Aryan Jain

Arjun Majumdar, Karmesh Yadav, Sergio Arnaud et al. · meta-ai

We present the largest and most comprehensive empirical study of pre-trained visual representations (PVRs) or visual 'foundation models' for Embodied AI. First, we curate CortexBench, consisting of 17 different tasks spanning locomotion, navigation, dexterous, and mobile manipulation. Next, we systematically evaluate existing PVRs and find that none are universally dominant. To study the effect of pre-training data size and diversity, we combine over 4,000 hours of egocentric videos from 7 different sources (over 4.3M images) and ImageNet to train different-sized vision transformers using Masked Auto-Encoding (MAE) on slices of this data. Contrary to inferences from prior work, we find that scaling dataset size and diversity does not improve performance universally (but does so on average). Our largest model, named VC-1, outperforms all prior PVRs on average but does not universally dominate either. Next, we show that task- or domain-specific adaptation of VC-1 leads to substantial gains, with VC-1 (adapted) achieving competitive or superior performance than the best known results on all of the benchmarks in CortexBench. Finally, we present real-world hardware experiments, in which VC-1 and VC-1 (adapted) outperform the strongest pre-existing PVR. Overall, this paper presents no new techniques but a rigorous systematic evaluation, a broad set of findings about PVRs (that in some cases, refute those made in narrow domains in prior work), and open-sourced code and models (that required over 10,000 GPU-hours to train) for the benefit of the research community.

Gaoyue Zhou, Victoria Dean, Mohan Kumar Srirama et al.

Three challenges limit the progress of robot learning research: robots are expensive (few labs can participate), everyone uses different robots (findings do not generalize across labs), and we lack internet-scale robotics data. We take on these challenges via a new benchmark: Train Offline, Test Online (TOTO). TOTO provides remote users with access to shared robotic hardware for evaluating methods on common tasks and an open-source dataset of these tasks for offline training. Its manipulation task suite requires challenging generalization to unseen objects, positions, and lighting. We present initial results on TOTO comparing five pretrained visual representations and four offline policy learning baselines, remotely contributed by five institutions. The real promise of TOTO, however, lies in the future: we release the benchmark for additional submissions from any user, enabling easy, direct comparison to several methods without the need to obtain hardware or collect data.

Anubhav Shrimal, Aryan Jain, Soumyajit Chowdhury et al.

Structured information extraction from unstructured text is critical for emerging Software 3.0 systems where LLM agents autonomously interact with APIs and tools. Recent approaches apply large language models directly to extraction tasks using existing JSON schemas, often with constraint decoding or reinforcement learning approaches to ensure syntactic validity, but treat JSON schemas as static contracts designed for human developers, leading to suboptimal extraction performance, frequent hallucinations, and unreliable agent behavior when schemas contain ambiguous or incomplete specifications. We recognize that JSON schemas themselves are a form of natural language understanding contract that encodes rules, relationships, and expectations about data structure contracts that LLMs should be able to both interpret and systematically improve. Consequently, we develop PARSE (Parameter Automated Refinement and Schema Extraction), a novel system with two synergistic components: ARCHITECT, which autonomously optimizes JSON schemas for LLM consumption while maintaining backward compatibility through RELAY (an integrated code generation system), and SCOPE, which implements reflection-based extraction with combined static and LLM-based guardrails. We evaluate PARSE qualitatively and quantitatively on three datasets including Schema-Guided Dialogue (SGD), Structured Web Data Extraction (SWDE), and internal retail conversation data, and find that it achieves up to 64.7% improvement in extraction accuracy on SWDE with combined framework improvements reaching 10% across models, while reducing extraction errors by 92% within the first retry and and maintaining practical latency.