations. We then propose Humanoid Transformer with Touch Dreaming (HTD), a multimodal encoder--decoder Transformer that models touch as a core modality alongside multi-view vision and proprioception. HTD is trained in a single stage with behavioral cloning augmented by touch dreaming: in addition to predicting action chunks, the policy predicts future hand-joint forces and future tactile latents, encouraging the shared Transformer trunk to learn contact-aware representations for dexterous interaction. Across five contact-rich tasks, Insert-T, Book Organization, Towel Folding, Cat Litter Scooping, and Tea Serving, HTD achieves a 90.9% relative improvement in average success rate over the stronger baseline. Ablation results further show that latent-space tactile prediction is more effective than raw tactile prediction, yielding a 30% relative gain in success rate. These results demonstrate that combining robust whole-body execution, scalable humanoid data collection, and predictive touch-centered learning enables versatile, high-dexterity humanoid manipulation in the real world. Project webpage: humanoid-touch-dream.github.io.

Yaru Niu, Yunzhe Zhang, Mingyang Yu et al.

Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way remains a significant challenge. In this work, we introduce a cross-embodiment imitation learning system for quadrupedal manipulation, leveraging data collected from both humans and LocoMan, a quadruped equipped with multiple manipulation modes. Specifically, we develop a teleoperation and data collection pipeline, which unifies and modularizes the observation and action spaces of the human and the robot. To effectively leverage the collected data, we propose an efficient modularized architecture that supports co-training and pretraining on structured modality-aligned data across different embodiments. Additionally, we construct the first manipulation dataset for the LocoMan robot, covering various household tasks in both unimanual and bimanual modes, supplemented by a corresponding human dataset. We validate our system on six real-world manipulation tasks, where it achieves an average success rate improvement of 41.9% overall and 79.7% under out-of-distribution (OOD) settings compared to the baseline. Pretraining with human data contributes a 38.6% success rate improvement overall and 82.7% under OOD settings, enabling consistently better performance with only half the amount of robot data. Our code, hardware, and data are open-sourced at: https://human2bots.github.io.

Ziyong Ma, Uksang Yoo, Jonathan Francis et al.

While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional actuation commands remains an open challenge due to nonlinear material phenomena such as hysteresis and manufacturing variability. We present SOFTMAP, a sim-to-real learning framework for real-time 3D forward modeling of tendon-actuated soft finger manipulators. SOFTMAP combines four components: (1) As-Rigid-As-Possible (ARAP)-based topological alignment that projects simulated and real point clouds into a shared, topologically consistent vertex space; (2) a lightweight MLP forward model pretrained on simulation data to map servo commands to full 3D finger geometry; (3) a residual correction network trained on a small set of real observations to predict per-vertex displacement fields that compensate for sim-to-real discrepancies; and (4) a closed-form linear actuation calibration layer enabling real-time inference at 30 FPS. We evaluate SOFTMAP on both simulated and physical hardware, achieving state-of-the-art shape prediction accuracy with a Chamfer distance of 0.389 mm in simulation and 3.786 mm on hardware, millimeter-level fingertip trajectory tracking across multiple target paths, and a 36.5% improvement in teleoperation task success over the baseline. Our results show that SOFTMAP provides a data-efficient approach for 3D forward modeling and control of soft manipulators.

Chengyang Zhao, Uksang Yoo, Arkadeep Narayan Chaudhury et al.

Hair care is an essential daily activity, yet it remains inaccessible to individuals with limited mobility and challenging for autonomous robot systems due to the fine-grained physical structure and complex dynamics of hair. In this work, we present DYMO-Hair, a model-based robot hair care system. We introduce a novel dynamics learning paradigm that is suited for volumetric quantities such as hair, relying on an action-conditioned latent state editing mechanism, coupled with a compact 3D latent space of diverse hairstyles to improve generalizability. This latent space is pre-trained at scale using a novel hair physics simulator, enabling generalization across previously unseen hairstyles. Using the dynamics model with a Model Predictive Path Integral (MPPI) planner, DYMO-Hair is able to perform visual goal-conditioned hair styling. Experiments in simulation demonstrate that DYMO-Hair's dynamics model outperforms baselines on capturing local deformation for diverse, unseen hairstyles. DYMO-Hair further outperforms baselines in closed-loop hair styling tasks on unseen hairstyles, with an average of 22% lower final geometric error and 42% higher success rate than the state-of-the-art system. Real-world experiments exhibit zero-shot transferability of our system to wigs, achieving consistent success on challenging unseen hairstyles where the state-of-the-art system fails. Together, these results introduce a foundation for model-based robot hair care, advancing toward more generalizable, flexible, and accessible robot hair styling in unconstrained physical environments. More details are available on our project page: https://dymohair.github.io/.

Yafei Hu, Quanting Xie, Vidhi Jain et al. · cmu

Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have been constraining most robotic systems by designing them for specific tasks, training them on specific datasets, and deploying them within specific environments. These systems require extensively-labeled data and task-specific models. When deployed in real-world scenarios, such systems face several generalization issues and struggle to remain robust to distribution shifts. Motivated by the impressive open-set performance and content generation capabilities of web-scale, large-capacity pre-trained models (i.e., foundation models) in research fields such as Natural Language Processing (NLP) and Computer Vision (CV), we devote this survey to exploring (i) how these existing foundation models from NLP and CV can be applied to the field of general-purpose robotics, and also exploring (ii) what a robotics-specific foundation model would look like. We begin by providing a generalized formulation of how foundation models are used in robotics, and the fundamental barriers to making generalist robots universally applicable. Next, we establish a taxonomy to discuss current work exploring ways to leverage existing foundation models for robotics and develop ones catered to robotics. Finally, we discuss key challenges and promising future directions in using foundation models for enabling general-purpose robotic systems. We encourage readers to view our living GitHub repository 2 of resources, including papers reviewed in this survey, as well as related projects and repositories for developing foundation models for robotics.

James Herman, Jonathan Francis, Siddha Ganju et al.

Existing research on autonomous driving primarily focuses on urban driving, which is insufficient for characterising the complex driving behaviour underlying high-speed racing. At the same time, existing racing simulation frameworks struggle in capturing realism, with respect to visual rendering, vehicular dynamics, and task objectives, inhibiting the transfer of learning agents to real-world contexts. We introduce a new environment, where agents Learn-to-Race (L2R) in simulated competition-style racing, using multimodal information--from virtual cameras to a comprehensive array of inertial measurement sensors. Our environment, which includes a simulator and an interfacing training framework, accurately models vehicle dynamics and racing conditions. In this paper, we release the Arrival simulator for autonomous racing. Next, we propose the L2R task with challenging metrics, inspired by learning-to-drive challenges, Formula-style racing, and multimodal trajectory prediction for autonomous driving. Additionally, we provide the L2R framework suite, facilitating simulated racing on high-precision models of real-world tracks. Finally, we provide an official L2R task dataset of expert demonstrations, as well as a series of baseline experiments and reference implementations. We make all code available: https://github.com/learn-to-race/l2r.

Manoj Bhat, Jonathan Francis, Jean Oh

Effective feature-extraction is critical to models' contextual understanding, particularly for applications to robotics and autonomous driving, such as multimodal trajectory prediction. However, state-of-the-art generative methods face limitations in representing the scene context, leading to predictions of inadmissible futures. We alleviate these limitations through the use of self-attention, which enables better control over representing the agent's social context; we propose a local feature-extraction pipeline that produces more salient information downstream, with improved parameter efficiency. We show improvements on standard metrics (minADE, minFDE, DAO, DAC) over various baselines on the Argoverse dataset. We release our code at: https://github.com/Manojbhat09/Trajformer

Seong Hyeon Park, Gyubok Lee, Manoj Bhat et al.

Multi-agent trajectory forecasting in autonomous driving requires an agent to accurately anticipate the behaviors of the surrounding vehicles and pedestrians, for safe and reliable decision-making. Due to partial observability in these dynamical scenes, directly obtaining the posterior distribution over future agent trajectories remains a challenging problem. In realistic embodied environments, each agent's future trajectories should be both diverse since multiple plausible sequences of actions can be used to reach its intended goals, and admissible since they must obey physical constraints and stay in drivable areas. In this paper, we propose a model that synthesizes multiple input signals from the multimodal world|the environment's scene context and interactions between multiple surrounding agents|to best model all diverse and admissible trajectories. We compare our model with strong baselines and ablations across two public datasets and show a significant performance improvement over previous state-of-the-art methods. Lastly, we offer new metrics incorporating admissibility criteria to further study and evaluate the diversity of predictions. Codes are at: https://github.com/kami93/CMU-DATF.

Marius Memmel, Jacob Berg, Bingqing Chen et al.

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat such datasets as multi-task expert data and learn a multi-task, generalist policy by training broadly across them. Notably, while these generalist policies can improve the average performance across many tasks, the performance of generalist policies on any one task is often suboptimal due to negative transfer between partitions of the data, compared to task-specific specialist policies. In this work, we argue for the paradigm of training policies during deployment given the scenarios they encounter: rather than deploying pre-trained policies to unseen problems in a zero-shot manner, we non-parametrically retrieve and train models directly on relevant data at test time. Furthermore, we show that many robotics tasks share considerable amounts of low-level behaviors and that retrieval at the "sub"-trajectory granularity enables significantly improved data utilization, generalization, and robustness in adapting policies to novel problems. In contrast, existing full-trajectory retrieval methods tend to underutilize the data and miss out on shared cross-task content. This work proposes STRAP, a technique for leveraging pre-trained vision foundation models and dynamic time warping to retrieve sub-sequences of trajectories from large training corpora in a robust fashion. STRAP outperforms both prior retrieval algorithms and multi-task learning methods in simulated and real experiments, showing the ability to scale to much larger offline datasets in the real world as well as the ability to learn robust control policies with just a handful of real-world demonstrations.

Saumya Saxena, Blake Buchanan, Chris Paxton et al.

In Embodied Question Answering (EQA), agents must explore and develop a semantic understanding of an unseen environment to answer a situated question with confidence. This problem remains challenging in robotics, due to the difficulties in obtaining useful semantic representations, updating these representations online, and leveraging prior world knowledge for efficient planning and exploration. To address these limitations, we propose GraphEQA, a novel approach that utilizes real-time 3D metric-semantic scene graphs (3DSGs) and task relevant images as multi-modal memory for grounding Vision-Language Models (VLMs) to perform EQA tasks in unseen environments. We employ a hierarchical planning approach that exploits the hierarchical nature of 3DSGs for structured planning and semantics-guided exploration. We evaluate GraphEQA in simulation on two benchmark datasets, HM-EQA and OpenEQA, and demonstrate that it outperforms key baselines by completing EQA tasks with higher success rates and fewer planning steps. We further demonstrate GraphEQA in multiple real-world home and office environments.

Sahiti Yerramilli, Jayant Sravan Tamarapalli, Tanmay Girish Kulkarni et al.

Deep Learning models are incredibly data-hungry and require very large labeled datasets for supervised learning. As a consequence, these models often suffer from overfitting, limiting their ability to generalize to real-world examples. Recent advancements in diffusion models have enabled the generation of photorealistic images based on textual inputs. Leveraging the substantial datasets used to train these diffusion models, we propose a technique to utilize generated images to augment existing datasets. This paper explores various strategies for effective data augmentation to improve the out-of-domain generalization capabilities of deep learning models.

Mohamad Qadri, Gokul Swamy, Jonathan Francis et al.

Inverse Constraint Learning (ICL) is the problem of inferring constraints from safe (i.e., constraint-satisfying) demonstrations. The hope is that these inferred constraints can then be used downstream to search for safe policies for new tasks and, potentially, under different dynamics. Our paper explores the question of what mathematical entity ICL recovers. Somewhat surprisingly, we show that both in theory and in practice, ICL recovers the set of states where failure is inevitable, rather than the set of states where failure has already happened. In the language of safe control, this means we recover a backwards reachable tube (BRT) rather than a failure set. In contrast to the failure set, the BRT depends on the dynamics of the data collection system. We discuss the implications of the dynamics-conditionedness of the recovered constraint on both the sample-efficiency of policy search and the transferability of learned constraints.

Sahiti Yerramilli, Jayant Sravan Tamarapalli, Jonathan Francis et al.

Multimodal machine learning has gained significant attention in recent years due to its potential for integrating information from multiple modalities to enhance learning and decision-making processes. However, it is commonly observed that unimodal models outperform multimodal models, despite the latter having access to richer information. Additionally, the influence of a single modality often dominates the decision-making process, resulting in suboptimal performance. This research project aims to address these challenges by proposing a novel regularization term that encourages multimodal models to effectively utilize information from all modalities when making decisions. The focus of this project lies in the video-audio domain, although the proposed regularization technique holds promise for broader applications in embodied AI research, where multiple modalities are involved. By leveraging this regularization term, the proposed approach aims to mitigate the issue of unimodal dominance and improve the performance of multimodal machine learning systems. Through extensive experimentation and evaluation, the effectiveness and generalizability of the proposed technique will be assessed. The findings of this research project have the potential to significantly contribute to the advancement of multimodal machine learning and facilitate its application in various domains, including multimedia analysis, human-computer interaction, and embodied AI research.

Zhixuan Liu, Haokun Zhu, Rui Chen et al.

We introduce a diffusion-based approach for generating privacy-preserving digital twins of multi-room indoor environments from depth images only. Central to our approach is a novel Multi-view Overlapped Scene Alignment with Implicit Consistency (MOSAIC) model that explicitly considers cross-view dependencies within the same scene in the probabilistic sense. MOSAIC operates through a multi-channel inference-time optimization that avoids error accumulation common in sequential or single-room constraints in panorama-based approaches. MOSAIC scales to complex scenes with zero extra training and provably reduces the variance during denoising process when more overlapping views are added, leading to improved generation quality. Experiments show that MOSAIC outperforms state-of-the-art baselines on image fidelity metrics in reconstructing complex multi-room environments. Resources and code are at https://mosaic-cmubig.github.io

Yuemin Mao, Uksang Yoo, Yunchao Yao et al.

Accurately estimating hand pose and hand-object contact events is essential for robot data-collection, immersive virtual environments, and biomechanical analysis, yet remains challenging due to visual occlusion, subtle contact cues, limitations in vision-only sensing, and the lack of accessible and flexible tactile sensing. We therefore introduce VibeMesh, a novel wearable system that fuses vision with active acoustic sensing for dense, per-vertex hand contact and pose estimation. VibeMesh integrates a bone-conduction speaker and sparse piezoelectric microphones, distributed on a human hand, emitting structured acoustic signals and capturing their propagation to infer changes induced by contact. To interpret these cross-modal signals, we propose a graph-based attention network that processes synchronized audio spectra and RGB-D-derived hand meshes to predict contact with high spatial resolution. We contribute: (i) a lightweight, non-intrusive visuo-acoustic sensing platform; (ii) a cross-modal graph network for joint pose and contact inference; (iii) a dataset of synchronized RGB-D, acoustic, and ground-truth contact annotations across diverse manipulation scenarios; and (iv) empirical results showing that VibeMesh outperforms vision-only baselines in accuracy and robustness, particularly in occluded or static-contact settings.

Michael Büttner, Jonathan Francis, Helge Rhodin et al.

This paper introduces a method to enhance Interactive Imitation Learning (IIL) by extracting touch interaction points and tracking object movement from video demonstrations. The approach extends current IIL systems by providing robots with detailed knowledge of both where and how to interact with objects, particularly complex articulated ones like doors and drawers. By leveraging cutting-edge techniques such as 3D Gaussian Splatting and FoundationPose for tracking, this method allows robots to better understand and manipulate objects in dynamic environments. The research lays the foundation for more effective task learning and execution in autonomous robotic systems.

Prateek Chhikara, Jiarui Zhang, Filip Ilievski et al.

Communication via natural language is a key aspect of machine intelligence, and it requires computational models to learn and reason about world concepts, with varying levels of supervision. Significant progress has been made on fully-supervised non-interactive tasks, such as question-answering and procedural text understanding. Yet, various sequential interactive tasks, as in text-based games, have revealed limitations of existing approaches in terms of coherence, contextual awareness, and their ability to learn effectively from the environment. In this paper, we propose a knowledge-injection framework for improved functional grounding of agents in text-based games. Specifically, we consider two forms of domain knowledge that we inject into learning-based agents: memory of previous correct actions and affordances of relevant objects in the environment. Our framework supports two representative model classes: reinforcement learning agents and language model agents. Furthermore, we devise multiple injection strategies for the above domain knowledge types and agent architectures, including injection via knowledge graphs and augmentation of the existing input encoding strategies. We experiment with four models on the 10 tasks in the ScienceWorld text-based game environment, to illustrate the impact of knowledge injection on various model configurations and challenging task settings. Our findings provide crucial insights into the interplay between task properties, model architectures, and domain knowledge for interactive contexts.

Alessandro Oltramari, Jonathan Francis, Filip Ilievski et al.

This chapter illustrates how suitable neuro-symbolic models for language understanding can enable domain generalizability and robustness in downstream tasks. Different methods for integrating neural language models and knowledge graphs are discussed. The situations in which this combination is most appropriate are characterized, including quantitative evaluation and qualitative error analysis on a variety of commonsense question answering benchmark datasets.

Bingqing Chen, Jonathan Francis, Jean Oh et al.

Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's ego-camera view and speed as input. Given the nature of the task, autonomous agents need to be able to 1) identify and avoid unsafe scenarios under the complex vehicle dynamics, and 2) make sub-second decision in a fast-changing environment. To satisfy these criteria, we propose to incorporate Hamilton-Jacobi (HJ) reachability theory, a safety verification method for general non-linear systems, into the constrained Markov decision process (CMDP) framework. HJ reachability not only provides a control-theoretic approach to learn about safety, but also enables low-latency safety verification. Though HJ reachability is traditionally not scalable to high-dimensional systems, we demonstrate that with neural approximation, the HJ safety value can be learned directly on vision context -- the highest-dimensional problem studied via the method, to-date. We evaluate our method on several benchmark tasks, including Safety Gym and Learn-to-Race (L2R), a recently-released high-fidelity autonomous racing environment. Our approach has significantly fewer constraint violations in comparison to other constrained RL baselines in Safety Gym, and achieves the new state-of-the-art results on the L2R benchmark task. We provide additional visualization of agent behavior at the following anonymized paper website: https://sites.google.com/view/safeautonomousracing/home

Kaixin Ma, Filip Ilievski, Jonathan Francis et al.

Commonsense reasoning benchmarks have been largely solved by fine-tuning language models. The downside is that fine-tuning may cause models to overfit to task-specific data and thereby forget their knowledge gained during pre-training. Recent works only propose lightweight model updates as models may already possess useful knowledge from past experience, but a challenge remains in understanding what parts and to what extent models should be refined for a given task. In this paper, we investigate what models learn from commonsense reasoning datasets. We measure the impact of three different adaptation methods on the generalization and accuracy of models. Our experiments with two models show that fine-tuning performs best, by learning both the content and the structure of the task, but suffers from overfitting and limited generalization to novel answers. We observe that alternative adaptation methods like prefix-tuning have comparable accuracy, but generalize better to unseen answers and are more robust to adversarial splits.

Jonathan Francis, Nariaki Kitamura, Felix Labelle et al.

Recent advances in the areas of multimodal machine learning and artificial intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision, Natural Language Processing, and Embodied AI. Whereas many approaches and previous survey pursuits have characterised one or two of these dimensions, there has not been a holistic analysis at the center of all three. Moreover, even when combinations of these topics are considered, more focus is placed on describing, e.g., current architectural methods, as opposed to also illustrating high-level challenges and opportunities for the field. In this survey paper, we discuss Embodied Vision-Language Planning (EVLP) tasks, a family of prominent embodied navigation and manipulation problems that jointly use computer vision and natural language. We propose a taxonomy to unify these tasks and provide an in-depth analysis and comparison of the new and current algorithmic approaches, metrics, simulated environments, as well as the datasets used for EVLP tasks. Finally, we present the core challenges that we believe new EVLP works should seek to address, and we advocate for task construction that enables model generalizability and furthers real-world deployment.

Yikang Li, Pulkit Goel, Varsha Kuppur Rajendra et al.

Conditional text generation has been a challenging task that is yet to see human-level performance from state-of-the-art models. In this work, we specifically focus on the Commongen benchmark, wherein the aim is to generate a plausible sentence for a given set of input concepts. Despite advances in other tasks, large pre-trained language models that are fine-tuned on this dataset often produce sentences that are syntactically correct but qualitatively deviate from a human understanding of common sense. Furthermore, generated sequences are unable to fulfill such lexical requirements as matching part-of-speech and full concept coverage. In this paper, we explore how commonsense knowledge graphs can enhance model performance, with respect to commonsense reasoning and lexically-constrained decoding. We propose strategies for enhancing the semantic correctness of the generated text, which we accomplish through: extracting commonsense relations from Conceptnet, injecting these relations into the Unified Language Model (UniLM) through attention mechanisms, and enforcing the aforementioned lexical requirements through output constraints. By performing several ablations, we find that commonsense injection enables the generation of sentences that are more aligned with human understanding, while remaining compliant with lexical requirements.

Kaixin Ma, Filip Ilievski, Jonathan Francis et al.

Recent developments in pre-trained neural language modeling have led to leaps in accuracy on commonsense question-answering benchmarks. However, there is increasing concern that models overfit to specific tasks, without learning to utilize external knowledge or perform general semantic reasoning. In contrast, zero-shot evaluations have shown promise as a more robust measure of a model's general reasoning abilities. In this paper, we propose a novel neuro-symbolic framework for zero-shot question answering across commonsense tasks. Guided by a set of hypotheses, the framework studies how to transform various pre-existing knowledge resources into a form that is most effective for pre-training models. We vary the set of language models, training regimes, knowledge sources, and data generation strategies, and measure their impact across tasks. Extending on prior work, we devise and compare four constrained distractor-sampling strategies. We provide empirical results across five commonsense question-answering tasks with data generated from five external knowledge resources. We show that, while an individual knowledge graph is better suited for specific tasks, a global knowledge graph brings consistent gains across different tasks. In addition, both preserving the structure of the task as well as generating fair and informative questions help language models learn more effectively.

Alessandro Oltramari, Jonathan Francis, Cory Henson et al.

Computational context understanding refers to an agent's ability to fuse disparate sources of information for decision-making and is, therefore, generally regarded as a prerequisite for sophisticated machine reasoning capabilities, such as in artificial intelligence (AI). Data-driven and knowledge-driven methods are two classical techniques in the pursuit of such machine sense-making capability. However, while data-driven methods seek to model the statistical regularities of events by making observations in the real-world, they remain difficult to interpret and they lack mechanisms for naturally incorporating external knowledge. Conversely, knowledge-driven methods, combine structured knowledge bases, perform symbolic reasoning based on axiomatic principles, and are more interpretable in their inferential processing; however, they often lack the ability to estimate the statistical salience of an inference. To combat these issues, we propose the use of hybrid AI methodology as a general framework for combining the strengths of both approaches. Specifically, we inherit the concept of neuro-symbolism as a way of using knowledge-bases to guide the learning progress of deep neural networks. We further ground our discussion in two applications of neuro-symbolism and, in both cases, show that our systems maintain interpretability while achieving comparable performance, relative to the state-of-the-art.

Kaixin Ma, Jonathan Francis, Quanyang Lu et al.

Non-extractive commonsense QA remains a challenging AI task, as it requires systems to reason about, synthesize, and gather disparate pieces of information, in order to generate responses to queries. Recent approaches on such tasks show increased performance, only when models are either pre-trained with additional information or when domain-specific heuristics are used, without any special consideration regarding the knowledge resource type. In this paper, we perform a survey of recent commonsense QA methods and we provide a systematic analysis of popular knowledge resources and knowledge-integration methods, across benchmarks from multiple commonsense datasets. Our results and analysis show that attention-based injection seems to be a preferable choice for knowledge integration and that the degree of domain overlap, between knowledge bases and datasets, plays a crucial role in determining model success.