Daily Papers

Large-scale text-to-image (T2I) diffusion models have showcased incredible capabilities in generating coherent images based on textual descriptions, enabling vast applications in content generation. While recent advancements have introduced control over factors such as object localization, posture, and image contours, a crucial gap remains in our ability to control the interactions between objects in the generated content. Well-controlling interactions in generated images could yield meaningful applications, such as creating realistic scenes with interacting characters. In this work, we study the problems of conditioning T2I diffusion models with Human-Object Interaction (HOI) information, consisting of a triplet label (person, action, object) and corresponding bounding boxes. We propose a pluggable interaction control model, called InteractDiffusion that extends existing pre-trained T2I diffusion models to enable them being better conditioned on interactions. Specifically, we tokenize the HOI information and learn their relationships via interaction embeddings. A conditioning self-attention layer is trained to map HOI tokens to visual tokens, thereby conditioning the visual tokens better in existing T2I diffusion models. Our model attains the ability to control the interaction and location on existing T2I diffusion models, which outperforms existing baselines by a large margin in HOI detection score, as well as fidelity in FID and KID. Project page: https://jiuntian.github.io/interactdiffusion.

As AI systems enter into a growing number of societal domains, these systems increasingly shape and are shaped by user preferences, opinions, and behaviors. However, the design of AI systems rarely accounts for how AI and users shape one another. In this position paper, we argue for the development of formal interaction models which mathematically specify how AI and users shape one another. Formal interaction models can be leveraged to (1) specify interactions for implementation, (2) monitor interactions through empirical analysis, (3) anticipate societal impacts via counterfactual analysis, and (4) control societal impacts via interventions. The design space of formal interaction models is vast, and model design requires careful consideration of factors such as style, granularity, mathematical complexity, and measurability. Using content recommender systems as a case study, we critically examine the nascent literature of formal interaction models with respect to these use-cases and design axes. More broadly, we call for the community to leverage formal interaction models when designing, evaluating, or auditing any AI system which interacts with users.

Human-Scene Interaction (HSI) is a vital component of fields like embodied AI and virtual reality. Despite advancements in motion quality and physical plausibility, two pivotal factors, versatile interaction control and the development of a user-friendly interface, require further exploration before the practical application of HSI. This paper presents a unified HSI framework, UniHSI, which supports unified control of diverse interactions through language commands. This framework is built upon the definition of interaction as Chain of Contacts (CoC): steps of human joint-object part pairs, which is inspired by the strong correlation between interaction types and human-object contact regions. Based on the definition, UniHSI constitutes a Large Language Model (LLM) Planner to translate language prompts into task plans in the form of CoC, and a Unified Controller that turns CoC into uniform task execution. To facilitate training and evaluation, we collect a new dataset named ScenePlan that encompasses thousands of task plans generated by LLMs based on diverse scenarios. Comprehensive experiments demonstrate the effectiveness of our framework in versatile task execution and generalizability to real scanned scenes. The project page is at https://github.com/OpenRobotLab/UniHSI .

Naturally controllable human-scene interaction (HSI) generation has an important role in various fields, such as VR/AR content creation and human-centered AI. However, existing methods are unnatural and unintuitive in their controllability, which heavily limits their application in practice. Therefore, we focus on a challenging task of naturally and controllably generating realistic and diverse HSIs from textual descriptions. From human cognition, the ideal generative model should correctly reason about spatial relationships and interactive actions. To that end, we propose Narrator, a novel relationship reasoning-based generative approach using a conditional variation autoencoder for naturally controllable generation given a 3D scene and a textual description. Also, we model global and local spatial relationships in a 3D scene and a textual description respectively based on the scene graph, and introduce a partlevel action mechanism to represent interactions as atomic body part states. In particular, benefiting from our relationship reasoning, we further propose a simple yet effective multi-human generation strategy, which is the first exploration for controllable multi-human scene interaction generation. Our extensive experiments and perceptual studies show that Narrator can controllably generate diverse interactions and significantly outperform existing works. The code and dataset will be available for research purposes.

We introduce GameGen-X, the first diffusion transformer model specifically designed for both generating and interactively controlling open-world game videos. This model facilitates high-quality, open-domain generation by simulating an extensive array of game engine features, such as innovative characters, dynamic environments, complex actions, and diverse events. Additionally, it provides interactive controllability, predicting and altering future content based on the current clip, thus allowing for gameplay simulation. To realize this vision, we first collected and built an Open-World Video Game Dataset from scratch. It is the first and largest dataset for open-world game video generation and control, which comprises over a million diverse gameplay video clips sampling from over 150 games with informative captions from GPT-4o. GameGen-X undergoes a two-stage training process, consisting of foundation model pre-training and instruction tuning. Firstly, the model was pre-trained via text-to-video generation and video continuation, endowing it with the capability for long-sequence, high-quality open-domain game video generation. Further, to achieve interactive controllability, we designed InstructNet to incorporate game-related multi-modal control signal experts. This allows the model to adjust latent representations based on user inputs, unifying character interaction and scene content control for the first time in video generation. During instruction tuning, only the InstructNet is updated while the pre-trained foundation model is frozen, enabling the integration of interactive controllability without loss of diversity and quality of generated video content.

Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by language descriptions in 3D scenes. We propose Controllable Human-Object Interaction Synthesis (CHOIS), an approach that generates object motion and human motion simultaneously using a conditional diffusion model given a language description, initial object and human states, and sparse object waypoints. While language descriptions inform style and intent, waypoints ground the motion in the scene and can be effectively extracted using high-level planning methods. Naively applying a diffusion model fails to predict object motion aligned with the input waypoints and cannot ensure the realism of interactions that require precise hand-object contact and appropriate contact grounded by the floor. To overcome these problems, we introduce an object geometry loss as additional supervision to improve the matching between generated object motion and input object waypoints. In addition, we design guidance terms to enforce contact constraints during the sampling process of the trained diffusion model.

3D object generation has undergone significant advancements, yielding high-quality results. However, fall short of achieving precise user control, often yielding results that do not align with user expectations, thus limiting their applicability. User-envisioning 3D object generation faces significant challenges in realizing its concepts using current generative models due to limited interaction capabilities. Existing methods mainly offer two approaches: (i) interpreting textual instructions with constrained controllability, or (ii) reconstructing 3D objects from 2D images. Both of them limit customization to the confines of the 2D reference and potentially introduce undesirable artifacts during the 3D lifting process, restricting the scope for direct and versatile 3D modifications. In this work, we introduce Interactive3D, an innovative framework for interactive 3D generation that grants users precise control over the generative process through extensive 3D interaction capabilities. Interactive3D is constructed in two cascading stages, utilizing distinct 3D representations. The first stage employs Gaussian Splatting for direct user interaction, allowing modifications and guidance of the generative direction at any intermediate step through (i) Adding and Removing components, (ii) Deformable and Rigid Dragging, (iii) Geometric Transformations, and (iv) Semantic Editing. Subsequently, the Gaussian splats are transformed into InstantNGP. We introduce a novel (v) Interactive Hash Refinement module to further add details and extract the geometry in the second stage. Our experiments demonstrate that Interactive3D markedly improves the controllability and quality of 3D generation. Our project webpage is available at https://interactive-3d.github.io/.

This paper introduces a generative model designed for multimodal control over text-to-image foundation generative AI models such as Stable Diffusion, specifically tailored for engineering design synthesis. Our model proposes parametric, image, and text control modalities to enhance design precision and diversity. Firstly, it handles both partial and complete parametric inputs using a diffusion model that acts as a design autocomplete co-pilot, coupled with a parametric encoder to process the information. Secondly, the model utilizes assembly graphs to systematically assemble input component images, which are then processed through a component encoder to capture essential visual data. Thirdly, textual descriptions are integrated via CLIP encoding, ensuring a comprehensive interpretation of design intent. These diverse inputs are synthesized through a multimodal fusion technique, creating a joint embedding that acts as the input to a module inspired by ControlNet. This integration allows the model to apply robust multimodal control to foundation models, facilitating the generation of complex and precise engineering designs. This approach broadens the capabilities of AI-driven design tools and demonstrates significant advancements in precise control based on diverse data modalities for enhanced design generation.

Video generation technologies are developing rapidly and have broad potential applications. Among these technologies, camera control is crucial for generating professional-quality videos that accurately meet user expectations. However, existing camera control methods still suffer from several limitations, including control precision and the neglect of the control for subject motion dynamics. In this work, we propose I2VControl-Camera, a novel camera control method that significantly enhances controllability while providing adjustability over the strength of subject motion. To improve control precision, we employ point trajectory in the camera coordinate system instead of only extrinsic matrix information as our control signal. To accurately control and adjust the strength of subject motion, we explicitly model the higher-order components of the video trajectory expansion, not merely the linear terms, and design an operator that effectively represents the motion strength. We use an adapter architecture that is independent of the base model structure. Experiments on static and dynamic scenes show that our framework outperformances previous methods both quantitatively and qualitatively. The project page is: https://wanquanf.github.io/I2VControlCamera .

The intuitive nature of drag-based interaction has led to its growing adoption for controlling object trajectories in image-to-video synthesis. Still, existing methods that perform dragging in the 2D space usually face ambiguity when handling out-of-plane movements. In this work, we augment the interaction with a new dimension, i.e., the depth dimension, such that users are allowed to assign a relative depth for each point on the trajectory. That way, our new interaction paradigm not only inherits the convenience from 2D dragging, but facilitates trajectory control in the 3D space, broadening the scope of creativity. We propose a pioneering method for 3D trajectory control in image-to-video synthesis by abstracting object masks into a few cluster points. These points, accompanied by the depth information and the instance information, are finally fed into a video diffusion model as the control signal. Extensive experiments validate the effectiveness of our approach, dubbed LeviTor, in precisely manipulating the object movements when producing photo-realistic videos from static images. Project page: https://ppetrichor.github.io/levitor.github.io/

The objective of personalized medicine is to tailor interventions to an individual patient's unique characteristics. A key technology for this purpose involves medical digital twins, computational models of human biology that can be personalized and dynamically updated to incorporate patient-specific data collected over time. Certain aspects of human biology, such as the immune system, are not easily captured with physics-based models, such as differential equations. Instead, they are often multi-scale, stochastic, and hybrid. This poses a challenge to existing model-based control and optimization approaches that cannot be readily applied to such models. Recent advances in automatic differentiation and neural-network control methods hold promise in addressing complex control problems. However, the application of these approaches to biomedical systems is still in its early stages. This work introduces dynamics-informed neural-network controllers as an alternative approach to control of medical digital twins. As a first use case for this method, the focus is on agent-based models, a versatile and increasingly common modeling platform in biomedicine. The effectiveness of the proposed neural-network control method is illustrated and benchmarked against other methods with two widely-used agent-based model types. The relevance of the method introduced here extends beyond medical digital twins to other complex dynamical systems.

We present AutoGLM, a new series in the ChatGLM family, designed to serve as foundation agents for autonomous control of digital devices through Graphical User Interfaces (GUIs). While foundation models excel at acquiring human knowledge, they often struggle with decision-making in dynamic real-world environments, limiting their progress toward artificial general intelligence. This limitation underscores the importance of developing foundation agents capable of learning through autonomous environmental interactions by reinforcing existing models. Focusing on Web Browser and Phone as representative GUI scenarios, we have developed AutoGLM as a practical foundation agent system for real-world GUI interactions. Our approach integrates a comprehensive suite of techniques and infrastructures to create deployable agent systems suitable for user delivery. Through this development, we have derived two key insights: First, the design of an appropriate "intermediate interface" for GUI control is crucial, enabling the separation of planning and grounding behaviors, which require distinct optimization for flexibility and accuracy respectively. Second, we have developed a novel progressive training framework that enables self-evolving online curriculum reinforcement learning for AutoGLM. Our evaluations demonstrate AutoGLM's effectiveness across multiple domains. For web browsing, AutoGLM achieves a 55.2% success rate on VAB-WebArena-Lite (improving to 59.1% with a second attempt) and 96.2% on OpenTable evaluation tasks. In Android device control, AutoGLM attains a 36.2% success rate on AndroidLab (VAB-Mobile) and 89.7% on common tasks in popular Chinese APPs.

Prompt engineering is crucial for deploying LLMs but is poorly understood mathematically. We formalize LLM systems as a class of discrete stochastic dynamical systems to explore prompt engineering through the lens of control theory. We investigate the reachable set of output token sequences R_y(mathbf x_0) for which there exists a control input sequence mathbf u for each mathbf y in R_y(mathbf x_0) that steers the LLM to output mathbf y from initial state sequence mathbf x_0. We offer analytic analysis on the limitations on the controllability of self-attention in terms of reachable set, where we prove an upper bound on the reachable set of outputs R_y(mathbf x_0) as a function of the singular values of the parameter matrices. We present complementary empirical analysis on the controllability of a panel of LLMs, including Falcon-7b, Llama-7b, and Falcon-40b. Our results demonstrate a lower bound on the reachable set of outputs R_y(mathbf x_0) w.r.t. initial state sequences mathbf x_0 sampled from the Wikitext dataset. We find that the correct next Wikitext token following sequence mathbf x_0 is reachable over 97% of the time with prompts of kleq 10 tokens. We also establish that the top 75 most likely next tokens, as estimated by the LLM itself, are reachable at least 85% of the time with prompts of kleq 10 tokens. Intriguingly, short prompt sequences can dramatically alter the likelihood of specific outputs, even making the least likely tokens become the most likely ones. This control-centric analysis of LLMs demonstrates the significant and poorly understood role of input sequences in steering output probabilities, offering a foundational perspective for enhancing language model system capabilities.

Crafting a single, versatile physics-based controller that can breathe life into interactive characters across a wide spectrum of scenarios represents an exciting frontier in character animation. An ideal controller should support diverse control modalities, such as sparse target keyframes, text instructions, and scene information. While previous works have proposed physically simulated, scene-aware control models, these systems have predominantly focused on developing controllers that each specializes in a narrow set of tasks and control modalities. This work presents MaskedMimic, a novel approach that formulates physics-based character control as a general motion inpainting problem. Our key insight is to train a single unified model to synthesize motions from partial (masked) motion descriptions, such as masked keyframes, objects, text descriptions, or any combination thereof. This is achieved by leveraging motion tracking data and designing a scalable training method that can effectively utilize diverse motion descriptions to produce coherent animations. Through this process, our approach learns a physics-based controller that provides an intuitive control interface without requiring tedious reward engineering for all behaviors of interest. The resulting controller supports a wide range of control modalities and enables seamless transitions between disparate tasks. By unifying character control through motion inpainting, MaskedMimic creates versatile virtual characters. These characters can dynamically adapt to complex scenes and compose diverse motions on demand, enabling more interactive and immersive experiences.

Model Predictive Controllers (MPC) require a good model for the controlled process. In this paper I infer inductive biases about a physical system. I use these biases to derive a new neural network architecture that can model this real system that has noise and inertia. The main inductive biases exploited here are: the delayed impact of some inputs on the system and the separability between the temporal component and how the inputs interact to produce the output of a system. The inputs are independently delayed using shifted convolutional kernels. Feature interactions are modelled using a fully connected network that does not have access to temporal information. The available data and the problem setup allow the usage of Self Supervised Learning in order to train the models. The baseline architecture is an Attention based Reccurent network adapted to work with MPC like inputs. The proposed networks are faster, better at exploiting larger data volumes and are almost as good as baseline networks in terms of prediction performance. The proposed architecture family called Delay can be used in a real scenario to control systems with delayed responses with respect to its controls or inputs. Ablation studies show that the presence of delay kernels are vital to obtain any learning in proposed architecture. Code and some experimental data are available online.

Text-conditioned motion synthesis has made remarkable progress with the emergence of diffusion models. However, the majority of these motion diffusion models are primarily designed for a single character and overlook multi-human interactions. In our approach, we strive to explore this problem by synthesizing human motion with interactions for a group of characters of any size in a zero-shot manner. The key aspect of our approach is the adaptation of human-wise interactions as pairs of human joints that can be either in contact or separated by a desired distance. In contrast to existing methods that necessitate training motion generation models on multi-human motion datasets with a fixed number of characters, our approach inherently possesses the flexibility to model human interactions involving an arbitrary number of individuals, thereby transcending the limitations imposed by the training data. We introduce a novel controllable motion generation method, InterControl, to encourage the synthesized motions maintaining the desired distance between joint pairs. It consists of a motion controller and an inverse kinematics guidance module that realistically and accurately aligns the joints of synthesized characters to the desired location. Furthermore, we demonstrate that the distance between joint pairs for human-wise interactions can be generated using an off-the-shelf Large Language Model (LLM). Experimental results highlight the capability of our framework to generate interactions with multiple human characters and its potential to work with off-the-shelf physics-based character simulators.

Creating interactive scenes often involves complex programming tasks. Although large language models (LLMs) like ChatGPT can generate code from natural language, their output is often error-prone, particularly when scripting interactions among multiple elements. The linear conversational structure limits the editing of individual elements, and lacking graphical and precise control complicates visual integration. To address these issues, we integrate an element-level modularization technique that processes textual descriptions for individual elements through separate LLM modules, with a central module managing interactions among elements. This modular approach allows for refining each element independently. We design a graphical user interface, MoGraphGPT , which combines modular LLMs with enhanced graphical control to generate codes for 2D interactive scenes. It enables direct integration of graphical information and offers quick, precise control through automatically generated sliders. Our comparative evaluation against an AI coding tool, Cursor Composer, as the baseline system and a usability study show MoGraphGPT significantly improves easiness, controllability, and refinement in creating complex 2D interactive scenes with multiple visual elements in a coding-free manner.

Although reinforcement learning methods offer a powerful framework for automatic skill acquisition, for practical learning-based control problems in domains such as robotics, imitation learning often provides a more convenient and accessible alternative. In particular, an interactive imitation learning method such as DAgger, which queries a near-optimal expert to intervene online to collect correction data for addressing the distributional shift challenges that afflict na\"ive behavioral cloning, can enjoy good performance both in theory and practice without requiring manually specified reward functions and other components of full reinforcement learning methods. In this paper, we explore how off-policy reinforcement learning can enable improved performance under assumptions that are similar but potentially even more practical than those of interactive imitation learning. Our proposed method uses reinforcement learning with user intervention signals themselves as rewards. This relaxes the assumption that intervening experts in interactive imitation learning should be near-optimal and enables the algorithm to learn behaviors that improve over the potential suboptimal human expert. We also provide a unified framework to analyze our RL method and DAgger; for which we present the asymptotic analysis of the suboptimal gap for both methods as well as the non-asymptotic sample complexity bound of our method. We then evaluate our method on challenging high-dimensional continuous control simulation benchmarks as well as real-world robotic vision-based manipulation tasks. The results show that it strongly outperforms DAgger-like approaches across the different tasks, especially when the intervening experts are suboptimal. Code and videos can be found on the project website: rlif-page.github.io

Consistency Models (CMs) have showed a promise in creating visual content efficiently and with high quality. However, the way to add new conditional controls to the pretrained CMs has not been explored. In this technical report, we consider alternative strategies for adding ControlNet-like conditional control to CMs and present three significant findings. 1) ControlNet trained for diffusion models (DMs) can be directly applied to CMs for high-level semantic controls but struggles with low-level detail and realism control. 2) CMs serve as an independent class of generative models, based on which ControlNet can be trained from scratch using Consistency Training proposed by Song et al. 3) A lightweight adapter can be jointly optimized under multiple conditions through Consistency Training, allowing for the swift transfer of DMs-based ControlNet to CMs. We study these three solutions across various conditional controls, including edge, depth, human pose, low-resolution image and masked image with text-to-image latent consistency models.

We introduce Language-Informed Latent Actions (LILA), a framework for learning natural language interfaces in the context of human-robot collaboration. LILA falls under the shared autonomy paradigm: in addition to providing discrete language inputs, humans are given a low-dimensional controller - e.g., a 2 degree-of-freedom (DoF) joystick that can move left/right and up/down - for operating the robot. LILA learns to use language to modulate this controller, providing users with a language-informed control space: given an instruction like "place the cereal bowl on the tray," LILA may learn a 2-DoF space where one dimension controls the distance from the robot's end-effector to the bowl, and the other dimension controls the robot's end-effector pose relative to the grasp point on the bowl. We evaluate LILA with real-world user studies, where users can provide a language instruction while operating a 7-DoF Franka Emika Panda Arm to complete a series of complex manipulation tasks. We show that LILA models are not only more sample efficient and performant than imitation learning and end-effector control baselines, but that they are also qualitatively preferred by users.

The accurate modeling of dynamics in interactive environments is critical for successful long-range prediction. Such a capability could advance Reinforcement Learning (RL) and Planning algorithms, but achieving it is challenging. Inaccuracies in model estimates can compound, resulting in increased errors over long horizons. We approach this problem from the lens of Koopman theory, where the nonlinear dynamics of the environment can be linearized in a high-dimensional latent space. This allows us to efficiently parallelize the sequential problem of long-range prediction using convolution while accounting for the agent's action at every time step. Our approach also enables stability analysis and better control over gradients through time. Taken together, these advantages result in significant improvement over the existing approaches, both in the efficiency and the accuracy of modeling dynamics over extended horizons. We also show that this model can be easily incorporated into dynamics modeling for model-based planning and model-free RL and report promising experimental results.

Recent interest in human-AI interactions in agent-based modeling and simulation (ABMS) has grown rapidly due to the widespread utilization of large language models (LLMs). ABMS is an intelligent approach that simulates autonomous agents' behaviors within a defined environment to research emergent phenomena. Integrating LLMs into ABMS enables natural language interaction between humans and models. Meanwhile, it introduces new challenges that rely on human interaction to address. Human involvement can assist ABMS in adapting to flexible and complex research demands. However, systematic reviews of interactions that examine how humans and AI interact in ABMS are lacking. In this paper, we investigate existing works and propose a novel taxonomy to categorize the interactions derived from them. Specifically, human users refer to researchers who utilize ABMS tools to conduct their studies in our survey. We decompose interactions into five dimensions: the goals that users want to achieve (Why), the phases that users are involved (When), the components of the system (What), the roles of users (Who), and the means of interactions (How). Our analysis summarizes the findings that reveal existing interaction patterns. They provide researchers who develop interactions with comprehensive guidance on how humans and AI interact. We further discuss the unexplored interactions and suggest future research directions.

Controllable human image animation aims to generate videos from reference images using driving videos. Due to the limited control signals provided by sparse guidance (e.g., skeleton pose), recent works have attempted to introduce additional dense conditions (e.g., depth map) to ensure motion alignment. However, such strict dense guidance impairs the quality of the generated video when the body shape of the reference character differs significantly from that of the driving video. In this paper, we present DisPose to mine more generalizable and effective control signals without additional dense input, which disentangles the sparse skeleton pose in human image animation into motion field guidance and keypoint correspondence. Specifically, we generate a dense motion field from a sparse motion field and the reference image, which provides region-level dense guidance while maintaining the generalization of the sparse pose control. We also extract diffusion features corresponding to pose keypoints from the reference image, and then these point features are transferred to the target pose to provide distinct identity information. To seamlessly integrate into existing models, we propose a plug-and-play hybrid ControlNet that improves the quality and consistency of generated videos while freezing the existing model parameters. Extensive qualitative and quantitative experiments demonstrate the superiority of DisPose compared to current methods. Code: https://github.com/lihxxx/DisPose{https://github.com/lihxxx/DisPose}.

Diffusion model has demonstrated remarkable capability in video generation, which further sparks interest in introducing trajectory control into the generation process. While existing works mainly focus on training-based methods (e.g., conditional adapter), we argue that diffusion model itself allows decent control over the generated content without requiring any training. In this study, we introduce a tuning-free framework to achieve trajectory-controllable video generation, by imposing guidance on both noise construction and attention computation. Specifically, 1) we first show several instructive phenomenons and analyze how initial noises influence the motion trajectory of generated content. 2) Subsequently, we propose FreeTraj, a tuning-free approach that enables trajectory control by modifying noise sampling and attention mechanisms. 3) Furthermore, we extend FreeTraj to facilitate longer and larger video generation with controllable trajectories. Equipped with these designs, users have the flexibility to provide trajectories manually or opt for trajectories automatically generated by the LLM trajectory planner. Extensive experiments validate the efficacy of our approach in enhancing the trajectory controllability of video diffusion models.

The use of persona-grounded retrieval-based chatbots is crucial for personalized conversations, but there are several challenges that need to be addressed. 1) In general, collecting persona-grounded corpus is very expensive. 2) The chatbot system does not always respond in consideration of persona at real applications. To address these challenges, we propose a plug-and-play persona prompting method. Our system can function as a standard open-domain chatbot if persona information is not available. We demonstrate that this approach performs well in the zero-shot setting, which reduces the dependence on persona-ground training data. This makes it easier to expand the system to other languages without the need to build a persona-grounded corpus. Additionally, our model can be fine-tuned for even better performance. In our experiments, the zero-shot model improved the standard model by 7.71 and 1.04 points in the original persona and revised persona, respectively. The fine-tuned model improved the previous state-of-the-art system by 1.95 and 3.39 points in the original persona and revised persona, respectively. To the best of our knowledge, this is the first attempt to solve the problem of personalized response selection using prompt sequences. Our code is available on github~https://github.com/rungjoo/plug-and-play-prompt-persona.

Video synthesis techniques are undergoing rapid progress, with controllability being a significant aspect of practical usability for end-users. Although text condition is an effective way to guide video synthesis, capturing the correct joint distribution between text descriptions and video motion remains a substantial challenge. In this paper, we present a disentangled and unified framework, namely I2VControl, that unifies multiple motion control tasks in image-to-video synthesis. Our approach partitions the video into individual motion units and represents each unit with disentangled control signals, which allows for various control types to be flexibly combined within our single system. Furthermore, our methodology seamlessly integrates as a plug-in for pre-trained models and remains agnostic to specific model architectures. We conduct extensive experiments, achieving excellent performance on various control tasks, and our method further facilitates user-driven creative combinations, enhancing innovation and creativity. The project page is: https://wanquanf.github.io/I2VControl .

Diffusion-based generative models have achieved remarkable success in image generation. Their guidance formulation allows an external model to plug-and-play control the generation process for various tasks without finetuning the diffusion model. However, the direct use of publicly available off-the-shelf models for guidance fails due to their poor performance on noisy inputs. For that, the existing practice is to fine-tune the guidance models with labeled data corrupted with noises. In this paper, we argue that this practice has limitations in two aspects: (1) performing on inputs with extremely various noises is too hard for a single guidance model; (2) collecting labeled datasets hinders scaling up for various tasks. To tackle the limitations, we propose a novel strategy that leverages multiple experts where each expert is specialized in a particular noise range and guides the reverse process of the diffusion at its corresponding timesteps. However, as it is infeasible to manage multiple networks and utilize labeled data, we present a practical guidance framework termed Practical Plug-And-Play (PPAP), which leverages parameter-efficient fine-tuning and data-free knowledge transfer. We exhaustively conduct ImageNet class conditional generation experiments to show that our method can successfully guide diffusion with small trainable parameters and no labeled data. Finally, we show that image classifiers, depth estimators, and semantic segmentation models can guide publicly available GLIDE through our framework in a plug-and-play manner. Our code is available at https://github.com/riiid/PPAP.

This work introduces MotionLCM, extending controllable motion generation to a real-time level. Existing methods for spatial control in text-conditioned motion generation suffer from significant runtime inefficiency. To address this issue, we first propose the motion latent consistency model (MotionLCM) for motion generation, building upon the latent diffusion model (MLD). By employing one-step (or few-step) inference, we further improve the runtime efficiency of the motion latent diffusion model for motion generation. To ensure effective controllability, we incorporate a motion ControlNet within the latent space of MotionLCM and enable explicit control signals (e.g., pelvis trajectory) in the vanilla motion space to control the generation process directly, similar to controlling other latent-free diffusion models for motion generation. By employing these techniques, our approach can generate human motions with text and control signals in real-time. Experimental results demonstrate the remarkable generation and controlling capabilities of MotionLCM while maintaining real-time runtime efficiency.

Controllability plays a crucial role in video generation since it allows users to create desired content. However, existing models largely overlooked the precise control of camera pose that serves as a cinematic language to express deeper narrative nuances. To alleviate this issue, we introduce CameraCtrl, enabling accurate camera pose control for text-to-video(T2V) models. After precisely parameterizing the camera trajectory, a plug-and-play camera module is then trained on a T2V model, leaving others untouched. Additionally, a comprehensive study on the effect of various datasets is also conducted, suggesting that videos with diverse camera distribution and similar appearances indeed enhance controllability and generalization. Experimental results demonstrate the effectiveness of CameraCtrl in achieving precise and domain-adaptive camera control, marking a step forward in the pursuit of dynamic and customized video storytelling from textual and camera pose inputs. Our project website is at: https://hehao13.github.io/projects-CameraCtrl/.

Large Language Models(LLMs) have dramatically revolutionized the field of Natural Language Processing(NLP), offering remarkable capabilities that have garnered widespread usage. However, existing interaction paradigms between LLMs and users are constrained by either inflexibility, limitations in customization, or a lack of persistent learning. This inflexibility is particularly evident as users, especially those without programming skills, have restricted avenues to enhance or personalize the model. Existing frameworks further complicate the model training and deployment process due to their computational inefficiencies and lack of user-friendly interfaces. To overcome these challenges, this paper introduces a novel interaction paradigm-'Online Training using External Interactions'-that merges the benefits of persistent, real-time model updates with the flexibility for individual customization through external interactions such as AI agents or online/offline knowledge bases.

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to perform new tasks. However, these capabilities (driven by in-context learning) are limited to short-term interactions, where users' feedback remains relevant for only as long as it fits within the context size of the LLM, and can be forgotten over longer interactions. In this work, we investigate fine-tuning the robot code-writing LLMs, to remember their in-context interactions and improve their teachability i.e., how efficiently they adapt to human inputs (measured by average number of corrections before the user considers the task successful). Our key observation is that when human-robot interactions are formulated as a partially observable Markov decision process (in which human language inputs are observations, and robot code outputs are actions), then training an LLM to complete previous interactions can be viewed as training a transition dynamics model -- that can be combined with classic robotics techniques such as model predictive control (MPC) to discover shorter paths to success. This gives rise to Language Model Predictive Control (LMPC), a framework that fine-tunes PaLM 2 to improve its teachability on 78 tasks across 5 robot embodiments -- improving non-expert teaching success rates of unseen tasks by 26.9% while reducing the average number of human corrections from 2.4 to 1.9. Experiments show that LMPC also produces strong meta-learners, improving the success rate of in-context learning new tasks on unseen robot embodiments and APIs by 31.5%. See videos, code, and demos at: https://robot-teaching.github.io/.

We introduce a dynamic benchmarking system for conversational agents that evaluates their performance through a single, simulated, and lengthy userleftrightarrowagent interaction. The interaction is a conversation between the user and agent, where multiple tasks are introduced and then undertaken concurrently. We context switch regularly to interleave the tasks, which constructs a realistic testing scenario in which we assess the Long-Term Memory, Continual Learning, and Information Integration capabilities of the agents. Results from both proprietary and open-source Large-Language Models show that LLMs in general perform well on single-task interactions, but they struggle on the same tasks when they are interleaved. Notably, short-context LLMs supplemented with an LTM system perform as well as or better than those with larger contexts. Our benchmark suggests that there are other challenges for LLMs responding to more natural interactions that contemporary benchmarks have heretofore not been able to capture.

ControlNet offers a powerful way to guide diffusion-based generative models, yet most implementations rely on ad-hoc heuristics to choose which network blocks to control-an approach that varies unpredictably with different tasks. To address this gap, we propose FlexControl, a novel framework that copies all diffusion blocks during training and employs a trainable gating mechanism to dynamically select which blocks to activate at each denoising step. With introducing a computation-aware loss, we can encourage control blocks only to activate when it benefit the generation quality. By eliminating manual block selection, FlexControl enhances adaptability across diverse tasks and streamlines the design pipeline, with computation-aware training loss in an end-to-end training manner. Through comprehensive experiments on both UNet (e.g., SD1.5) and DiT (e.g., SD3.0), we show that our method outperforms existing ControlNet variants in certain key aspects of interest. As evidenced by both quantitative and qualitative evaluations, FlexControl preserves or enhances image fidelity while also reducing computational overhead by selectively activating the most relevant blocks. These results underscore the potential of a flexible, data-driven approach for controlled diffusion and open new avenues for efficient generative model design.

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability of trajectories, which is normally only associated with rule-based systems. Our guided diffusion model allows users to constrain trajectories through target waypoints, speed, and specified social groups while accounting for the surrounding environment context. This trajectory diffusion model is integrated with a novel physics-based humanoid controller to form a closed-loop, full-body pedestrian animation system capable of placing large crowds in a simulated environment with varying terrains. We further propose utilizing the value function learned during RL training of the animation controller to guide diffusion to produce trajectories better suited for particular scenarios such as collision avoidance and traversing uneven terrain. Video results are available on the project page at https://nv-tlabs.github.io/trace-pace .

Humans are highly adaptable, swiftly switching between different modes to progressively handle different tasks, situations and contexts. In Human-object interaction (HOI) activities, these modes can be attributed to two mechanisms: (1) the large-scale consistent plan for the whole activity and (2) the small-scale children interactive actions that start and end along the timeline. While neuroscience and cognitive science have confirmed this multi-mechanism nature of human behavior, machine modeling approaches for human motion are trailing behind. While attempted to use gradually morphing structures (e.g., graph attention networks) to model the dynamic HOI patterns, they miss the expeditious and discrete mode-switching nature of the human motion. To bridge that gap, this work proposes to model two concurrent mechanisms that jointly control human motion: the Persistent process that runs continually on the global scale, and the Transient sub-processes that operate intermittently on the local context of the human while interacting with objects. These two mechanisms form an interactive Persistent-Transient Duality that synergistically governs the activity sequences. We model this conceptual duality by a parent-child neural network of Persistent and Transient channels with a dedicated neural module for dynamic mechanism switching. The framework is trialed on HOI motion forecasting. On two rich datasets and a wide variety of settings, the model consistently delivers superior performances, proving its suitability for the challenge.

Proactive dialogues serve as a practical yet challenging dialogue problem in the era of large language models (LLMs), where the dialogue policy planning is the key to improving the proactivity of LLMs. Most existing studies enable the dialogue policy planning of LLMs using various prompting schemes or iteratively enhance this capability in handling the given case with verbal AI feedback. However, these approaches are either bounded by the policy planning capability of the frozen LLMs or hard to be transferred to new cases. In this work, we introduce a new dialogue policy planning paradigm to strategize LLMs for proactive dialogue problems with a tunable language model plug-in as a plug-and-play dialogue policy planner, named PPDPP. Specifically, we develop a novel training framework to facilitate supervised fine-tuning over available human-annotated data as well as reinforcement learning from goal-oriented AI feedback with dynamic interaction data collected by the LLM-based self-play simulation. In this manner, the LLM-powered dialogue agent can not only be generalized to different cases after the training, but also be applicable to different applications by just substituting the learned plug-in. In addition, we propose to evaluate the policy planning capability of dialogue systems under the interactive setting. Experimental results demonstrate that PPDPP consistently and substantially outperforms existing approaches on three different proactive dialogue applications, including negotiation, emotional support, and tutoring dialogues.

In this work, we introduce FlexGen, a flexible framework designed to generate controllable and consistent multi-view images, conditioned on a single-view image, or a text prompt, or both. FlexGen tackles the challenges of controllable multi-view synthesis through additional conditioning on 3D-aware text annotations. We utilize the strong reasoning capabilities of GPT-4V to generate 3D-aware text annotations. By analyzing four orthogonal views of an object arranged as tiled multi-view images, GPT-4V can produce text annotations that include 3D-aware information with spatial relationship. By integrating the control signal with proposed adaptive dual-control module, our model can generate multi-view images that correspond to the specified text. FlexGen supports multiple controllable capabilities, allowing users to modify text prompts to generate reasonable and corresponding unseen parts. Additionally, users can influence attributes such as appearance and material properties, including metallic and roughness. Extensive experiments demonstrate that our approach offers enhanced multiple controllability, marking a significant advancement over existing multi-view diffusion models. This work has substantial implications for fields requiring rapid and flexible 3D content creation, including game development, animation, and virtual reality. Project page: https://xxu068.github.io/flexgen.github.io/.

Active Real-time interaction with video LLMs introduces a new paradigm for human-computer interaction, where the model not only understands user intent but also responds while continuously processing streaming video on the fly. Unlike offline video LLMs, which analyze the entire video before answering questions, active real-time interaction requires three capabilities: 1) Perception: real-time video monitoring and interaction capturing. 2) Decision: raising proactive interaction in proper situations, 3) Reaction: continuous interaction with users. However, inherent conflicts exist among the desired capabilities. The Decision and Reaction require a contrary Perception scale and grain, and the autoregressive decoding blocks the real-time Perception and Decision during the Reaction. To unify the conflicted capabilities within a harmonious system, we present Dispider, a system that disentangles Perception, Decision, and Reaction. Dispider features a lightweight proactive streaming video processing module that tracks the video stream and identifies optimal moments for interaction. Once the interaction is triggered, an asynchronous interaction module provides detailed responses, while the processing module continues to monitor the video in the meantime. Our disentangled and asynchronous design ensures timely, contextually accurate, and computationally efficient responses, making Dispider ideal for active real-time interaction for long-duration video streams. Experiments show that Dispider not only maintains strong performance in conventional video QA tasks, but also significantly surpasses previous online models in streaming scenario responses, thereby validating the effectiveness of our architecture. The code and model are released at https://github.com/Mark12Ding/Dispider.

Dynamical systems with complex behaviours, e.g. immune system cells interacting with a pathogen, are commonly modelled by splitting the behaviour into different regimes, or modes, each with simpler dynamics, and then learning the switching behaviour from one mode to another. Switching Dynamical Systems (SDS) are a powerful tool that automatically discovers these modes and mode-switching behaviour from time series data. While effective, these methods focus on independent objects, where the modes of one object are independent of the modes of the other objects. In this paper, we focus on the more general interacting object setting for switching dynamical systems, where the per-object dynamics also depends on an unknown and dynamically changing subset of other objects and their modes. To this end, we propose a novel graph-based approach for switching dynamical systems, GRAph Switching dynamical Systems (GRASS), in which we use a dynamic graph to characterize interactions between objects and learn both intra-object and inter-object mode-switching behaviour. We introduce two new datasets for this setting, a synthesized ODE-driven particles dataset and a real-world Salsa Couple Dancing dataset. Experiments show that GRASS can consistently outperforms previous state-of-the-art methods.

Recent advances in artificial intelligence (AI) have produced highly capable and controllable systems. This creates unprecedented opportunities for structured reasoning as well as collaboration among multiple AI systems and humans. To fully realize this potential, it is essential to develop a principled way of designing and studying such structured interactions. For this purpose, we introduce the conceptual framework of Flows: a systematic approach to modeling complex interactions. Flows are self-contained building blocks of computation, with an isolated state, communicating through a standardized message-based interface. This modular design allows Flows to be recursively composed into arbitrarily nested interactions, with a substantial reduction of complexity. Crucially, any interaction can be implemented using this framework, including prior work on AI--AI and human--AI interactions, prompt engineering schemes, and tool augmentation. We demonstrate the potential of Flows on the task of competitive coding, a challenging task on which even GPT-4 struggles. Our results suggest that structured reasoning and collaboration substantially improve generalization, with AI-only Flows adding +21 and human--AI Flows adding +54 absolute points in terms of solve rate. To support rapid and rigorous research, we introduce the aiFlows library. The library comes with a repository of Flows that can be easily used, extended, and composed into novel, more complex Flows. The aiFlows library is available at https://github.com/epfl-dlab/aiflows. Data and Flows for reproducing our experiments are available at https://github.com/epfl-dlab/cc_flows.

Recently, audio generation tasks have attracted considerable research interests. Precise temporal controllability is essential to integrate audio generation with real applications. In this work, we propose a temporal controlled audio generation framework, PicoAudio. PicoAudio integrates temporal information to guide audio generation through tailored model design. It leverages data crawling, segmentation, filtering, and simulation of fine-grained temporally-aligned audio-text data. Both subjective and objective evaluations demonstrate that PicoAudio dramantically surpasses current state-of-the-art generation models in terms of timestamp and occurrence frequency controllability. The generated samples are available on the demo website https://PicoAudio.github.io.

Collecting real-world manipulation trajectory data involving robotic arms is essential for developing general-purpose action policies in robotic manipulation, yet such data remains scarce. Existing methods face limitations such as high costs, labor intensity, hardware dependencies, and complex setup requirements involving SLAM algorithms. In this work, we introduce Fast-UMI, an interface-mediated manipulation system comprising two key components: a handheld device operated by humans for data collection and a robot-mounted device used during policy inference. Our approach employs a decoupled design compatible with a wide range of grippers while maintaining consistent observation perspectives, allowing models trained on handheld-collected data to be directly applied to real robots. By directly obtaining the end-effector pose using existing commercial hardware products, we eliminate the need for complex SLAM deployment and calibration, streamlining data processing. Fast-UMI provides supporting software tools for efficient robot learning data collection and conversion, facilitating rapid, plug-and-play functionality. This system offers an efficient and user-friendly tool for robotic learning data acquisition.

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to advance the capabilities of robotic control. However, since low-level robot actions are hardware-dependent and underrepresented in LLM training corpora, existing efforts in applying LLMs to robotics have largely treated LLMs as semantic planners or relied on human-engineered control primitives to interface with the robot. On the other hand, reward functions are shown to be flexible representations that can be optimized for control policies to achieve diverse tasks, while their semantic richness makes them suitable to be specified by LLMs. In this work, we introduce a new paradigm that harnesses this realization by utilizing LLMs to define reward parameters that can be optimized and accomplish variety of robotic tasks. Using reward as the intermediate interface generated by LLMs, we can effectively bridge the gap between high-level language instructions or corrections to low-level robot actions. Meanwhile, combining this with a real-time optimizer, MuJoCo MPC, empowers an interactive behavior creation experience where users can immediately observe the results and provide feedback to the system. To systematically evaluate the performance of our proposed method, we designed a total of 17 tasks for a simulated quadruped robot and a dexterous manipulator robot. We demonstrate that our proposed method reliably tackles 90% of the designed tasks, while a baseline using primitive skills as the interface with Code-as-policies achieves 50% of the tasks. We further validated our method on a real robot arm where complex manipulation skills such as non-prehensile pushing emerge through our interactive system.

World models simulate future states of the world in response to different actions. They facilitate interactive content creation and provides a foundation for grounded, long-horizon reasoning. Current foundation models do not fully meet the capabilities of general world models: large language models (LLMs) are constrained by their reliance on language modality and their limited understanding of the physical world, while video models lack interactive action control over the world simulations. This paper makes a step towards building a general world model by introducing Pandora, a hybrid autoregressive-diffusion model that simulates world states by generating videos and allows real-time control with free-text actions. Pandora achieves domain generality, video consistency, and controllability through large-scale pretraining and instruction tuning. Crucially, Pandora bypasses the cost of training-from-scratch by integrating a pretrained LLM (7B) and a pretrained video model, requiring only additional lightweight finetuning. We illustrate extensive outputs by Pandora across diverse domains (indoor/outdoor, natural/urban, human/robot, 2D/3D, etc.). The results indicate great potential of building stronger general world models with larger-scale training.

Achieving machine autonomy and human control often represent divergent objectives in the design of interactive AI systems. Visual generative foundation models such as Stable Diffusion show promise in navigating these goals, especially when prompted with arbitrary languages. However, they often fall short in generating images with spatial, structural, or geometric controls. The integration of such controls, which can accommodate various visual conditions in a single unified model, remains an unaddressed challenge. In response, we introduce UniControl, a new generative foundation model that consolidates a wide array of controllable condition-to-image (C2I) tasks within a singular framework, while still allowing for arbitrary language prompts. UniControl enables pixel-level-precise image generation, where visual conditions primarily influence the generated structures and language prompts guide the style and context. To equip UniControl with the capacity to handle diverse visual conditions, we augment pretrained text-to-image diffusion models and introduce a task-aware HyperNet to modulate the diffusion models, enabling the adaptation to different C2I tasks simultaneously. Trained on nine unique C2I tasks, UniControl demonstrates impressive zero-shot generation abilities with unseen visual conditions. Experimental results show that UniControl often surpasses the performance of single-task-controlled methods of comparable model sizes. This control versatility positions UniControl as a significant advancement in the realm of controllable visual generation.

Ensuring safety is of paramount importance in physical human-robot interaction applications. This requires both adherence to safety constraints defined on the system state, as well as guaranteeing compliant behavior of the robot. If the underlying dynamical system is known exactly, the former can be addressed with the help of control barrier functions. The incorporation of elastic actuators in the robot's mechanical design can address the latter requirement. However, this elasticity can increase the complexity of the resulting system, leading to unmodeled dynamics, such that control barrier functions cannot directly ensure safety. In this paper, we mitigate this issue by learning the unknown dynamics using Gaussian process regression. By employing the model in a feedback linearizing control law, the safety conditions resulting from control barrier functions can be robustified to take into account model errors, while remaining feasible. In order to enforce them on-line, we formulate the derived safety conditions in the form of a second-order cone program. We demonstrate our proposed approach with simulations on a two-degree-of-freedom planar robot with elastic joints.

Benefiting from the powerful capabilities of large language models (LLMs), agents based on LLMs have shown the potential to address domain-specific tasks and emulate human behaviors. However, the content generated by these agents remains somewhat superficial, owing to their limited domain expertise and the absence of an effective cognitive architecture. To address this, we present the Configurable General Multi-Agent Interaction (CGMI) framework, designed to replicate human interactions in real-world scenarios. Specifically, we propose a tree-structured methodology for the assignment, detection, and maintenance of agent personality. Additionally, we designed a cognitive architecture equipped with a skill library based on the ACT* model, which contains memory, reflection, and planning modules. We have also integrated general agents to augment the virtual environment's realism. Using the CGMI framework, we simulated numerous classroom interactions between teacher and students. The experiments indicate that aspects such as the teaching methodology, curriculum, and student performance closely mirror real classroom settings. We will open source our work.

This paper introduces a novel mobile phone control architecture, termed ``app agents", for efficient interactions and controls across various Android apps. The proposed Lightweight Multi-modal App Control (LiMAC) takes as input a textual goal and a sequence of past mobile observations, such as screenshots and corresponding UI trees, to generate precise actions. To address the computational constraints inherent to smartphones, within LiMAC, we introduce a small Action Transformer (AcT) integrated with a fine-tuned vision-language model (VLM) for real-time decision-making and task execution. We evaluate LiMAC on two open-source mobile control datasets, demonstrating the superior performance of our small-form-factor approach against fine-tuned versions of open-source VLMs, such as Florence2 and Qwen2-VL. It also significantly outperforms prompt engineering baselines utilising closed-source foundation models like GPT-4o. More specifically, LiMAC increases the overall action accuracy by up to 19% compared to fine-tuned VLMs, and up to 42% compared to prompt-engineering baselines.

Large language models (LLMs) pre-trained on vast internet-scale data have showcased remarkable capabilities across diverse domains. Recently, there has been escalating interest in deploying LLMs for robotics, aiming to harness the power of foundation models in real-world settings. However, this approach faces significant challenges, particularly in grounding these models in the physical world and in generating dynamic robot motions. To address these issues, we introduce a novel paradigm in which we use few-shot prompts collected from the physical environment, enabling the LLM to autoregressively generate low-level control commands for robots without task-specific fine-tuning. Experiments across various robots and environments validate that our method can effectively prompt a robot to walk. We thus illustrate how LLMs can proficiently function as low-level feedback controllers for dynamic motion control even in high-dimensional robotic systems. The project website and source code can be found at: https://prompt2walk.github.io/ .

Modelling interactions is critical in learning complex dynamical systems, namely systems of interacting objects with highly non-linear and time-dependent behaviour. A large class of such systems can be formalized as geometric graphs, i.e., graphs with nodes positioned in the Euclidean space given an arbitrarily chosen global coordinate system, for instance vehicles in a traffic scene. Notwithstanding the arbitrary global coordinate system, the governing dynamics of the respective dynamical systems are invariant to rotations and translations, also known as Galilean invariance. As ignoring these invariances leads to worse generalization, in this work we propose local coordinate frames per node-object to induce roto-translation invariance to the geometric graph of the interacting dynamical system. Further, the local coordinate frames allow for a natural definition of anisotropic filtering in graph neural networks. Experiments in traffic scenes, 3D motion capture, and colliding particles demonstrate that the proposed approach comfortably outperforms the recent state-of-the-art.

We present formulation and open-source tools to achieve in-material model predictive control of sensor/actuator systems using learned forward kinematics and on-device computation. Microcontroller units (MCUs) that compute the prediction and control task while colocated with the sensors and actuators enable in-material untethered behaviors. In this approach, small parameter size neural network models learn forward kinematics offline. Our open-source compiler, nn4mc, generates code to offload these predictions onto MCUs. A Newton-Raphson solver then computes the control input in real time. We first benchmark this nonlinear control approach against a PID controller on a mass-spring-damper simulation. We then study experimental results on two experimental rigs with different sensing, actuation and computational hardware: a tendon-based platform with embedded LightLace sensors and a HASEL-based platform with magnetic sensors. Experimental results indicate effective high-bandwidth tracking of reference paths (greater than or equal to 120 Hz) with a small memory footprint (less than or equal to 6.4% of flash memory). The measured path following error does not exceed 2mm in the tendon-based platform. The simulated path following error does not exceed 1mm in the HASEL-based platform. The mean power consumption of this approach in an ARM Cortex-M4f device is 45.4 mW. This control approach is also compatible with Tensorflow Lite models and equivalent on-device code. In-material intelligence enables a new class of composites that infuse autonomy into structures and systems with refined artificial proprioception.

We introduce controlgym, a library of thirty-six safety-critical industrial control settings, and ten infinite-dimensional partial differential equation (PDE)-based control problems. Integrated within the OpenAI Gym/Gymnasium (Gym) framework, controlgym allows direct applications of standard reinforcement learning (RL) algorithms like stable-baselines3. Our control environments complement those in Gym with continuous, unbounded action and observation spaces, motivated by real-world control applications. Moreover, the PDE control environments uniquely allow the users to extend the state dimensionality of the system to infinity while preserving the intrinsic dynamics. This feature is crucial for evaluating the scalability of RL algorithms for control. This project serves the learning for dynamics & control (L4DC) community, aiming to explore key questions: the convergence of RL algorithms in learning control policies; the stability and robustness issues of learning-based controllers; and the scalability of RL algorithms to high- and potentially infinite-dimensional systems. We open-source the controlgym project at https://github.com/xiangyuan-zhang/controlgym.

In this paper, we propose MPC (Modular Prompted Chatbot), a new approach for creating high-quality conversational agents without the need for fine-tuning. Our method utilizes pre-trained large language models (LLMs) as individual modules for long-term consistency and flexibility, by using techniques such as few-shot prompting, chain-of-thought (CoT), and external memory. Our human evaluation results show that MPC is on par with fine-tuned chatbot models in open-domain conversations, making it an effective solution for creating consistent and engaging chatbots.

Due to the lack of human resources for mental health support, there is an increasing demand for employing conversational agents for support. Recent work has demonstrated the effectiveness of dialogue models in providing emotional support. As previous studies have demonstrated that seekers' persona is an important factor for effective support, we investigate whether there are benefits to modeling such information in dialogue models for support. In this paper, our empirical analysis verifies that persona has an important impact on emotional support. Therefore, we propose a framework for dynamically inferring and modeling seekers' persona. We first train a model for inferring the seeker's persona from the conversation history. Accordingly, we propose PAL, a model that leverages persona information and, in conjunction with our strategy-based controllable generation method, provides personalized emotional support. Automatic and manual evaluations demonstrate that PAL achieves state-of-the-art results, outperforming the baselines on the studied benchmark. Our code and data are publicly available at https://github.com/chengjl19/PAL.

Dialogue serves as the most natural manner of human-computer interaction (HCI). Recent advancements in speech language models (SLM) have significantly enhanced speech-based conversational AI. However, these models are limited to turn-based conversation, lacking the ability to interact with humans in real-time spoken scenarios, for example, being interrupted when the generated content is not satisfactory. To address these limitations, we explore full duplex modeling (FDM) in interactive speech language models (iSLM), focusing on enhancing real-time interaction and, more explicitly, exploring the quintessential ability of interruption. We introduce a novel model design, namely listening-while-speaking language model (LSLM), an end-to-end system equipped with both listening and speaking channels. Our LSLM employs a token-based decoder-only TTS for speech generation and a streaming self-supervised learning (SSL) encoder for real-time audio input. LSLM fuses both channels for autoregressive generation and detects turn-taking in real time. Three fusion strategies -- early fusion, middle fusion, and late fusion -- are explored, with middle fusion achieving an optimal balance between speech generation and real-time interaction. Two experimental settings, command-based FDM and voice-based FDM, demonstrate LSLM's robustness to noise and sensitivity to diverse instructions. Our results highlight LSLM's capability to achieve duplex communication with minimal impact on existing systems. This study aims to advance the development of interactive speech dialogue systems, enhancing their applicability in real-world contexts.

Autonomous vehicles operating in complex real-world environments require accurate predictions of interactive behaviors between traffic participants. This paper tackles the interaction prediction problem by formulating it with hierarchical game theory and proposing the GameFormer model for its implementation. The model incorporates a Transformer encoder, which effectively models the relationships between scene elements, alongside a novel hierarchical Transformer decoder structure. At each decoding level, the decoder utilizes the prediction outcomes from the previous level, in addition to the shared environmental context, to iteratively refine the interaction process. Moreover, we propose a learning process that regulates an agent's behavior at the current level to respond to other agents' behaviors from the preceding level. Through comprehensive experiments on large-scale real-world driving datasets, we demonstrate the state-of-the-art accuracy of our model on the Waymo interaction prediction task. Additionally, we validate the model's capacity to jointly reason about the motion plan of the ego agent and the behaviors of multiple agents in both open-loop and closed-loop planning tests, outperforming various baseline methods. Furthermore, we evaluate the efficacy of our model on the nuPlan planning benchmark, where it achieves leading performance.

The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and gestures to enhance user engagement and emotional support. The understanding of design paradigms of social robots is obstructed by the complexity of the system and the necessity to tune it to a specific task. This article provides a structured review of social robot design paradigms, categorizing them into cognitive architectures, role design models, linguistic models, communication flow, activity system models, and integrated design models. By breaking down the articles on social robot design and application based on these paradigms, we highlight the strengths and areas for improvement in current approaches. We further propose our original integrated design model that combines the most important aspects of the design of social robots. Our approach shows the importance of integrating operational, communicational, and emotional dimensions to create more adaptive and empathetic interactions between robots and humans.

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an approach to use foot contact patterns as an interface that bridges human commands in natural language and a locomotion controller that outputs these low-level commands. This results in an interactive system for quadrupedal robots that allows the users to craft diverse locomotion behaviors flexibly. We contribute an LLM prompt design, a reward function, and a method to expose the controller to the feasible distribution of contact patterns. The results are a controller capable of achieving diverse locomotion patterns that can be transferred to real robot hardware. Compared with other design choices, the proposed approach enjoys more than 50% success rate in predicting the correct contact patterns and can solve 10 more tasks out of a total of 30 tasks. Our project site is: https://saytap.github.io.

We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to deployable robot policies. UMI employs hand-held grippers coupled with careful interface design to enable portable, low-cost, and information-rich data collection for challenging bimanual and dynamic manipulation demonstrations. To facilitate deployable policy learning, UMI incorporates a carefully designed policy interface with inference-time latency matching and a relative-trajectory action representation. The resulting learned policies are hardware-agnostic and deployable across multiple robot platforms. Equipped with these features, UMI framework unlocks new robot manipulation capabilities, allowing zero-shot generalizable dynamic, bimanual, precise, and long-horizon behaviors, by only changing the training data for each task. We demonstrate UMI's versatility and efficacy with comprehensive real-world experiments, where policies learned via UMI zero-shot generalize to novel environments and objects when trained on diverse human demonstrations. UMI's hardware and software system is open-sourced at https://umi-gripper.github.io.

We present a physics-based humanoid controller that achieves high-fidelity motion imitation and fault-tolerant behavior in the presence of noisy input (e.g. pose estimates from video or generated from language) and unexpected falls. Our controller scales up to learning ten thousand motion clips without using any external stabilizing forces and learns to naturally recover from fail-state. Given reference motion, our controller can perpetually control simulated avatars without requiring resets. At its core, we propose the progressive multiplicative control policy (PMCP), which dynamically allocates new network capacity to learn harder and harder motion sequences. PMCP allows efficient scaling for learning from large-scale motion databases and adding new tasks, such as fail-state recovery, without catastrophic forgetting. We demonstrate the effectiveness of our controller by using it to imitate noisy poses from video-based pose estimators and language-based motion generators in a live and real-time multi-person avatar use case.

Large language models (LLMs) encode a vast amount of world knowledge acquired from massive text datasets. Recent studies have demonstrated that LLMs can assist an embodied agent in solving complex sequential decision making tasks by providing high-level instructions. However, interactions with LLMs can be time-consuming. In many practical scenarios, they require a significant amount of storage space that can only be deployed on remote cloud server nodes. Additionally, using commercial LLMs can be costly since they may charge based on usage frequency. In this paper, we explore how to enable intelligent cost-effective interactions between the agent and an LLM. We propose When2Ask, a reinforcement learning based approach that learns when it is necessary to query LLMs for high-level instructions to accomplish a target task. Experiments on MiniGrid and Habitat environments that entail planning sub-goals demonstrate that When2Ask learns to solve target tasks with only a few necessary interactions with an LLM, and significantly reduces interaction costs in testing environments compared with baseline methods. Experiment results also suggest that by learning a mediator model to interact with the LLM, the agent's performance becomes more robust against partial observability of the environment. Our code is available at https://github.com/ZJLAB-AMMI/LLM4RL.

Conversational LLMs function as black box systems, leaving users guessing about why they see the output they do. This lack of transparency is potentially problematic, especially given concerns around bias and truthfulness. To address this issue, we present an end-to-end prototype-connecting interpretability techniques with user experience design-that seeks to make chatbots more transparent. We begin by showing evidence that a prominent open-source LLM has a "user model": examining the internal state of the system, we can extract data related to a user's age, gender, educational level, and socioeconomic status. Next, we describe the design of a dashboard that accompanies the chatbot interface, displaying this user model in real time. The dashboard can also be used to control the user model and the system's behavior. Finally, we discuss a study in which users conversed with the instrumented system. Our results suggest that users appreciate seeing internal states, which helped them expose biased behavior and increased their sense of control. Participants also made valuable suggestions that point to future directions for both design and machine learning research. The project page and video demo of our TalkTuner system are available at https://bit.ly/talktuner-project-page

We tackle the challenge of large-scale network intervention for guiding excitatory point processes, such as infectious disease spread or traffic congestion control. Our model-based reinforcement learning utilizes neural ODEs to capture how the networked excitatory point processes will evolve subject to the time-varying changes in network topology. Our approach incorporates Gradient-Descent based Model Predictive Control (GD-MPC), offering policy flexibility to accommodate prior knowledge and constraints. To address the intricacies of planning and overcome the high dimensionality inherent to such decision-making problems, we design an Amortize Network Interventions (ANI) framework, allowing for the pooling of optimal policies from history and other contexts, while ensuring a permutation equivalent property. This property enables efficient knowledge transfer and sharing across diverse contexts. Our approach has broad applications, from curbing infectious disease spread to reducing carbon emissions through traffic light optimization, and thus has the potential to address critical societal and environmental challenges.

To enable machines to learn how humans interact with the physical world in our daily activities, it is crucial to provide rich data that encompasses the 3D motion of humans as well as the motion of objects in a learnable 3D representation. Ideally, this data should be collected in a natural setup, capturing the authentic dynamic 3D signals during human-object interactions. To address this challenge, we introduce the ParaHome system, designed to capture and parameterize dynamic 3D movements of humans and objects within a common home environment. Our system consists of a multi-view setup with 70 synchronized RGB cameras, as well as wearable motion capture devices equipped with an IMU-based body suit and hand motion capture gloves. By leveraging the ParaHome system, we collect a novel large-scale dataset of human-object interaction. Notably, our dataset offers key advancement over existing datasets in three main aspects: (1) capturing 3D body and dexterous hand manipulation motion alongside 3D object movement within a contextual home environment during natural activities; (2) encompassing human interaction with multiple objects in various episodic scenarios with corresponding descriptions in texts; (3) including articulated objects with multiple parts expressed with parameterized articulations. Building upon our dataset, we introduce new research tasks aimed at building a generative model for learning and synthesizing human-object interactions in a real-world room setting.

Audio-driven talking face generation has garnered significant interest within the domain of digital human research. Existing methods are encumbered by intricate model architectures that are intricately dependent on each other, complicating the process of re-editing image or video inputs. In this work, we present ControlTalk, a talking face generation method to control face expression deformation based on driven audio, which can construct the head pose and facial expression including lip motion for both single image or sequential video inputs in a unified manner. By utilizing a pre-trained video synthesis renderer and proposing the lightweight adaptation, ControlTalk achieves precise and naturalistic lip synchronization while enabling quantitative control over mouth opening shape. Our experiments show that our method is superior to state-of-the-art performance on widely used benchmarks, including HDTF and MEAD. The parameterized adaptation demonstrates remarkable generalization capabilities, effectively handling expression deformation across same-ID and cross-ID scenarios, and extending its utility to out-of-domain portraits, regardless of languages.

Human-model conversations provide a window into users' real-world scenarios, behavior, and needs, and thus are a valuable resource for model development and research. While for-profit companies collect user data through the APIs of their models, using it internally to improve their own models, the open source and research community lags behind. We introduce the ShareLM collection, a unified set of human conversations with large language models, and its accompanying plugin, a Web extension for voluntarily contributing user-model conversations. Where few platforms share their chats, the ShareLM plugin adds this functionality, thus, allowing users to share conversations from most platforms. The plugin allows the user to rate their conversations, both at the conversation and the response levels, and delete conversations they prefer to keep private before they ever leave the user's local storage. We release the plugin conversations as part of the ShareLM collection, and call for more community effort in the field of open human-model data. The code, plugin, and data are available.

It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects that remain challenging to capture, e.g., stick-slip friction and mechanical flexibilities. Such effects exhibit hysteresis and partial observability, rendering them, particularly challenging to model. Hence, hybrid models, which combine a physical prior with data-driven approaches are especially well-suited in this setting. We present a novel hybrid model formulation that enables us to identify fully physically consistent inertial parameters of a rigid body dynamics model which is paired with a recurrent neural network architecture, allowing us to capture unmodeled partially observable effects using the network memory. We compare our approach against state-of-the-art inverse dynamics models on a 7 degree of freedom manipulator. Using data sets obtained through an optimal experiment design approach, we study the accuracy of offline torque prediction and generalization capabilities of joint learning methods. In control experiments on the real system, we evaluate the model as a feed-forward term for impedance control and show the feedback gains can be drastically reduced to achieve a given tracking accuracy.

The applications of generative AI have become extremely impressive, and the interplay between users and AI is even more so. Current human-AI interaction literature has taken a broad look at how humans interact with generative AI, but it lacks specificity regarding the user interface designs and patterns used to create these applications. Therefore, we present a survey that comprehensively presents taxonomies of how a human interacts with AI and the user interaction patterns designed to meet the needs of a variety of relevant use cases. We focus primarily on user-guided interactions, surveying interactions that are initiated by the user and do not include any implicit signals given by the user. With this survey, we aim to create a compendium of different user-interaction patterns that can be used as a reference for designers and developers alike. In doing so, we also strive to lower the entry barrier for those attempting to learn more about the design of generative AI applications.

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control tasks. They are often specialized, and the tasks they address are rarely extendable or customizable. We categorize these as solutions to the close-set motion control problem. In response to the complexity of practical motion control, we propose and attempt to solve the open-set motion control problem. This problem is characterized by an open and fully customizable set of motion control tasks. To address this, we introduce a new paradigm, programmable motion generation. In this paradigm, any given motion control task is broken down into a combination of atomic constraints. These constraints are then programmed into an error function that quantifies the degree to which a motion sequence adheres to them. We utilize a pre-trained motion generation model and optimize its latent code to minimize the error function of the generated motion. Consequently, the generated motion not only inherits the prior of the generative model but also satisfies the required constraints. Experiments show that we can generate high-quality motions when addressing a wide range of unseen tasks. These tasks encompass motion control by motion dynamics, geometric constraints, physical laws, interactions with scenes, objects or the character own body parts, etc. All of these are achieved in a unified approach, without the need for ad-hoc paired training data collection or specialized network designs. During the programming of novel tasks, we observed the emergence of new skills beyond those of the prior model. With the assistance of large language models, we also achieved automatic programming. We hope that this work will pave the way for the motion control of general AI agents.

Learning to predict agent motions with relationship reasoning is important for many applications. In motion prediction tasks, maintaining motion equivariance under Euclidean geometric transformations and invariance of agent interaction is a critical and fundamental principle. However, such equivariance and invariance properties are overlooked by most existing methods. To fill this gap, we propose EqMotion, an efficient equivariant motion prediction model with invariant interaction reasoning. To achieve motion equivariance, we propose an equivariant geometric feature learning module to learn a Euclidean transformable feature through dedicated designs of equivariant operations. To reason agent's interactions, we propose an invariant interaction reasoning module to achieve a more stable interaction modeling. To further promote more comprehensive motion features, we propose an invariant pattern feature learning module to learn an invariant pattern feature, which cooperates with the equivariant geometric feature to enhance network expressiveness. We conduct experiments for the proposed model on four distinct scenarios: particle dynamics, molecule dynamics, human skeleton motion prediction and pedestrian trajectory prediction. Experimental results show that our method is not only generally applicable, but also achieves state-of-the-art prediction performances on all the four tasks, improving by 24.0/30.1/8.6/9.2%. Code is available at https://github.com/MediaBrain-SJTU/EqMotion.

Acquiring a diverse repertoire of general-purpose skills remains an open challenge for robotics. In this work, we propose self-supervising control on top of human teleoperated play data as a way to scale up skill learning. Play has two properties that make it attractive compared to conventional task demonstrations. Play is cheap, as it can be collected in large quantities quickly without task segmenting, labeling, or resetting to an initial state. Play is naturally rich, covering ~4x more interaction space than task demonstrations for the same amount of collection time. To learn control from play, we introduce Play-LMP, a self-supervised method that learns to organize play behaviors in a latent space, then reuse them at test time to achieve specific goals. Combining self-supervised control with a diverse play dataset shifts the focus of skill learning from a narrow and discrete set of tasks to the full continuum of behaviors available in an environment. We find that this combination generalizes well empirically---after self-supervising on unlabeled play, our method substantially outperforms individual expert-trained policies on 18 difficult user-specified visual manipulation tasks in a simulated robotic tabletop environment. We additionally find that play-supervised models, unlike their expert-trained counterparts, are more robust to perturbations and exhibit retrying-till-success behaviors. Finally, we find that our agent organizes its latent plan space around functional tasks, despite never being trained with task labels. Videos, code and data are available at learning-from-play.github.io

GPT-4o, an all-encompassing model, represents a milestone in the development of large multi-modal language models. It can understand visual, auditory, and textual modalities, directly output audio, and support flexible duplex interaction. Models from the open-source community often achieve some functionalities of GPT-4o, such as visual understanding and voice chat. Nevertheless, training a unified model that incorporates all modalities is challenging due to the complexities of multi-modal data, intricate model architectures, and training processes. In this paper, we introduce Mini-Omni2, a visual-audio assistant capable of providing real-time, end-to-end voice responses to visoin and audio queries. By integrating pretrained visual and auditory encoders, Mini-Omni2 maintains performance in individual modalities. We propose a three-stage training process to align modalities, allowing the language model to handle multi-modal inputs and outputs after training on a limited dataset. For interaction, we introduce a command-based interruption mechanism, enabling more flexible interaction with users. To the best of our knowledge, Mini-Omni2 is one of the closest reproductions of GPT-4o, which have similar form of functionality, and we hope it can offer valuable insights for subsequent research.

Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but even such a hand can crush objects if the applied force is too high. Thus for safe grasping, regulating the grasping force is of uttermost importance even with soft hands. In this work, we present a force controlled soft hand and use it to achieve safe grasping. To this end, resistive force and bend sensors are integrated in a soft hand, and a data-driven calibration method is proposed to estimate contact interaction forces. Given the force readings, the pneumatic pressures are regulated using a proportional-integral controller to achieve desired force. The controller is experimentally evaluated and benchmarked by grasping easily deformable objects such as plastic and paper cups without neither dropping nor deforming them. Together, the results demonstrate that our force controlled soft hand can grasp deformable objects in a safe yet stable manner.

Controllable layout generation refers to the process of creating a plausible visual arrangement of elements within a graphic design (e.g., document and web designs) with constraints representing design intentions. Although recent diffusion-based models have achieved state-of-the-art FID scores, they tend to exhibit more pronounced misalignment compared to earlier transformer-based models. In this work, we propose the LAyout Constraint diffusion modEl (LACE), a unified model to handle a broad range of layout generation tasks, such as arranging elements with specified attributes and refining or completing a coarse layout design. The model is based on continuous diffusion models. Compared with existing methods that use discrete diffusion models, continuous state-space design can enable the incorporation of differentiable aesthetic constraint functions in training. For conditional generation, we introduce conditions via masked input. Extensive experiment results show that LACE produces high-quality layouts and outperforms existing state-of-the-art baselines.

The proliferation of applications using artificial intelligence (AI) systems has led to a growing number of users interacting with these systems through sophisticated interfaces. Human-computer interaction research has long shown that interfaces shape both user behavior and user perception of technical capabilities and risks. Yet, practitioners and researchers evaluating the social and ethical risks of AI systems tend to overlook the impact of anthropomorphic, deceptive, and immersive interfaces on human-AI interactions. Here, we argue that design features of interfaces with adaptive AI systems can have cascading impacts, driven by feedback loops, which extend beyond those previously considered. We first conduct a scoping review of AI interface designs and their negative impact to extract salient themes of potentially harmful design patterns in AI interfaces. Then, we propose Design-Enhanced Control of AI systems (DECAI), a conceptual model to structure and facilitate impact assessments of AI interface designs. DECAI draws on principles from control systems theory -- a theory for the analysis and design of dynamic physical systems -- to dissect the role of the interface in human-AI systems. Through two case studies on recommendation systems and conversational language model systems, we show how DECAI can be used to evaluate AI interface designs.

This paper addresses a novel task of anticipating 3D human-object interactions (HOIs). Most existing research on HOI synthesis lacks comprehensive whole-body interactions with dynamic objects, e.g., often limited to manipulating small or static objects. Our task is significantly more challenging, as it requires modeling dynamic objects with various shapes, capturing whole-body motion, and ensuring physically valid interactions. To this end, we propose InterDiff, a framework comprising two key steps: (i) interaction diffusion, where we leverage a diffusion model to encode the distribution of future human-object interactions; (ii) interaction correction, where we introduce a physics-informed predictor to correct denoised HOIs in a diffusion step. Our key insight is to inject prior knowledge that the interactions under reference with respect to contact points follow a simple pattern and are easily predictable. Experiments on multiple human-object interaction datasets demonstrate the effectiveness of our method for this task, capable of producing realistic, vivid, and remarkably long-term 3D HOI predictions.

While recent AI-for-math has made strides in pure mathematics, areas of applied mathematics, particularly PDEs, remain underexplored despite their significant real-world applications. We present PDE-Controller, a framework that enables large language models (LLMs) to control systems governed by partial differential equations (PDEs). Our approach enables LLMs to transform informal natural language instructions into formal specifications, and then execute reasoning and planning steps to improve the utility of PDE control. We build a holistic solution comprising datasets (both human-written cases and 2 million synthetic samples), math-reasoning models, and novel evaluation metrics, all of which require significant effort. Our PDE-Controller significantly outperforms prompting the latest open-source and GPT models in reasoning, autoformalization, and program synthesis, achieving up to a 62% improvement in utility gain for PDE control. By bridging the gap between language generation and PDE systems, we demonstrate the potential of LLMs in addressing complex scientific and engineering challenges. We will release all data, model checkpoints, and code at https://pde-controller.github.io/.

Humanoid whole-body control requires adapting to diverse tasks such as navigation, loco-manipulation, and tabletop manipulation, each demanding a different mode of control. For example, navigation relies on root velocity tracking, while tabletop manipulation prioritizes upper-body joint angle tracking. Existing approaches typically train individual policies tailored to a specific command space, limiting their transferability across modes. We present the key insight that full-body kinematic motion imitation can serve as a common abstraction for all these tasks and provide general-purpose motor skills for learning multiple modes of whole-body control. Building on this, we propose HOVER (Humanoid Versatile Controller), a multi-mode policy distillation framework that consolidates diverse control modes into a unified policy. HOVER enables seamless transitions between control modes while preserving the distinct advantages of each, offering a robust and scalable solution for humanoid control across a wide range of modes. By eliminating the need for policy retraining for each control mode, our approach improves efficiency and flexibility for future humanoid applications.

The enduring challenge in the field of artificial intelligence has been the control of systems to achieve desired behaviours. While for systems governed by straightforward dynamics equations, methods like Linear Quadratic Regulation (LQR) have historically proven highly effective, most real-world tasks, which require a general problem-solver, demand world models with dynamics that cannot be easily described by simple equations. Consequently, these models must be learned from data using neural networks. Most model predictive control (MPC) algorithms designed for visual world models have traditionally explored gradient-free population-based optimisation methods, such as Cross Entropy and Model Predictive Path Integral (MPPI) for planning. However, we present an exploration of a gradient-based alternative that fully leverages the differentiability of the world model. In our study, we conduct a comparative analysis between our method and other MPC-based alternatives, as well as policy-based algorithms. In a sample-efficient setting, our method achieves on par or superior performance compared to the alternative approaches in most tasks. Additionally, we introduce a hybrid model that combines policy networks and gradient-based MPC, which outperforms pure policy based methods thereby holding promise for Gradient-based planning with world models in complex real-world tasks.

Neural Language Models (LMs) offer an exciting solution for general-purpose embodied control. However, a key technical issue arises when using an LM-based controller: environment observations must be converted to text, which coupled with history, results in long and verbose textual prompts. As a result, prior work in LM agents is limited to restricted domains with small observation size as well as minimal needs for interaction history or instruction tuning. In this paper, we introduce diff history, a simple and highly effective solution to these issues. By applying the Unix diff command on consecutive text observations in the interaction histories used to prompt LM policies, we can both abstract away redundant information and focus the content of textual inputs on the salient changes in the environment. On NetHack, an unsolved video game that requires long-horizon reasoning for decision-making, LMs tuned with diff history match state-of-the-art performance for neural agents while needing 1800x fewer training examples compared to prior work. Even on the simpler BabyAI-Text environment with concise text observations, we find that although diff history increases the length of prompts, the representation it provides offers a 25% improvement in the efficiency of low-sample instruction tuning. Further, we show that diff history scales favorably across different tuning dataset sizes. We open-source our code and data to https://diffhistory.github.io.

Recent advancements in large language models (LLMs) have led to significant successes across various applications, where the most noticeable is to a series of emerging capabilities, particularly in the areas of In-Context Learning (ICL) and Chain-of-Thought (CoT). To better understand and control model performance, many studies have begun investigating the underlying causes of these phenomena and their impact on task outcomes. However, existing explanatory frameworks predominantly focus on isolating and explaining ICL and CoT independently, leading to an incomplete understanding of their combined influence on model performance. To address this gap, we propose the Electronic Circuit Model (ECM), which provides a foundation for developing scalable, learnable policies and improving the management of AI-generated content. Specifically, ECM conceptualizes model behavior as an electronic circuit: ICL is represented as semantic magnetic field to providing an additional voltage following Faraday's Law, while CoT is modeled as series resistors to constrain the model output performance following Ohm's Law. Experimental results demonstrate that the ECM effectively predicts and explains LLM performance across a variety of prompting strategies. Furthermore, we apply ECM to advanced reasoning strategy optimization on a series of tasks, such as the International Olympiad in Informatics (IOI) and the International Mathematical Olympiad (IMO), achieving competitive performance that surpasses nearly 80% of top human competitors.

Social network simulation plays a crucial role in addressing various challenges within social science. It offers extensive applications such as state prediction, phenomena explanation, and policy-making support, among others. In this work, we harness the formidable human-like capabilities exhibited by large language models (LLMs) in sensing, reasoning, and behaving, and utilize these qualities to construct the S^3 system (short for Social network Simulation System). Adhering to the widely employed agent-based simulation paradigm, we employ prompt engineering and prompt tuning techniques to ensure that the agent's behavior closely emulates that of a genuine human within the social network. Specifically, we simulate three pivotal aspects: emotion, attitude, and interaction behaviors. By endowing the agent in the system with the ability to perceive the informational environment and emulate human actions, we observe the emergence of population-level phenomena, including the propagation of information, attitudes, and emotions. We conduct an evaluation encompassing two levels of simulation, employing real-world social network data. Encouragingly, the results demonstrate promising accuracy. This work represents an initial step in the realm of social network simulation empowered by LLM-based agents. We anticipate that our endeavors will serve as a source of inspiration for the development of simulation systems within, but not limited to, social science.

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of movement that captures the complexity and diversity of human motion, and enables direct control over character movements. The approach jointly learns a control policy and a motion encoder that reconstructs key characteristics of a given motion without merely replicating it. The results show that CALM learns a semantic motion representation, enabling control over the generated motions and style-conditioning for higher-level task training. Once trained, the character can be controlled using intuitive interfaces, akin to those found in video games.

We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncertainty. The method utilizes human demonstrations to learn both a state invariant dynamics model and an exploration distribution that captures the search area covered by the demonstrator. We present two alternative algorithms for computing a search trajectory from the exploration distribution, one based on sampling and another based on deterministic ergodic control. We augment the search trajectory with forces learnt through the dynamics model to enable searching both in force and position domains. An impedance controller with superposed forces is used for reproducing the learnt strategy. We experimentally evaluate the method on a KUKA LWR4+ performing a 2D peg-in-hole and a 3D electricity socket task. Results show that the proposed method can, with only few human demonstrations, learn to complete the search task.

Interactive Natural Language Processing (iNLP) has emerged as a novel paradigm within the field of NLP, aimed at addressing limitations in existing frameworks while aligning with the ultimate goals of artificial intelligence. This paradigm considers language models as agents capable of observing, acting, and receiving feedback iteratively from external entities. Specifically, language models in this context can: (1) interact with humans for better understanding and addressing user needs, personalizing responses, aligning with human values, and improving the overall user experience; (2) interact with knowledge bases for enriching language representations with factual knowledge, enhancing the contextual relevance of responses, and dynamically leveraging external information to generate more accurate and informed responses; (3) interact with models and tools for effectively decomposing and addressing complex tasks, leveraging specialized expertise for specific subtasks, and fostering the simulation of social behaviors; and (4) interact with environments for learning grounded representations of language, and effectively tackling embodied tasks such as reasoning, planning, and decision-making in response to environmental observations. This paper offers a comprehensive survey of iNLP, starting by proposing a unified definition and framework of the concept. We then provide a systematic classification of iNLP, dissecting its various components, including interactive objects, interaction interfaces, and interaction methods. We proceed to delve into the evaluation methodologies used in the field, explore its diverse applications, scrutinize its ethical and safety issues, and discuss prospective research directions. This survey serves as an entry point for researchers who are interested in this rapidly evolving area and offers a broad view of the current landscape and future trajectory of iNLP.

Text-to-music generation models are now capable of generating high-quality music audio in broad styles. However, text control is primarily suitable for the manipulation of global musical attributes like genre, mood, and tempo, and is less suitable for precise control over time-varying attributes such as the positions of beats in time or the changing dynamics of the music. We propose Music ControlNet, a diffusion-based music generation model that offers multiple precise, time-varying controls over generated audio. To imbue text-to-music models with time-varying control, we propose an approach analogous to pixel-wise control of the image-domain ControlNet method. Specifically, we extract controls from training audio yielding paired data, and fine-tune a diffusion-based conditional generative model over audio spectrograms given melody, dynamics, and rhythm controls. While the image-domain Uni-ControlNet method already allows generation with any subset of controls, we devise a new strategy to allow creators to input controls that are only partially specified in time. We evaluate both on controls extracted from audio and controls we expect creators to provide, demonstrating that we can generate realistic music that corresponds to control inputs in both settings. While few comparable music generation models exist, we benchmark against MusicGen, a recent model that accepts text and melody input, and show that our model generates music that is 49% more faithful to input melodies despite having 35x fewer parameters, training on 11x less data, and enabling two additional forms of time-varying control. Sound examples can be found at https://MusicControlNet.github.io/web/.

Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is stochastic and multimodal, with structured correlations between action dimensions. Meanwhile, standard modelling choices in behaviour cloning are limited in their expressiveness and may introduce bias into the cloned policy. We begin by pointing out the limitations of these choices. We then propose that diffusion models are an excellent fit for imitating human behaviour, since they learn an expressive distribution over the joint action space. We introduce several innovations to make diffusion models suitable for sequential environments; designing suitable architectures, investigating the role of guidance, and developing reliable sampling strategies. Experimentally, diffusion models closely match human demonstrations in a simulated robotic control task and a modern 3D gaming environment.

This report introduces xGen-MM (also known as BLIP-3), a framework for developing Large Multimodal Models (LMMs). The framework comprises meticulously curated datasets, a training recipe, model architectures, and a resulting suite of LMMs. xGen-MM, short for xGen-MultiModal, expands the Salesforce xGen initiative on foundation AI models. Our models undergo rigorous evaluation across a range of tasks, including both single and multi-image benchmarks. Our pre-trained base model exhibits strong in-context learning capabilities and the instruction-tuned model demonstrates competitive performance among open-source LMMs with similar model sizes. In addition, we introduce a safety-tuned model with DPO, aiming to mitigate harmful behaviors such as hallucinations and improve safety. We open-source our models, curated large-scale datasets, and our fine-tuning codebase to facilitate further advancements in LMM research. Associated resources will be available on our project page above.

Recent advances in foundation models, particularly Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs), facilitate intelligent agents being capable of performing complex tasks. By leveraging the ability of (M)LLMs to process and interpret Graphical User Interfaces (GUIs), these agents can autonomously execute user instructions by simulating human-like interactions such as clicking and typing. This survey consolidates recent research on (M)LLM-based GUI agents, highlighting key innovations in data, frameworks, and applications. We begin by discussing representative datasets and benchmarks. Next, we summarize a unified framework that captures the essential components used in prior research, accompanied by a taxonomy. Additionally, we explore commercial applications of (M)LLM-based GUI agents. Drawing from existing work, we identify several key challenges and propose future research directions. We hope this paper will inspire further developments in the field of (M)LLM-based GUI agents.

As AI chatbots become ubiquitous, voice interaction presents a compelling way to enable rapid, high-bandwidth communication for both semantic and social signals. This has driven research into Large Audio Models (LAMs) to power voice-native experiences. However, aligning LAM development with user goals requires a clear understanding of user needs and preferences to establish reliable progress metrics. This study addresses these challenges by introducing an interactive approach to evaluate LAMs and collecting 7,500 LAM interactions from 484 participants. Through topic modeling of user queries, we identify primary use cases for audio interfaces. We then analyze user preference rankings and qualitative feedback to determine which models best align with user needs. Finally, we evaluate how static benchmarks predict interactive performance - our analysis reveals no individual benchmark strongly correlates with interactive results (tau leq 0.33 for all benchmarks). While combining multiple coarse-grained features yields modest predictive power (R^2=0.30), only two out of twenty datasets on spoken question answering and age prediction show significantly positive correlations. This suggests a clear need to develop LAM evaluations that better correlate with user preferences.

We address the challenge of developing a generalizable neural tracking controller for dexterous manipulation from human references. This controller aims to manage a dexterous robot hand to manipulate diverse objects for various purposes defined by kinematic human-object interactions. Developing such a controller is complicated by the intricate contact dynamics of dexterous manipulation and the need for adaptivity, generalizability, and robustness. Current reinforcement learning and trajectory optimization methods often fall short due to their dependence on task-specific rewards or precise system models. We introduce an approach that curates large-scale successful robot tracking demonstrations, comprising pairs of human references and robot actions, to train a neural controller. Utilizing a data flywheel, we iteratively enhance the controller's performance, as well as the number and quality of successful tracking demonstrations. We exploit available tracking demonstrations and carefully integrate reinforcement learning and imitation learning to boost the controller's performance in dynamic environments. At the same time, to obtain high-quality tracking demonstrations, we individually optimize per-trajectory tracking by leveraging the learned tracking controller in a homotopy optimization method. The homotopy optimization, mimicking chain-of-thought, aids in solving challenging trajectory tracking problems to increase demonstration diversity. We showcase our success by training a generalizable neural controller and evaluating it in both simulation and real world. Our method achieves over a 10% improvement in success rates compared to leading baselines. The project website with animated results is available at https://meowuu7.github.io/DexTrack/.

Autonomous agents powered by large language models (LLMs) have the potential to enhance human capabilities, assisting with digital tasks from sending emails to performing data analysis. The abilities of existing LLMs at such tasks are often hindered by the lack of high-quality agent data from the corresponding environments they interact with. We propose Learn-by-interact, a data-centric framework to adapt LLM agents to any given environments without human annotations. Learn-by-interact synthesizes trajectories of agent-environment interactions based on documentations, and constructs instructions by summarizing or abstracting the interaction histories, a process called backward construction. We assess the quality of our synthetic data by using them in both training-based scenarios and training-free in-context learning (ICL), where we craft innovative retrieval approaches optimized for agents. Extensive experiments on SWE-bench, WebArena, OSWorld and Spider2-V spanning across realistic coding, web, and desktop environments show the effectiveness of Learn-by-interact in various downstream agentic tasks -- baseline results are improved by up to 12.2\% for ICL with Claude-3.5 and 19.5\% for training with Codestral-22B. We further demonstrate the critical role of backward construction, which provides up to 14.0\% improvement for training. Our ablation studies demonstrate the efficiency provided by our synthesized data in ICL and the superiority of our retrieval pipeline over alternative approaches like conventional retrieval-augmented generation (RAG). We expect that Learn-by-interact will serve as a foundation for agent data synthesis as LLMs are increasingly deployed at real-world environments.

An effective multi-turn instruction-following assistant can be developed by creating a simulator that can generate useful interaction data. Apart from relying on its intrinsic weights, an ideal user simulator should also be able to bootstrap external knowledge rapidly in its raw form to simulate the multifarious diversity of text available over the internet. Previous user simulators generally lacked diversity, were mostly closed domain, and necessitated rigid schema making them inefficient to rapidly scale to incorporate external knowledge. In this regard, we introduce, Kaucus, a Knowledge-Augmented User Simulator framework, to outline a process of creating diverse user simulators, that can seamlessly exploit external knowledge as well as benefit downstream assistant model training. Through two GPT-J based simulators viz., a Retrieval Augmented Simulator and a Summary Controlled Simulator we generate diverse simulator-assistant interactions. Through reward and preference model-based evaluations, we find that these interactions serve as useful training data and create more helpful downstream assistants. We also find that incorporating knowledge through retrieval augmentation or summary control helps create better assistants.

In this paper, we present DreaMoving, a diffusion-based controllable video generation framework to produce high-quality customized human dance videos. Specifically, given target identity and posture sequences, DreaMoving can generate a video of the target identity dancing anywhere driven by the posture sequences. To this end, we propose a Video ControlNet for motion-controlling and a Content Guider for identity preserving. The proposed model is easy to use and can be adapted to most stylized diffusion models to generate diverse results. The project page is available at https://dreamoving.github.io/dreamoving.

The field of image synthesis has made tremendous strides forward in the last years. Besides defining the desired output image with text-prompts, an intuitive approach is to additionally use spatial guidance in form of an image, such as a depth map. For this, a recent and highly popular approach is to use a controlling network, such as ControlNet, in combination with a pre-trained image generation model, such as Stable Diffusion. When evaluating the design of existing controlling networks, we observe that they all suffer from the same problem of a delay in information flowing between the generation and controlling process. This, in turn, means that the controlling network must have generative capabilities. In this work we propose a new controlling architecture, called ControlNet-XS, which does not suffer from this problem, and hence can focus on the given task of learning to control. In contrast to ControlNet, our model needs only a fraction of parameters, and hence is about twice as fast during inference and training time. Furthermore, the generated images are of higher quality and the control is of higher fidelity. All code and pre-trained models will be made publicly available.

Large language models (LLMs) have facilitated significant strides in generating conversational agents, enabling seamless, contextually relevant dialogues across diverse topics. However, the existing LLM-driven conversational agents have fixed personalities and functionalities, limiting their adaptability to individual user needs. Creating personalized agent personas with distinct expertise or traits can address this issue. Nonetheless, we lack knowledge of how people customize and interact with agent personas. In this research, we investigated how users customize agent personas and their impact on interaction quality, diversity, and dynamics. To this end, we developed CloChat, an interface supporting easy and accurate customization of agent personas in LLMs. We conducted a study comparing how participants interact with CloChat and ChatGPT. The results indicate that participants formed emotional bonds with the customized agents, engaged in more dynamic dialogues, and showed interest in sustaining interactions. These findings contribute to design implications for future systems with conversational agents using LLMs.

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals or distinct tasks, even during execution. However, most traditional methods require predefined module design, which makes it hard to generalize to different goals. Recent large language model based approaches can allow for more open-ended planning but often require heavy prompt engineering or domain-specific pretrained models. To tackle this, we propose a simple framework that achieves interactive task planning with language models. Our system incorporates both high-level planning and low-level function execution via language. We verify the robustness of our system in generating novel high-level instructions for unseen objectives and its ease of adaptation to different tasks by merely substituting the task guidelines, without the need for additional complex prompt engineering. Furthermore, when the user sends a new request, our system is able to replan accordingly with precision based on the new request, task guidelines and previously executed steps. Please check more details on our https://wuphilipp.github.io/itp_site and https://youtu.be/TrKLuyv26_g.

Empowerment has the potential to help agents learn large skillsets, but is not yet a scalable solution for training general-purpose agents. Recent empowerment methods learn diverse skillsets by maximizing the mutual information between skills and states; however, these approaches require a model of the transition dynamics, which can be challenging to learn in realistic settings with high-dimensional and stochastic observations. We present Latent-Predictive Empowerment (LPE), an algorithm that can compute empowerment in a more practical manner. LPE learns large skillsets by maximizing an objective that is a principled replacement for the mutual information between skills and states and that only requires a simpler latent-predictive model rather than a full simulator of the environment. We show empirically in a variety of settings--including ones with high-dimensional observations and highly stochastic transition dynamics--that our empowerment objective (i) learns similar-sized skillsets as the leading empowerment algorithm that assumes access to a model of the transition dynamics and (ii) outperforms other model-based approaches to empowerment.

Even for known nonlinear dynamical systems, feedback controller synthesis is a difficult problem that often requires leveraging the particular structure of the dynamics to induce a stable closed-loop system. For general nonlinear models, including those fit to data, there may not be enough known structure to reliably synthesize a stabilizing feedback controller. In this paper, we discuss a state-dependent nonlinear tracking controller formulation based on a state-dependent Riccati equation for general nonlinear control-affine systems. This formulation depends on a nonlinear factorization of the system of vector fields defining the control-affine dynamics, which always exists under mild smoothness assumptions. We propose a method for learning this factorization from a finite set of data. On a variety of simulated nonlinear dynamical systems, we empirically demonstrate the efficacy of learned versions of this controller in stable trajectory tracking. Alongside our learning method, we evaluate recent ideas in jointly learning a controller and stabilizability certificate for known dynamical systems; we show experimentally that such methods can be frail in comparison.

We address the problem of generating realistic 3D motions of humans interacting with objects in a scene. Our key idea is to create a neural interaction field attached to a specific object, which outputs the distance to the valid interaction manifold given a human pose as input. This interaction field guides the sampling of an object-conditioned human motion diffusion model, so as to encourage plausible contacts and affordance semantics. To support interactions with scarcely available data, we propose an automated synthetic data pipeline. For this, we seed a pre-trained motion model, which has priors for the basics of human movement, with interaction-specific anchor poses extracted from limited motion capture data. Using our guided diffusion model trained on generated synthetic data, we synthesize realistic motions for sitting and lifting with several objects, outperforming alternative approaches in terms of motion quality and successful action completion. We call our framework NIFTY: Neural Interaction Fields for Trajectory sYnthesis.

Exposing meaningful and interpretable neural interactions is critical to understanding neural circuits. Inferred neural interactions from neural signals primarily reflect functional interactions. In a long experiment, subject animals may experience different stages defined by the experiment, stimuli, or behavioral states, and hence functional interactions can change over time. To model dynamically changing functional interactions, prior work employs state-switching generalized linear models with hidden Markov models (i.e., HMM-GLMs). However, we argue they lack biological plausibility, as functional interactions are shaped and confined by the underlying anatomical connectome. Here, we propose a novel prior-informed state-switching GLM. We introduce both a Gaussian prior and a one-hot prior over the GLM in each state. The priors are learnable. We will show that the learned prior should capture the state-constant interaction, shedding light on the underlying anatomical connectome and revealing more likely physical neuron interactions. The state-dependent interaction modeled by each GLM offers traceability to capture functional variations across multiple brain states. Our methods effectively recover true interaction structures in simulated data, achieve the highest predictive likelihood with real neural datasets, and render interaction structures and hidden states more interpretable when applied to real neural data.

While both agent interaction and personalisation are vibrant topics in research on large language models (LLMs), there has been limited focus on the effect of language interaction on the behaviour of persona-conditioned LLM agents. Such an endeavour is important to ensure that agents remain consistent to their assigned traits yet are able to engage in open, naturalistic dialogues. In our experiments, we condition GPT-3.5 on personality profiles through prompting and create a two-group population of LLM agents using a simple variability-inducing sampling algorithm. We then administer personality tests and submit the agents to a collaborative writing task, finding that different profiles exhibit different degrees of personality consistency and linguistic alignment to their conversational partners. Our study seeks to lay the groundwork for better understanding of dialogue-based interaction between LLMs and highlights the need for new approaches to crafting robust, more human-like LLM personas for interactive environments.

Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable assistants in human daily life. Unfortunately, most existing works only focus on multi-stage interactions, treating each task separately, and neglecting real-time feedback. In this work, we aim to empower humanoid robots with real-time reaction abilities to achieve various tasks, allowing human to interrupt robots at any time, and making robots respond to humans immediately. To support such abilities, we propose a general humanoid-human-object interaction framework, named RHINO, i.e., Real-time Humanoid-human Interaction and Object manipulation. RHINO provides a unified view of reactive motion, instruction-based manipulation, and safety concerns, over multiple human signal modalities, such as languages, images, and motions. RHINO is a hierarchical learning framework, enabling humanoids to learn reaction skills from human-human-object demonstrations and teleoperation data. In particular, it decouples the interaction process into two levels: 1) a high-level planner inferring human intentions from real-time human behaviors; and 2) a low-level controller achieving reactive motion behaviors and object manipulation skills based on the predicted intentions. We evaluate the proposed framework on a real humanoid robot and demonstrate its effectiveness, flexibility, and safety in various scenarios.

We introduce PersonaHOI, a training- and tuning-free framework that fuses a general StableDiffusion model with a personalized face diffusion (PFD) model to generate identity-consistent human-object interaction (HOI) images. While existing PFD models have advanced significantly, they often overemphasize facial features at the expense of full-body coherence, PersonaHOI introduces an additional StableDiffusion (SD) branch guided by HOI-oriented text inputs. By incorporating cross-attention constraints in the PFD branch and spatial merging at both latent and residual levels, PersonaHOI preserves personalized facial details while ensuring interactive non-facial regions. Experiments, validated by a novel interaction alignment metric, demonstrate the superior realism and scalability of PersonaHOI, establishing a new standard for practical personalized face with HOI generation. Our code will be available at https://github.com/JoyHuYY1412/PersonaHOI

While a number of existing approaches for building foundation model agents rely on prompting or fine-tuning with human demonstrations, it is not sufficient in dynamic environments (e.g., mobile device control). On-policy reinforcement learning (RL) should address these limitations, but collecting actual rollouts in an environment is often undesirable in truly open-ended agentic problems such as mobile device control or interacting with humans, where each unit of interaction is associated with a cost. In such scenarios, a method for policy learning that can utilize off-policy experience by learning a trained action-value function is much more effective. In this paper, we develop an approach, called Digi-Q, to train VLM-based action-value Q-functions which are then used to extract the agent policy. We study our approach in the mobile device control setting. Digi-Q trains the Q-function using offline temporal-difference (TD) learning, on top of frozen, intermediate-layer features of a VLM. Compared to fine-tuning the whole VLM, this approach saves us compute and enhances scalability. To make the VLM features amenable for representing the Q-function, we need to employ an initial phase of fine-tuning to amplify coverage over actionable information needed for value function. Once trained, we use this Q-function via a Best-of-N policy extraction operator that imitates the best action out of multiple candidate actions from the current policy as ranked by the value function, enabling policy improvement without environment interaction. Digi-Q outperforms several prior methods on user-scale device control tasks in Android-in-the-Wild, attaining 21.2% improvement over prior best-performing method. In some cases, our Digi-Q approach already matches state-of-the-art RL methods that require interaction. The project is open-sourced at https://github.com/DigiRL-agent/digiq

Representation learning approaches for robotic manipulation have boomed in recent years. Due to the scarcity of in-domain robot data, prevailing methodologies tend to leverage large-scale human video datasets to extract generalizable features for visuomotor policy learning. Despite the progress achieved, prior endeavors disregard the interactive dynamics that capture behavior patterns and physical interaction during the manipulation process, resulting in an inadequate understanding of the relationship between objects and the environment. To this end, we propose a general pre-training pipeline that learns Manipulation by Predicting the Interaction (MPI) and enhances the visual representation.Given a pair of keyframes representing the initial and final states, along with language instructions, our algorithm predicts the transition frame and detects the interaction object, respectively. These two learning objectives achieve superior comprehension towards "how-to-interact" and "where-to-interact". We conduct a comprehensive evaluation of several challenging robotic tasks.The experimental results demonstrate that MPI exhibits remarkable improvement by 10% to 64% compared with previous state-of-the-art in real-world robot platforms as well as simulation environments. Code and checkpoints are publicly shared at https://github.com/OpenDriveLab/MPI.

This paper aims to manipulate multi-entity 3D motions in video generation. Previous methods on controllable video generation primarily leverage 2D control signals to manipulate object motions and have achieved remarkable synthesis results. However, 2D control signals are inherently limited in expressing the 3D nature of object motions. To overcome this problem, we introduce 3DTrajMaster, a robust controller that regulates multi-entity dynamics in 3D space, given user-desired 6DoF pose (location and rotation) sequences of entities. At the core of our approach is a plug-and-play 3D-motion grounded object injector that fuses multiple input entities with their respective 3D trajectories through a gated self-attention mechanism. In addition, we exploit an injector architecture to preserve the video diffusion prior, which is crucial for generalization ability. To mitigate video quality degradation, we introduce a domain adaptor during training and employ an annealed sampling strategy during inference. To address the lack of suitable training data, we construct a 360-Motion Dataset, which first correlates collected 3D human and animal assets with GPT-generated trajectory and then captures their motion with 12 evenly-surround cameras on diverse 3D UE platforms. Extensive experiments show that 3DTrajMaster sets a new state-of-the-art in both accuracy and generalization for controlling multi-entity 3D motions. Project page: http://fuxiao0719.github.io/projects/3dtrajmaster

Diffusion models revolutionize image generation by leveraging natural language to guide the creation of multimedia content. Despite significant advancements in such generative models, challenges persist in depicting detailed human-object interactions, especially regarding pose and object placement accuracy. We introduce a training-free method named Reasoning and Correcting Diffusion (ReCorD) to address these challenges. Our model couples Latent Diffusion Models with Visual Language Models to refine the generation process, ensuring precise depictions of HOIs. We propose an interaction-aware reasoning module to improve the interpretation of the interaction, along with an interaction correcting module to refine the output image for more precise HOI generation delicately. Through a meticulous process of pose selection and object positioning, ReCorD achieves superior fidelity in generated images while efficiently reducing computational requirements. We conduct comprehensive experiments on three benchmarks to demonstrate the significant progress in solving text-to-image generation tasks, showcasing ReCorD's ability to render complex interactions accurately by outperforming existing methods in HOI classification score, as well as FID and Verb CLIP-Score. Project website is available at https://alberthkyhky.github.io/ReCorD/ .

Generating human-human motion interactions conditioned on textual descriptions is a very useful application in many areas such as robotics, gaming, animation, and the metaverse. Alongside this utility also comes a great difficulty in modeling the highly dimensional inter-personal dynamics. In addition, properly capturing the intra-personal diversity of interactions has a lot of challenges. Current methods generate interactions with limited diversity of intra-person dynamics due to the limitations of the available datasets and conditioning strategies. For this, we introduce in2IN, a novel diffusion model for human-human motion generation which is conditioned not only on the textual description of the overall interaction but also on the individual descriptions of the actions performed by each person involved in the interaction. To train this model, we use a large language model to extend the InterHuman dataset with individual descriptions. As a result, in2IN achieves state-of-the-art performance in the InterHuman dataset. Furthermore, in order to increase the intra-personal diversity on the existing interaction datasets, we propose DualMDM, a model composition technique that combines the motions generated with in2IN and the motions generated by a single-person motion prior pre-trained on HumanML3D. As a result, DualMDM generates motions with higher individual diversity and improves control over the intra-person dynamics while maintaining inter-personal coherence.

In conversational AI research, there's a noticeable trend towards developing models with a larger number of parameters, exemplified by models like ChatGPT. While these expansive models tend to generate increasingly better chat responses, they demand significant computational resources and memory. This study explores a pertinent question: Can a combination of smaller models collaboratively achieve comparable or enhanced performance relative to a singular large model? We introduce an approach termed "blending", a straightforward yet effective method of integrating multiple chat AIs. Our empirical evidence suggests that when specific smaller models are synergistically blended, they can potentially outperform or match the capabilities of much larger counterparts. For instance, integrating just three models of moderate size (6B/13B paramaeters) can rival or even surpass the performance metrics of a substantially larger model like ChatGPT (175B+ paramaters). This hypothesis is rigorously tested using A/B testing methodologies with a large user base on the Chai research platform over a span of thirty days. The findings underscore the potential of the "blending" strategy as a viable approach for enhancing chat AI efficacy without a corresponding surge in computational demands.

Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, when applied to manipulation tasks, these models accrue high errors at critical transition points leading to degradation in downstream planning performance. Our key insight is that instead of predicting the most likely human motion, it is sufficient to produce forecasts that capture how future human motion would affect the cost of a robot's plan. We present ManiCast, a novel framework that learns cost-aware human forecasts and feeds them to a model predictive control planner to execute collaborative manipulation tasks. Our framework enables fluid, real-time interactions between a human and a 7-DoF robot arm across a number of real-world tasks such as reactive stirring, object handovers, and collaborative table setting. We evaluate both the motion forecasts and the end-to-end forecaster-planner system against a range of learned and heuristic baselines while additionally contributing new datasets. We release our code and datasets at https://portal-cornell.github.io/manicast/.

Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This paper presents a robot control architecture that addresses key challenges in human-robot interaction, with a particular focus on the dynamic creation and continuous update of the robot state representation. The architecture uses Large Language Models to integrate diverse information sources, including natural language commands, robotic skills representation, real-time dynamic semantic mapping of the perceived scene. This enables flexible and adaptive robotic behavior in complex, dynamic environments. Traditional robotic systems often rely on static, pre-programmed instructions and settings, limiting their adaptability to dynamic environments and real-time collaboration. In contrast, this architecture uses LLMs to interpret complex, high-level instructions and generate actionable plans that enhance human-robot collaboration. At its core, the system Perception Module generates and continuously updates a semantic scene graph using RGB-D sensor data, providing a detailed and structured representation of the environment. A particle filter is employed to ensure accurate object localization in dynamic, real-world settings. The Planner Module leverages this up-to-date semantic map to break down high-level tasks into sub-tasks and link them to robotic skills such as navigation, object manipulation (e.g., PICK and PLACE), and movement (e.g., GOTO). By combining real-time perception, state tracking, and LLM-driven communication and task planning, the architecture enhances adaptability, task efficiency, and human-robot collaboration in dynamic environments.

The final frontier for simulation is the accurate representation of complex, real-world social systems. While agent-based modeling (ABM) seeks to study the behavior and interactions of agents within a larger system, it is unable to faithfully capture the full complexity of human-driven behavior. Large language models (LLMs), like ChatGPT, have emerged as a potential solution to this bottleneck by enabling researchers to explore human-driven interactions in previously unimaginable ways. Our research investigates simulations of human interactions using LLMs. Through prompt engineering, inspired by Park et al. (2023), we present two simulations of believable proxies of human behavior: a two-agent negotiation and a six-agent murder mystery game.

Controllable human image generation (HIG) has numerous real-life applications. State-of-the-art solutions, such as ControlNet and T2I-Adapter, introduce an additional learnable branch on top of the frozen pre-trained stable diffusion (SD) model, which can enforce various conditions, including skeleton guidance of HIG. While such a plug-and-play approach is appealing, the inevitable and uncertain conflicts between the original images produced from the frozen SD branch and the given condition incur significant challenges for the learnable branch, which essentially conducts image feature editing for condition enforcement. In this work, we propose a native skeleton-guided diffusion model for controllable HIG called HumanSD. Instead of performing image editing with dual-branch diffusion, we fine-tune the original SD model using a novel heatmap-guided denoising loss. This strategy effectively and efficiently strengthens the given skeleton condition during model training while mitigating the catastrophic forgetting effects. HumanSD is fine-tuned on the assembly of three large-scale human-centric datasets with text-image-pose information, two of which are established in this work. As shown in Figure 1, HumanSD outperforms ControlNet in terms of accurate pose control and image quality, particularly when the given skeleton guidance is sophisticated.

Recent controllable generation approaches such as FreeControl and Diffusion Self-guidance bring fine-grained spatial and appearance control to text-to-image (T2I) diffusion models without training auxiliary modules. However, these methods optimize the latent embedding for each type of score function with longer diffusion steps, making the generation process time-consuming and limiting their flexibility and use. This work presents Ctrl-X, a simple framework for T2I diffusion controlling structure and appearance without additional training or guidance. Ctrl-X designs feed-forward structure control to enable the structure alignment with a structure image and semantic-aware appearance transfer to facilitate the appearance transfer from a user-input image. Extensive qualitative and quantitative experiments illustrate the superior performance of Ctrl-X on various condition inputs and model checkpoints. In particular, Ctrl-X supports novel structure and appearance control with arbitrary condition images of any modality, exhibits superior image quality and appearance transfer compared to existing works, and provides instant plug-and-play functionality to any T2I and text-to-video (T2V) diffusion model. See our project page for an overview of the results: https://genforce.github.io/ctrl-x

Pre-trained large language models (LLMs) capture procedural knowledge about the world. Recent work has leveraged LLM's ability to generate abstract plans to simplify challenging control tasks, either by action scoring, or action modeling (fine-tuning). However, the transformer architecture inherits several constraints that make it difficult for the LLM to directly serve as the agent: e.g. limited input lengths, fine-tuning inefficiency, bias from pre-training, and incompatibility with non-text environments. To maintain compatibility with a low-level trainable actor, we propose to instead use the knowledge in LLMs to simplify the control problem, rather than solving it. We propose the Plan, Eliminate, and Track (PET) framework. The Plan module translates a task description into a list of high-level sub-tasks. The Eliminate module masks out irrelevant objects and receptacles from the observation for the current sub-task. Finally, the Track module determines whether the agent has accomplished each sub-task. On the AlfWorld instruction following benchmark, the PET framework leads to a significant 15% improvement over SOTA for generalization to human goal specifications.

Graphical User Interface (GUI) agents, powered by Large Foundation Models, have emerged as a transformative approach to automating human-computer interaction. These agents autonomously interact with digital systems or software applications via GUIs, emulating human actions such as clicking, typing, and navigating visual elements across diverse platforms. Motivated by the growing interest and fundamental importance of GUI agents, we provide a comprehensive survey that categorizes their benchmarks, evaluation metrics, architectures, and training methods. We propose a unified framework that delineates their perception, reasoning, planning, and acting capabilities. Furthermore, we identify important open challenges and discuss key future directions. Finally, this work serves as a basis for practitioners and researchers to gain an intuitive understanding of current progress, techniques, benchmarks, and critical open problems that remain to be addressed.

Large Language Models (LLMs) have the capacity of performing complex scheduling in a multi-agent system and can coordinate these agents into completing sophisticated tasks that require extensive collaboration. However, despite the introduction of numerous gaming frameworks, the community has insufficient benchmarks towards building general multi-agents collaboration infrastructure that encompass both LLM and human-NPCs collaborations. In this work, we propose a novel infrastructure - MindAgent - to evaluate planning and coordination emergent capabilities for gaming interaction. In particular, our infrastructure leverages existing gaming framework, to i) require understanding of the coordinator for a multi-agent system, ii) collaborate with human players via un-finetuned proper instructions, and iii) establish an in-context learning on few-shot prompt with feedback. Furthermore, we introduce CUISINEWORLD, a new gaming scenario and related benchmark that dispatch a multi-agent collaboration efficiency and supervise multiple agents playing the game simultaneously. We conduct comprehensive evaluations with new auto-metric CoS for calculating the collaboration efficiency. Finally, our infrastructure can be deployed into real-world gaming scenarios in a customized VR version of CUISINEWORLD and adapted in existing broader Minecraft gaming domain. We hope our findings on LLMs and the new infrastructure for general-purpose scheduling and coordination can help shed light on how such skills can be obtained by learning from large language corpora.

Visual environments are structured, consisting of distinct objects or entities. These entities have properties -- both visible and latent -- that determine the manner in which they interact with one another. To partition images into entities, deep-learning researchers have proposed structural inductive biases such as slot-based architectures. To model interactions among entities, equivariant graph neural nets (GNNs) are used, but these are not particularly well suited to the task for two reasons. First, GNNs do not predispose interactions to be sparse, as relationships among independent entities are likely to be. Second, GNNs do not factorize knowledge about interactions in an entity-conditional manner. As an alternative, we take inspiration from cognitive science and resurrect a classic approach, production systems, which consist of a set of rule templates that are applied by binding placeholder variables in the rules to specific entities. Rules are scored on their match to entities, and the best fitting rules are applied to update entity properties. In a series of experiments, we demonstrate that this architecture achieves a flexible, dynamic flow of control and serves to factorize entity-specific and rule-based information. This disentangling of knowledge achieves robust future-state prediction in rich visual environments, outperforming state-of-the-art methods using GNNs, and allows for the extrapolation from simple (few object) environments to more complex environments.

We introduce InteractiveVideo, a user-centric framework for video generation. Different from traditional generative approaches that operate based on user-provided images or text, our framework is designed for dynamic interaction, allowing users to instruct the generative model through various intuitive mechanisms during the whole generation process, e.g. text and image prompts, painting, drag-and-drop, etc. We propose a Synergistic Multimodal Instruction mechanism, designed to seamlessly integrate users' multimodal instructions into generative models, thus facilitating a cooperative and responsive interaction between user inputs and the generative process. This approach enables iterative and fine-grained refinement of the generation result through precise and effective user instructions. With InteractiveVideo, users are given the flexibility to meticulously tailor key aspects of a video. They can paint the reference image, edit semantics, and adjust video motions until their requirements are fully met. Code, models, and demo are available at https://github.com/invictus717/InteractiveVideo

The landscape for building conversational interfaces (chatbots) has witnessed a paradigm shift with recent developments in generative Artificial Intelligence (AI) based Large Language Models (LLMs), such as ChatGPT by OpenAI (GPT3.5 and GPT4), Google's Bard, Large Language Model Meta AI (LLaMA), among others. In this paper, we analyze capabilities and limitations of incorporating such models in conversational interfaces for the telecommunication domain, specifically for enterprise wireless products and services. Using Cradlepoint's publicly available data for our experiments, we present a comparative analysis of the responses from such models for multiple use-cases including domain adaptation for terminology and product taxonomy, context continuity, robustness to input perturbations and errors. We believe this evaluation would provide useful insights to data scientists engaged in building customized conversational interfaces for domain-specific requirements.

Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the potential to transform human-robot interaction, very little is known about the distinctive design requirements for utilizing LLMs in robots, which may differ from text and voice interaction and vary by task and context. To better understand these requirements, we conducted a user study (n = 32) comparing an LLM-powered social robot against text- and voice-based agents, analyzing task-based requirements in conversational tasks, including choose, generate, execute, and negotiate. Our findings show that LLM-powered robots elevate expectations for sophisticated non-verbal cues and excel in connection-building and deliberation, but fall short in logical communication and may induce anxiety. We provide design implications both for robots integrating LLMs and for fine-tuning LLMs for use with robots.

Controllable layout generation aims at synthesizing plausible arrangement of element bounding boxes with optional constraints, such as type or position of a specific element. In this work, we try to solve a broad range of layout generation tasks in a single model that is based on discrete state-space diffusion models. Our model, named LayoutDM, naturally handles the structured layout data in the discrete representation and learns to progressively infer a noiseless layout from the initial input, where we model the layout corruption process by modality-wise discrete diffusion. For conditional generation, we propose to inject layout constraints in the form of masking or logit adjustment during inference. We show in the experiments that our LayoutDM successfully generates high-quality layouts and outperforms both task-specific and task-agnostic baselines on several layout tasks.

Human models play a crucial role in human-robot interaction (HRI), enabling robots to consider the impact of their actions on people and plan their behavior accordingly. However, crafting good human models is challenging; capturing context-dependent human behavior requires significant prior knowledge and/or large amounts of interaction data, both of which are difficult to obtain. In this work, we explore the potential of large-language models (LLMs) -- which have consumed vast amounts of human-generated text data -- to act as zero-shot human models for HRI. Our experiments on three social datasets yield promising results; the LLMs are able to achieve performance comparable to purpose-built models. That said, we also discuss current limitations, such as sensitivity to prompts and spatial/numerical reasoning mishaps. Based on our findings, we demonstrate how LLM-based human models can be integrated into a social robot's planning process and applied in HRI scenarios. Specifically, we present one case study on a simulated trust-based table-clearing task and replicate past results that relied on custom models. Next, we conduct a new robot utensil-passing experiment (n = 65) where preliminary results show that planning with a LLM-based human model can achieve gains over a basic myopic plan. In summary, our results show that LLMs offer a promising (but incomplete) approach to human modeling for HRI.

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. However, it is non-trivial to manually design a robot controller that combines modalities with very different characteristics. While deep reinforcement learning has shown success in learning control policies for high-dimensional inputs, these algorithms are generally intractable to deploy on real robots due to sample complexity. We use self-supervision to learn a compact and multimodal representation of our sensory inputs, which can then be used to improve the sample efficiency of our policy learning. We evaluate our method on a peg insertion task, generalizing over different geometry, configurations, and clearances, while being robust to external perturbations. Results for simulated and real robot experiments are presented.

Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal compositions. To this end, we train a video generation model conditioned on spatio-temporally sparse or dense motion trajectories. In contrast to prior motion conditioning work, this flexible representation can encode any number of trajectories, object-specific or global scene motion, and temporally sparse motion; due to its flexibility we refer to this conditioning as motion prompts. While users may directly specify sparse trajectories, we also show how to translate high-level user requests into detailed, semi-dense motion prompts, a process we term motion prompt expansion. We demonstrate the versatility of our approach through various applications, including camera and object motion control, "interacting" with an image, motion transfer, and image editing. Our results showcase emergent behaviors, such as realistic physics, suggesting the potential of motion prompts for probing video models and interacting with future generative world models. Finally, we evaluate quantitatively, conduct a human study, and demonstrate strong performance. Video results are available on our webpage: https://motion-prompting.github.io/

We introduce Genie, the first generative interactive environment trained in an unsupervised manner from unlabelled Internet videos. The model can be prompted to generate an endless variety of action-controllable virtual worlds described through text, synthetic images, photographs, and even sketches. At 11B parameters, Genie can be considered a foundation world model. It is comprised of a spatiotemporal video tokenizer, an autoregressive dynamics model, and a simple and scalable latent action model. Genie enables users to act in the generated environments on a frame-by-frame basis despite training without any ground-truth action labels or other domain-specific requirements typically found in the world model literature. Further the resulting learned latent action space facilitates training agents to imitate behaviors from unseen videos, opening the path for training generalist agents of the future.

Automatic furniture layout is long desired for convenient interior design. Leveraging the remarkable visual reasoning capabilities of multimodal large language models (MLLMs), recent methods address layout generation in a static manner, lacking the feedback-driven refinement essential for interactive user engagement. We introduce Chat2Layout, a novel interactive furniture layout generation system that extends the functionality of MLLMs into the realm of interactive layout design. To achieve this, we establish a unified vision-question paradigm for in-context learning, enabling seamless communication with MLLMs to steer their behavior without altering model weights. Within this framework, we present a novel training-free visual prompting mechanism. This involves a visual-text prompting technique that assist MLLMs in reasoning about plausible layout plans, followed by an Offline-to-Online search (O2O-Search) method, which automatically identifies the minimal set of informative references to provide exemplars for visual-text prompting. By employing an agent system with MLLMs as the core controller, we enable bidirectional interaction. The agent not only comprehends the 3D environment and user requirements through linguistic and visual perception but also plans tasks and reasons about actions to generate and arrange furniture within the virtual space. Furthermore, the agent iteratively updates based on visual feedback from execution results. Experimental results demonstrate that our approach facilitates language-interactive generation and arrangement for diverse and complex 3D furniture.

A fairly reliable trend in deep reinforcement learning is that the performance scales with the number of parameters, provided a complimentary scaling in amount of training data. As the appetite for large models increases, it is imperative to address, sooner than later, the potential problem of running out of high-quality demonstrations. In this case, instead of collecting only new data via costly human demonstrations or risking a simulation-to-real transfer with uncertain effects, it would be beneficial to leverage vast amounts of readily-available low-quality data. Since classical control algorithms such as behavior cloning or temporal difference learning cannot be used on reward-free or action-free data out-of-the-box, this solution warrants novel training paradigms for continuous control. We propose a simple algorithm called Diffused Value Function (DVF), which learns a joint multi-step model of the environment-robot interaction dynamics using a diffusion model. This model can be efficiently learned from state sequences (i.e., without access to reward functions nor actions), and subsequently used to estimate the value of each action out-of-the-box. We show how DVF can be used to efficiently capture the state visitation measure for multiple controllers, and show promising qualitative and quantitative results on challenging robotics benchmarks.

Autonomous wire harness assembly requires robots to manipulate complex branched cables with high precision and reliability. A key challenge in automating this process is predicting how these flexible and branched structures behave under manipulation. Without accurate predictions, it is difficult for robots to reliably plan or execute assembly operations. While existing research has made progress in modeling single-threaded Deformable Linear Objects (DLOs), extending these approaches to Branched Deformable Linear Objects (BDLOs) presents fundamental challenges. The junction points in BDLOs create complex force interactions and strain propagation patterns that cannot be adequately captured by simply connecting multiple single-DLO models. To address these challenges, this paper presents Differentiable discrete branched Elastic rods for modeling Furcated DLOs in real-Time (DEFT), a novel framework that combines a differentiable physics-based model with a learning framework to: 1) accurately model BDLO dynamics, including dynamic propagation at junction points and grasping in the middle of a BDLO, 2) achieve efficient computation for real-time inference, and 3) enable planning to demonstrate dexterous BDLO manipulation. A comprehensive series of real-world experiments demonstrates DEFT's efficacy in terms of accuracy, computational speed, and generalizability compared to state-of-the-art alternatives. Project page:https://roahmlab.github.io/DEFT/.

Fully automated self-driving laboratories are promising to enable high-throughput and large-scale scientific discovery by reducing repetitive labour. However, effective automation requires deep integration of laboratory knowledge, which is often unstructured, multimodal, and difficult to incorporate into current AI systems. This paper introduces the k-agents framework, designed to support experimentalists in organizing laboratory knowledge and automating experiments with agents. Our framework employs large language model-based agents to encapsulate laboratory knowledge including available laboratory operations and methods for analyzing experiment results. To automate experiments, we introduce execution agents that break multi-step experimental procedures into state machines, interact with other agents to execute each step and analyze the experiment results. The analyzed results are then utilized to drive state transitions, enabling closed-loop feedback control. To demonstrate its capabilities, we applied the agents to calibrate and operate a superconducting quantum processor, where they autonomously planned and executed experiments for hours, successfully producing and characterizing entangled quantum states at the level achieved by human scientists. Our knowledge-based agent system opens up new possibilities for managing laboratory knowledge and accelerating scientific discovery.

Large Language Models (LLMs) have revolutionized various applications by generating outputs based on given prompts. However, achieving the desired output requires iterative prompt refinement. This paper presents a novel approach that draws parallels between the iterative prompt optimization process in LLMs and feedback control systems. We iteratively refine the prompt by treating the deviation between the LLM output and the desired result as an error term until the output criteria are met. This process is akin to a feedback control system, where the LLM, despite being non-linear and non-deterministic, is managed using principles from linear feedback control systems. We explore the application of different types of controllers within this framework, providing a mathematical foundation for integrating linear feedback control mechanisms with LLMs.

The advent of large language models (LLMs) has spurred considerable interest in advancing autonomous LLMs-based agents, particularly in intriguing applications within smartphone graphical user interfaces (GUIs). When presented with a task goal, these agents typically emulate human actions within a GUI environment until the task is completed. However, a key challenge lies in devising effective plans to guide action prediction in GUI tasks, though planning have been widely recognized as effective for decomposing complex tasks into a series of steps. Specifically, given the dynamic nature of environmental GUIs following action execution, it is crucial to dynamically adapt plans based on environmental feedback and action history.We show that the widely-used ReAct approach fails due to the excessively long historical dialogues. To address this challenge, we propose a novel approach called Dynamic Planning of Thoughts (D-PoT) for LLM-based GUI agents.D-PoT involves the dynamic adjustment of planning based on the environmental feedback and execution history. Experimental results reveal that the proposed D-PoT significantly surpassed the strong GPT-4V baseline by +12.7% (34.66% rightarrow 47.36%) in accuracy. The analysis highlights the generality of dynamic planning in different backbone LLMs, as well as the benefits in mitigating hallucinations and adapting to unseen tasks. Code is available at https://github.com/sqzhang-lazy/D-PoT.

Electric motors are used in many applications and their efficiency is strongly dependent on their control. Among others, PI approaches or model predictive control methods are well-known in the scientific literature and industrial practice. A novel approach is to use reinforcement learning (RL) to have an agent learn electric drive control from scratch merely by interacting with a suitable control environment. RL achieved remarkable results with super-human performance in many games (e.g. Atari classics or Go) and also becomes more popular in control tasks like cartpole or swinging pendulum benchmarks. In this work, the open-source Python package gym-electric-motor (GEM) is developed for ease of training of RL-agents for electric motor control. Furthermore, this package can be used to compare the trained agents with other state-of-the-art control approaches. It is based on the OpenAI Gym framework that provides a widely used interface for the evaluation of RL-agents. The initial package version covers different DC motor variants and the prevalent permanent magnet synchronous motor as well as different power electronic converters and a mechanical load model. Due to the modular setup of the proposed toolbox, additional motor, load, and power electronic devices can be easily extended in the future. Furthermore, different secondary effects like controller interlocking time or noise are considered. An intelligent controller example based on the deep deterministic policy gradient algorithm which controls a series DC motor is presented and compared to a cascaded PI-controller as a baseline for future research. Fellow researchers are encouraged to use the framework in their RL investigations or to contribute to the functional scope (e.g. further motor types) of the package.

Imitation learning suffers from causal confusion. This phenomenon occurs when learned policies attend to features that do not causally influence the expert actions but are instead spuriously correlated. Causally confused agents produce low open-loop supervised loss but poor closed-loop performance upon deployment. We consider the problem of masking observed confounders in a disentangled representation of the observation space. Our novel masking algorithm leverages the usual ability to intervene in the initial system state, avoiding any requirement involving expert querying, expert reward functions, or causal graph specification. Under certain assumptions, we theoretically prove that this algorithm is conservative in the sense that it does not incorrectly mask observations that causally influence the expert; furthermore, intervening on the initial state serves to strictly reduce excess conservatism. The masking algorithm is applied to behavior cloning for two illustrative control systems: CartPole and Reacher.

Generating human-object interactions (HOIs) is critical with the tremendous advances of digital avatars. Existing datasets are typically limited to humans interacting with a single object while neglecting the ubiquitous manipulation of multiple objects. Thus, we propose HIMO, a large-scale MoCap dataset of full-body human interacting with multiple objects, containing 3.3K 4D HOI sequences and 4.08M 3D HOI frames. We also annotate HIMO with detailed textual descriptions and temporal segments, benchmarking two novel tasks of HOI synthesis conditioned on either the whole text prompt or the segmented text prompts as fine-grained timeline control. To address these novel tasks, we propose a dual-branch conditional diffusion model with a mutual interaction module for HOI synthesis. Besides, an auto-regressive generation pipeline is also designed to obtain smooth transitions between HOI segments. Experimental results demonstrate the generalization ability to unseen object geometries and temporal compositions.

Personalized dialogue systems aim to endow the chatbot agent with more anthropomorphic traits for human-like interactions. Previous approaches have explored explicitly user profile modeling using text descriptions, implicit derivation of user embeddings, or utilizing handicraft prompts for ChatGPT-like models. However, textual personas are limited in describing multi-faceted attributes (e.g., language style, inner character nuances), implicit embedding suffers from personality sparsity, and handicraft prompts lack fine-grained and stable controllability. Hence, these approaches may struggle with complex personalized dialogue generation tasks that require generating controllable responses with multiple personal attributes. To this end, we propose \textsc{Miracle}, a novel personalized dialogue generation method through MultIple PeRsonal Attributes Control within Latent-Space Energy-based Models. ttributes Control within Latent-Space Energy-based Models. Specifically, our approach first disentangles complex personality into multi-faceted attributes. Subsequently, we employ a conditional variational auto-encoder to align with the dense personalized responses within a latent joint attribute space. We have also tailored a dedicated energy function and customized the ordinary differential equations sampling method to offer flexible attribute composition and precise attribute control. Extensive experiments demonstrate that Miracle outperforms several strong baselines in terms of personality controllability and response generation quality. Our dataset and code are available at https://github.com/LZY-the-boys/MIRACLE

We present Large Language Model for Mixed Reality (LLMR), a framework for the real-time creation and modification of interactive Mixed Reality experiences using LLMs. LLMR leverages novel strategies to tackle difficult cases where ideal training data is scarce, or where the design goal requires the synthesis of internal dynamics, intuitive analysis, or advanced interactivity. Our framework relies on text interaction and the Unity game engine. By incorporating techniques for scene understanding, task planning, self-debugging, and memory management, LLMR outperforms the standard GPT-4 by 4x in average error rate. We demonstrate LLMR's cross-platform interoperability with several example worlds, and evaluate it on a variety of creation and modification tasks to show that it can produce and edit diverse objects, tools, and scenes. Finally, we conducted a usability study (N=11) with a diverse set that revealed participants had positive experiences with the system and would use it again.

Trajectory-based motion control has emerged as an intuitive and efficient approach for controllable video generation. However, the existing trajectory-based approaches are usually limited to only generating the motion trajectory of the controlled object and ignoring the dynamic interactions between the controlled object and its surroundings. To address this limitation, we propose a Chain-of-Thought-based motion controller for controllable video generation, named C-Drag. Instead of directly generating the motion of some objects, our C-Drag first performs object perception and then reasons the dynamic interactions between different objects according to the given motion control of the objects. Specifically, our method includes an object perception module and a Chain-of-Thought-based motion reasoning module. The object perception module employs visual language models to capture the position and category information of various objects within the image. The Chain-of-Thought-based motion reasoning module takes this information as input and conducts a stage-wise reasoning process to generate motion trajectories for each of the affected objects, which are subsequently fed to the diffusion model for video synthesis. Furthermore, we introduce a new video object interaction (VOI) dataset to evaluate the generation quality of motion controlled video generation methods. Our VOI dataset contains three typical types of interactions and provides the motion trajectories of objects that can be used for accurate performance evaluation. Experimental results show that C-Drag achieves promising performance across multiple metrics, excelling in object motion control. Our benchmark, codes, and models will be available at https://github.com/WesLee88524/C-Drag-Official-Repo.

This study aims to achieve more precise and versatile object control in image-to-video (I2V) generation. Current methods typically represent the spatial movement of target objects with 2D trajectories, which often fail to capture user intention and frequently produce unnatural results. To enhance control, we present ObjCtrl-2.5D, a training-free object control approach that uses a 3D trajectory, extended from a 2D trajectory with depth information, as a control signal. By modeling object movement as camera movement, ObjCtrl-2.5D represents the 3D trajectory as a sequence of camera poses, enabling object motion control using an existing camera motion control I2V generation model (CMC-I2V) without training. To adapt the CMC-I2V model originally designed for global motion control to handle local object motion, we introduce a module to isolate the target object from the background, enabling independent local control. In addition, we devise an effective way to achieve more accurate object control by sharing low-frequency warped latent within the object's region across frames. Extensive experiments demonstrate that ObjCtrl-2.5D significantly improves object control accuracy compared to training-free methods and offers more diverse control capabilities than training-based approaches using 2D trajectories, enabling complex effects like object rotation. Code and results are available at https://wzhouxiff.github.io/projects/ObjCtrl-2.5D/.

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the optimal policy may be quite different across robots and critically depend on the morphology. Existing methods utilize graph neural networks or transformers to handle heterogeneous state and action spaces across different morphologies, but pay little attention to the dependency of a robot's control policy on its morphology context. In this paper, we propose a hierarchical architecture to better model this dependency via contextual modulation, which includes two key submodules: (1) Instead of enforcing hard parameter sharing across robots, we use hypernetworks to generate morphology-dependent control parameters; (2) We propose a morphology-dependent attention mechanism to modulate the interactions between different limbs in a robot. Experimental results show that our method not only improves learning performance on a diverse set of training robots, but also generalizes better to unseen morphologies in a zero-shot fashion.

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to reach a desired outcome. For example, a teacher might try to understand their student's current comprehension level to tailor their instruction accordingly, and a travel agent might ask questions of their customer to understand their preferences in order to recommend activities they might enjoy. LLMs trained with supervised fine-tuning or "single-step" RL, as with standard RLHF, might struggle which tasks that require such goal-directed behavior, since they are not trained to optimize for overall conversational outcomes after multiple turns of interaction. In this work, we explore a new method for adapting LLMs with RL for such goal-directed dialogue. Our key insight is that, though LLMs might not effectively solve goal-directed dialogue tasks out of the box, they can provide useful data for solving such tasks by simulating suboptimal but human-like behaviors. Given a textual description of a goal-directed dialogue task, we leverage LLMs to sample diverse synthetic rollouts of hypothetical in-domain human-human interactions. Our algorithm then utilizes this dataset with offline reinforcement learning to train an interactive conversational agent that can optimize goal-directed objectives over multiple turns. In effect, the LLM produces examples of possible interactions, and RL then processes these examples to learn to perform more optimal interactions. Empirically, we show that our proposed approach achieves state-of-the-art performance in various goal-directed dialogue tasks that include teaching and preference elicitation.

Large Language Models (LLMs) show significant potential in economic and strategic interactions, where communication via natural language is often prevalent. This raises key questions: Do LLMs behave rationally? Can they mimic human behavior? Do they tend to reach an efficient and fair outcome? What is the role of natural language in the strategic interaction? How do characteristics of the economic environment influence these dynamics? These questions become crucial concerning the economic and societal implications of integrating LLM-based agents into real-world data-driven systems, such as online retail platforms and recommender systems. While the ML community has been exploring the potential of LLMs in such multi-agent setups, varying assumptions, design choices and evaluation criteria across studies make it difficult to draw robust and meaningful conclusions. To address this, we introduce a benchmark for standardizing research on two-player, sequential, language-based games. Inspired by the economic literature, we define three base families of games with consistent parameterization, degrees of freedom and economic measures to evaluate agents' performance (self-gain), as well as the game outcome (efficiency and fairness). We develop an open-source framework for interaction simulation and analysis, and utilize it to collect a dataset of LLM vs. LLM interactions across numerous game configurations and an additional dataset of human vs. LLM interactions. Through extensive experimentation, we demonstrate how our framework and dataset can be used to: (i) compare the behavior of LLM-based agents to human players in various economic contexts; (ii) evaluate agents in both individual and collective performance measures; and (iii) quantify the effect of the economic characteristics of the environments on the behavior of agents.

As humans, we aspire to create media content that is both freely willed and readily controlled. Thanks to the prominent development of generative techniques, we now can easily utilize 2D diffusion methods to synthesize images controlled by raw sketch or designated human poses, and even progressively edit/regenerate local regions with masked inpainting. However, similar workflows in 3D modeling tasks are still unavailable due to the lack of controllability and efficiency in 3D generation. In this paper, we present a novel controllable and interactive 3D assets modeling framework, named Coin3D. Coin3D allows users to control the 3D generation using a coarse geometry proxy assembled from basic shapes, and introduces an interactive generation workflow to support seamless local part editing while delivering responsive 3D object previewing within a few seconds. To this end, we develop several techniques, including the 3D adapter that applies volumetric coarse shape control to the diffusion model, proxy-bounded editing strategy for precise part editing, progressive volume cache to support responsive preview, and volume-SDS to ensure consistent mesh reconstruction. Extensive experiments of interactive generation and editing on diverse shape proxies demonstrate that our method achieves superior controllability and flexibility in the 3D assets generation task.

Text-conditional diffusion models are able to generate high-fidelity images with diverse contents. However, linguistic representations frequently exhibit ambiguous descriptions of the envisioned objective imagery, requiring the incorporation of additional control signals to bolster the efficacy of text-guided diffusion models. In this work, we propose Cocktail, a pipeline to mix various modalities into one embedding, amalgamated with a generalized ControlNet (gControlNet), a controllable normalisation (ControlNorm), and a spatial guidance sampling method, to actualize multi-modal and spatially-refined control for text-conditional diffusion models. Specifically, we introduce a hyper-network gControlNet, dedicated to the alignment and infusion of the control signals from disparate modalities into the pre-trained diffusion model. gControlNet is capable of accepting flexible modality signals, encompassing the simultaneous reception of any combination of modality signals, or the supplementary fusion of multiple modality signals. The control signals are then fused and injected into the backbone model according to our proposed ControlNorm. Furthermore, our advanced spatial guidance sampling methodology proficiently incorporates the control signal into the designated region, thereby circumventing the manifestation of undesired objects within the generated image. We demonstrate the results of our method in controlling various modalities, proving high-quality synthesis and fidelity to multiple external signals.

In this paper, we explore the capabilities of state-of-the-art large language models (LLMs) such as GPT-4, Claude 3 Opus, and Gemini 1.0 Ultra in solving undergraduate-level control problems. Controls provides an interesting case study for LLM reasoning due to its combination of mathematical theory and engineering design. We introduce ControlBench, a benchmark dataset tailored to reflect the breadth, depth, and complexity of classical control design. We use this dataset to study and evaluate the problem-solving abilities of these LLMs in the context of control engineering. We present evaluations conducted by a panel of human experts, providing insights into the accuracy, reasoning, and explanatory prowess of LLMs in control engineering. Our analysis reveals the strengths and limitations of each LLM in the context of classical control, and our results imply that Claude 3 Opus has become the state-of-the-art LLM for solving undergraduate control problems. Our study serves as an initial step towards the broader goal of employing artificial general intelligence in control engineering.

We present a novel approach to synthesize dexterous motions for physically simulated hands in tasks that require coordination between the control of two hands with high temporal precision. Instead of directly learning a joint policy to control two hands, our approach performs bimanual control through cooperative learning where each hand is treated as an individual agent. The individual policies for each hand are first trained separately, and then synchronized through latent space manipulation in a centralized environment to serve as a joint policy for two-hand control. By doing so, we avoid directly performing policy learning in the joint state-action space of two hands with higher dimensions, greatly improving the overall training efficiency. We demonstrate the effectiveness of our proposed approach in the challenging guitar-playing task. The virtual guitarist trained by our approach can synthesize motions from unstructured reference data of general guitar-playing practice motions, and accurately play diverse rhythms with complex chord pressing and string picking patterns based on the input guitar tabs that do not exist in the references. Along with this paper, we provide the motion capture data that we collected as the reference for policy training. Code is available at: https://pei-xu.github.io/guitar.

Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method for performing a task -- natural human behavior has a great deal of heterogeneity, with several optimal ways to demonstrate a task. This multimodality is inconsequential to human users, with task variations manifesting as subconscious choices; for example, reaching down, then across to grasp an object, versus reaching across, then down. Yet, this mismatch presents a problem for interactive imitation learning, where sequences of users improve on a policy by iteratively collecting new, possibly conflicting demonstrations. To combat this problem of demonstrator incompatibility, this work designs an approach for 1) measuring the compatibility of a new demonstration given a base policy, and 2) actively eliciting more compatible demonstrations from new users. Across two simulation tasks requiring long-horizon, dexterous manipulation and a real-world "food plating" task with a Franka Emika Panda arm, we show that we can both identify incompatible demonstrations via post-hoc filtering, and apply our compatibility measure to actively elicit compatible demonstrations from new users, leading to improved task success rates across simulated and real environments.

Despite significant progress in robotics and embodied AI in recent years, deploying robots for long-horizon tasks remains a great challenge. Majority of prior arts adhere to an open-loop philosophy and lack real-time feedback, leading to error accumulation and undesirable robustness. A handful of approaches have endeavored to establish feedback mechanisms leveraging pixel-level differences or pre-trained visual representations, yet their efficacy and adaptability have been found to be constrained. Inspired by classic closed-loop control systems, we propose CLOVER, a closed-loop visuomotor control framework that incorporates feedback mechanisms to improve adaptive robotic control. CLOVER consists of a text-conditioned video diffusion model for generating visual plans as reference inputs, a measurable embedding space for accurate error quantification, and a feedback-driven controller that refines actions from feedback and initiates replans as needed. Our framework exhibits notable advancement in real-world robotic tasks and achieves state-of-the-art on CALVIN benchmark, improving by 8% over previous open-loop counterparts. Code and checkpoints are maintained at https://github.com/OpenDriveLab/CLOVER.

Interactive digital agents (IDAs) leverage APIs of stateful digital environments to perform tasks in response to user requests. While IDAs powered by instruction-tuned large language models (LLMs) can react to feedback from interface invocations in multi-step exchanges, they have not been trained in their respective digital environments. Prior methods accomplish less than half of tasks in sophisticated benchmarks such as AppWorld. We present a reinforcement learning (RL) approach that trains IDAs directly in their target environments. We formalize this training as a partially observable Markov decision process and derive LOOP, a data- and memory-efficient variant of proximal policy optimization. LOOP uses no value network and maintains exactly one copy of the underlying LLM in memory, making its implementation straightforward and as memory-efficient as fine-tuning a single LLM. A 32-billion-parameter agent trained with LOOP in the AppWorld environment outperforms the much larger OpenAI o1 agent by 9 percentage points (15% relative). To our knowledge, this is the first reported application of RL to IDAs that interact with a stateful, multi-domain, multi-app environment via direct API calls. Our analysis sheds light on the effectiveness of RL in this area, showing that the agent learns to consult the API documentation, avoid unwarranted assumptions, minimize confabulation, and recover from setbacks.

The intelligent interaction model based on large models reduces the differences in user experience across various system platforms but faces challenges in multi-agent collaboration and resource sharing. To demonstrate a uniform user experience across different foundational software platforms and address resource coordination management challenges, this paper proposes KAOS, a multi-agent operating system based on the open-source Kylin. The research method involves empowering agents with large models to serve applications. First, by introducing management role agents and vertical multi-agent collaboration to construct or replace typical application software. Second, by studying system-level shared resource scheduling strategies to enhance user experience and optimize resource utilization. And finally, by validating the efficiency and superiority of the large model multi-agent operating system through real applications and scoring intelligence. The feasibility of this system is demonstrated, providing a new perspective for the development of multi-agent operating systems. Experimental results show significant advantages of multi-agent collaboration in various application scenarios.

Due to the significant advances in large-scale text-to-image generation by diffusion model (DM), controllable human image generation has been attracting much attention recently. Existing works, such as Controlnet [36], T2I-adapter [20] and HumanSD [10] have demonstrated good abilities in generating human images based on pose conditions, they still fail to meet the requirements of real e-commerce scenarios. These include (1) the interaction between the shown product and human should be considered, (2) human parts like face/hand/arm/foot and the interaction between human model and product should be hyper-realistic, and (3) the identity of the product shown in advertising should be exactly consistent with the product itself. To this end, in this paper, we first define a new human image generation task for e-commerce marketing, i.e., Object-ID-retentive Human-object Interaction image Generation (OHG), and then propose a VirtualModel framework to generate human images for product shown, which supports displays of any categories of products and any types of human-object interaction. As shown in Figure 1, VirtualModel not only outperforms other methods in terms of accurate pose control and image quality but also allows for the display of user-specified product objects by maintaining the product-ID consistency and enhancing the plausibility of human-object interaction. Codes and data will be released.

Autonomous agents that control computer interfaces to accomplish human tasks are emerging. Leveraging LLMs to power such agents has been of special interest, but unless fine-tuned on human-collected task demonstrations, performance is still relatively low. In this work we study whether fine-tuning alone is a viable approach for building real-world computer control agents. %In particularly, we investigate how performance measured on both high and low-level tasks in domain and out of domain scales as more training data is collected. To this end we collect and release a new dataset, AndroidControl, consisting of 15,283 demonstrations of everyday tasks with Android apps. Compared to existing datasets, each AndroidControl task instance includes both high and low-level human-generated instructions, allowing us to explore the level of task complexity an agent can handle. Moreover, AndroidControl is the most diverse computer control dataset to date, including 15,283 unique tasks over 833 Android apps, thus allowing us to conduct in-depth analysis of the model performance in and out of the domain of the training data. Using the dataset, we find that when tested in domain fine-tuned models outperform zero and few-shot baselines and scale in such a way that robust performance might feasibly be obtained simply by collecting more data. Out of domain, performance scales significantly more slowly and suggests that in particular for high-level tasks, fine-tuning on more data alone may be insufficient for achieving robust out-of-domain performance.

Modern conversational agents, including anime-themed chatbots, are frequently reactive and personality-driven but fail to capture the dynamic nature of human interactions. We propose an event-driven dialogue framework to address these limitations by embedding dynamic events in conversation prompts and fine-tuning models on character-specific data. Evaluations on GPT-4 and comparisons with industry-leading baselines demonstrate that event-driven prompts significantly improve conversational engagement and naturalness while reducing hallucinations. This paper explores the application of this approach in creating lifelike chatbot interactions within the context of Honkai: Star Rail, showcasing the potential for dynamic event-based systems to transform role-playing and interactive dialogue.

Audio-driven co-speech human gesture generation has made remarkable advancements recently. However, most previous works only focus on single person audio-driven gesture generation. We aim at solving the problem of conversational co-speech gesture generation that considers multiple participants in a conversation, which is a novel and challenging task due to the difficulty of simultaneously incorporating semantic information and other relevant features from both the primary speaker and the interlocutor. To this end, we propose CoDiffuseGesture, a diffusion model-based approach for speech-driven interaction gesture generation via modeling bilateral conversational intention, emotion, and semantic context. Our method synthesizes appropriate interactive, speech-matched, high-quality gestures for conversational motions through the intention perception module and emotion reasoning module at the sentence level by a pretrained language model. Experimental results demonstrate the promising performance of the proposed method.

The integration of vision-language models into robotic systems constitutes a significant advancement in enabling machines to interact with their surroundings in a more intuitive manner. While VLMs offer rich multimodal reasoning, existing approaches lack user-specific adaptability, often relying on generic interaction paradigms that fail to account for individual behavioral, contextual, or socio-emotional nuances. When customization is attempted, ethical concerns arise from unmitigated biases in user data, risking exclusion or unfair treatment. To address these dual challenges, we propose User-VLM 360{\deg}, a holistic framework integrating multimodal user modeling with bias-aware optimization. Our approach features: (1) user-aware tuning that adapts interactions in real time using visual-linguistic signals; (2) bias mitigation via preference optimization; and (3) curated 360{\deg} socio-emotive interaction datasets annotated with demographic, emotion, and relational metadata. Evaluations across eight benchmarks demonstrate state-of-the-art results: +35.3% F1 in personalized VQA, +47.5% F1 in facial features understanding, 15% bias reduction, and 30X speedup over baselines. Ablation studies confirm component efficacy, and deployment on the Pepper robot validates real-time adaptability across diverse users. We open-source parameter-efficient 3B/10B models and an ethical verification framework for responsible adaptation.

Despite investments in improving model safety, studies show that misaligned capabilities remain latent in safety-tuned models. In this work, we shed light on the mechanics of this phenomenon. First, we show that even when model generations are safe, harmful content can persist in hidden representations and can be extracted by decoding from earlier layers. Then, we show that whether the model divulges such content depends significantly on its perception of who it is talking to, which we refer to as user persona. In fact, we find manipulating user persona to be even more effective for eliciting harmful content than direct attempts to control model refusal. We study both natural language prompting and activation steering as control methods and show that activation steering is significantly more effective at bypassing safety filters. We investigate why certain personas break model safeguards and find that they enable the model to form more charitable interpretations of otherwise dangerous queries. Finally, we show we can predict a persona's effect on refusal given only the geometry of its steering vector.

Generating realistic and interactive dynamics of traffic participants according to specific instruction is critical for street scene simulation. However, there is currently a lack of a comprehensive method that generates realistic dynamics of different types of participants including vehicles and pedestrians, with different kinds of interactions between them. In this paper, we introduce ChatDyn, the first system capable of generating interactive, controllable and realistic participant dynamics in street scenes based on language instructions. To achieve precise control through complex language, ChatDyn employs a multi-LLM-agent role-playing approach, which utilizes natural language inputs to plan the trajectories and behaviors for different traffic participants. To generate realistic fine-grained dynamics based on the planning, ChatDyn designs two novel executors: the PedExecutor, a unified multi-task executor that generates realistic pedestrian dynamics under different task plannings; and the VehExecutor, a physical transition-based policy that generates physically plausible vehicle dynamics. Extensive experiments show that ChatDyn can generate realistic driving scene dynamics with multiple vehicles and pedestrians, and significantly outperforms previous methods on subtasks. Code and model will be available at https://vfishc.github.io/chatdyn.

In recent developments within the research community, the integration of Large Language Models (LLMs) in creating fully autonomous agents has garnered significant interest. Despite this, LLM-based agents frequently demonstrate notable shortcomings in adjusting to dynamic environments and fully grasping human needs. In this work, we introduce the problem of LLM-based human-agent collaboration for complex task-solving, exploring their synergistic potential. In addition, we propose a Reinforcement Learning-based Human-Agent Collaboration method, ReHAC. This approach includes a policy model designed to determine the most opportune stages for human intervention within the task-solving process. We construct a human-agent collaboration dataset to train this policy model in an offline reinforcement learning environment. Our validation tests confirm the model's effectiveness. The results demonstrate that the synergistic efforts of humans and LLM-based agents significantly improve performance in complex tasks, primarily through well-planned, limited human intervention. Datasets and code are available at: https://github.com/XueyangFeng/ReHAC.

A control technique is developed via Reinforcement Learning that allows arbitrary controlling of the position of an acoustic cavitation bubble in a dual-frequency standing acoustic wave field. The agent must choose the optimal pressure amplitude values to manipulate the bubble position in the range of x/lambda_0in[0.05, 0.25]. To train the agent an actor-critic off-policy algorithm (Deep Deterministic Policy Gradient) was used that supports continuous action space, which allows setting the pressure amplitude values continuously within 0 and 1, bar. A shaped reward function is formulated that minimizes the distance between the bubble and the target position and implicitly encourages the agent to perform the position control within the shortest amount of time. In some cases, the optimal control can be 7 times faster than the solution expected from the linear theory.

Soft object manipulation poses significant challenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes in the environment, while manipulation policy learning focuses on establishing the relationship between robot actions and state transformations to achieve specific goals. To address these challenges, this research paper introduces a novel approach: a dynamic heterogeneous graph-based model for learning goal-oriented soft object manipulation policies. The proposed model utilizes graphs as a unified representation for both states and policy learning. By leveraging the dynamic graph, we can extract crucial information regarding object dynamics and manipulation policies. Furthermore, the model facilitates the integration of demonstrations, enabling guided policy learning. To evaluate the efficacy of our approach, we designed a dough rolling task and conducted experiments using both a differentiable simulator and a real-world humanoid robot. Additionally, several ablation studies were performed to analyze the effect of our method, demonstrating its superiority in achieving human-like behavior.

This paper presents SANA-Sprint, an efficient diffusion model for ultra-fast text-to-image (T2I) generation. SANA-Sprint is built on a pre-trained foundation model and augmented with hybrid distillation, dramatically reducing inference steps from 20 to 1-4. We introduce three key innovations: (1) We propose a training-free approach that transforms a pre-trained flow-matching model for continuous-time consistency distillation (sCM), eliminating costly training from scratch and achieving high training efficiency. Our hybrid distillation strategy combines sCM with latent adversarial distillation (LADD): sCM ensures alignment with the teacher model, while LADD enhances single-step generation fidelity. (2) SANA-Sprint is a unified step-adaptive model that achieves high-quality generation in 1-4 steps, eliminating step-specific training and improving efficiency. (3) We integrate ControlNet with SANA-Sprint for real-time interactive image generation, enabling instant visual feedback for user interaction. SANA-Sprint establishes a new Pareto frontier in speed-quality tradeoffs, achieving state-of-the-art performance with 7.59 FID and 0.74 GenEval in only 1 step - outperforming FLUX-schnell (7.94 FID / 0.71 GenEval) while being 10x faster (0.1s vs 1.1s on H100). It also achieves 0.1s (T2I) and 0.25s (ControlNet) latency for 1024 x 1024 images on H100, and 0.31s (T2I) on an RTX 4090, showcasing its exceptional efficiency and potential for AI-powered consumer applications (AIPC). Code and pre-trained models will be open-sourced.

Efficient exploration is essential for intelligent systems interacting with their environment, but existing language models often fall short in scenarios that require strategic information gathering. In this paper, we present PAPRIKA, a fine-tuning approach that enables language models to develop general decision-making capabilities that are not confined to particular environments. By training on synthetic interaction data from different tasks that require diverse strategies, PAPRIKA teaches models to explore and adapt their behavior on a new task based on environment feedback in-context without more gradient updates. Experimental results show that models fine-tuned with PAPRIKA can effectively transfer their learned decision-making capabilities to entirely unseen tasks without additional training. Unlike traditional training, our approach's primary bottleneck lies in sampling useful interaction data instead of model updates. To improve sample efficiency, we propose a curriculum learning strategy that prioritizes sampling trajectories from tasks with high learning potential. These results suggest a promising path towards AI systems that can autonomously solve novel sequential decision-making problems that require interactions with the external world.

Social computing prototypes probe the social behaviors that may arise in an envisioned system design. This prototyping practice is currently limited to recruiting small groups of people. Unfortunately, many challenges do not arise until a system is populated at a larger scale. Can a designer understand how a social system might behave when populated, and make adjustments to the design before the system falls prey to such challenges? We introduce social simulacra, a prototyping technique that generates a breadth of realistic social interactions that may emerge when a social computing system is populated. Social simulacra take as input the designer's description of a community's design -- goal, rules, and member personas -- and produce as output an instance of that design with simulated behavior, including posts, replies, and anti-social behaviors. We demonstrate that social simulacra shift the behaviors that they generate appropriately in response to design changes, and that they enable exploration of "what if?" scenarios where community members or moderators intervene. To power social simulacra, we contribute techniques for prompting a large language model to generate thousands of distinct community members and their social interactions with each other; these techniques are enabled by the observation that large language models' training data already includes a wide variety of positive and negative behavior on social media platforms. In evaluations, we show that participants are often unable to distinguish social simulacra from actual community behavior and that social computing designers successfully refine their social computing designs when using social simulacra.

Intelligent agents powered by large language models (LLMs) have demonstrated substantial promise in autonomously conducting experiments and facilitating scientific discoveries across various disciplines. While their capabilities are promising, they also introduce novel vulnerabilities that demand careful consideration for safety. However, there exists a notable gap in the literature, as there has been no comprehensive exploration of these vulnerabilities. This position paper fills this gap by conducting a thorough examination of vulnerabilities in LLM-based agents within scientific domains, shedding light on potential risks associated with their misuse and emphasizing the need for safety measures. We begin by providing a comprehensive overview of the potential risks inherent to scientific LLM agents, taking into account user intent, the specific scientific domain, and their potential impact on the external environment. Then, we delve into the origins of these vulnerabilities and provide a scoping review of the limited existing works. Based on our analysis, we propose a triadic framework involving human regulation, agent alignment, and an understanding of environmental feedback (agent regulation) to mitigate these identified risks. Furthermore, we highlight the limitations and challenges associated with safeguarding scientific agents and advocate for the development of improved models, robust benchmarks, and comprehensive regulations to address these issues effectively.

Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and flexible mobile manipulator that can support arbitrary arms, enabling a wide range of real-world household mobile manipulation tasks. Crucially, our design uses powered casters to enable the mobile base to be fully holonomic, able to control all planar degrees of freedom independently and simultaneously. This feature makes the base more maneuverable and simplifies many mobile manipulation tasks, eliminating the kinematic constraints that create complex and time-consuming motions in nonholonomic bases. We equip our robot with an intuitive mobile phone teleoperation interface to enable easy data acquisition for imitation learning. In our experiments, we use this interface to collect data and show that the resulting learned policies can successfully perform a variety of common household mobile manipulation tasks.

Smart home assistants function best when user commands are direct and well-specified (e.g., "turn on the kitchen light"), or when a hard-coded routine specifies the response. In more natural communication, however, human speech is unconstrained, often describing goals (e.g., "make it cozy in here" or "help me save energy") rather than indicating specific target devices and actions to take on those devices. Current systems fail to understand these under-specified commands since they cannot reason about devices and settings as they relate to human situations. We introduce large language models (LLMs) to this problem space, exploring their use for controlling devices and creating automation routines in response to under-specified user commands in smart homes. We empirically study the baseline quality and failure modes of LLM-created action plans with a survey of age-diverse users. We find that LLMs can reason creatively to achieve challenging goals, but they experience patterns of failure that diminish their usefulness. We address these gaps with Sasha, a smarter smart home assistant. Sasha responds to loosely-constrained commands like "make it cozy" or "help me sleep better" by executing plans to achieve user goals, e.g., setting a mood with available devices, or devising automation routines. We implement and evaluate Sasha in a hands-on user study, showing the capabilities and limitations of LLM-driven smart homes when faced with unconstrained user-generated scenarios.

Although large language models (LLMs) have demonstrated impressive potential on simple tasks, their breadth of scope, lack of transparency, and insufficient controllability can make them less effective when assisting humans on more complex tasks. In response, we introduce the concept of Chaining LLM steps together, where the output of one step becomes the input for the next, thus aggregating the gains per step. We first define a set of LLM primitive operations useful for Chain construction, then present an interactive system where users can modify these Chains, along with their intermediate results, in a modular way. In a 20-person user study, we found that Chaining not only improved the quality of task outcomes, but also significantly enhanced system transparency, controllability, and sense of collaboration. Additionally, we saw that users developed new ways of interacting with LLMs through Chains: they leveraged sub-tasks to calibrate model expectations, compared and contrasted alternative strategies by observing parallel downstream effects, and debugged unexpected model outputs by "unit-testing" sub-components of a Chain. In two case studies, we further explore how LLM Chains may be used in future applications

Hybrid systems are prevalent in robotics. However, ensuring the stability of hybrid systems is challenging due to sophisticated continuous and discrete dynamics. A system with all its system modes stable can still be unstable. Hence special treatments are required at mode switchings to stabilize the system. In this work, we propose a hierarchical, neural network (NN)-based method to control general hybrid systems. For each system mode, we first learn an NN Lyapunov function and an NN controller to ensure the states within the region of attraction (RoA) can be stabilized. Then an RoA NN estimator is learned across different modes. Upon mode switching, we propose a differentiable planner to ensure the states after switching can land in next mode's RoA, hence stabilizing the hybrid system. We provide novel theoretical stability guarantees and conduct experiments in car tracking control, pogobot navigation, and bipedal walker locomotion. Our method only requires 0.25X of the training time as needed by other learning-based methods. With low running time (10-50X faster than model predictive control (MPC)), our controller achieves a higher stability/success rate over other baselines such as MPC, reinforcement learning (RL), common Lyapunov methods (CLF), linear quadratic regulator (LQR), quadratic programming (QP) and Hamilton-Jacobian-based methods (HJB). The project page is on https://mit-realm.github.io/hybrid-clf.

Audio is an essential part of our life, but creating it often requires expertise and is time-consuming. Research communities have made great progress over the past year advancing the performance of large scale audio generative models for a single modality (speech, sound, or music) through adopting more powerful generative models and scaling data. However, these models lack controllability in several aspects: speech generation models cannot synthesize novel styles based on text description and are limited on domain coverage such as outdoor environments; sound generation models only provide coarse-grained control based on descriptions like "a person speaking" and would only generate mumbling human voices. This paper presents Audiobox, a unified model based on flow-matching that is capable of generating various audio modalities. We design description-based and example-based prompting to enhance controllability and unify speech and sound generation paradigms. We allow transcript, vocal, and other audio styles to be controlled independently when generating speech. To improve model generalization with limited labels, we adapt a self-supervised infilling objective to pre-train on large quantities of unlabeled audio. Audiobox sets new benchmarks on speech and sound generation (0.745 similarity on Librispeech for zero-shot TTS; 0.77 FAD on AudioCaps for text-to-sound) and unlocks new methods for generating audio with novel vocal and acoustic styles. We further integrate Bespoke Solvers, which speeds up generation by over 25 times compared to the default ODE solver for flow-matching, without loss of performance on several tasks. Our demo is available at https://audiobox.metademolab.com/

Interventions on model-internal states are fundamental operations in many areas of AI, including model editing, steering, robustness, and interpretability. To facilitate such research, we introduce pyvene, an open-source Python library that supports customizable interventions on a range of different PyTorch modules. pyvene supports complex intervention schemes with an intuitive configuration format, and its interventions can be static or include trainable parameters. We show how pyvene provides a unified and extensible framework for performing interventions on neural models and sharing the intervened upon models with others. We illustrate the power of the library via interpretability analyses using causal abstraction and knowledge localization. We publish our library through Python Package Index (PyPI) and provide code, documentation, and tutorials at https://github.com/stanfordnlp/pyvene.

The advanced role-playing capabilities of Large Language Models (LLMs) have paved the way for developing Role-Playing Agents (RPAs). However, existing benchmarks in social interaction such as HPD and SocialBench have not investigated hallucination and face limitations like poor generalizability and implicit judgments for character fidelity. To address these issues, we propose a generalizable, explicit and effective paradigm to unlock the interactive patterns in diverse worldviews. Specifically, we define the interactive hallucination based on stance transfer and construct a benchmark, SHARP, by extracting relations from a general commonsense knowledge graph and leveraging the inherent hallucination properties of RPAs to simulate interactions across roles. Extensive experiments validate the effectiveness and stability of our paradigm. Our findings further explore the factors influencing these metrics and discuss the trade-off between blind loyalty to roles and adherence to facts in RPAs.

The pursuit of controllability as a higher standard of visual content creation has yielded remarkable progress in customizable image synthesis. However, achieving controllable video synthesis remains challenging due to the large variation of temporal dynamics and the requirement of cross-frame temporal consistency. Based on the paradigm of compositional generation, this work presents VideoComposer that allows users to flexibly compose a video with textual conditions, spatial conditions, and more importantly temporal conditions. Specifically, considering the characteristic of video data, we introduce the motion vector from compressed videos as an explicit control signal to provide guidance regarding temporal dynamics. In addition, we develop a Spatio-Temporal Condition encoder (STC-encoder) that serves as a unified interface to effectively incorporate the spatial and temporal relations of sequential inputs, with which the model could make better use of temporal conditions and hence achieve higher inter-frame consistency. Extensive experimental results suggest that VideoComposer is able to control the spatial and temporal patterns simultaneously within a synthesized video in various forms, such as text description, sketch sequence, reference video, or even simply hand-crafted motions. The code and models will be publicly available at https://videocomposer.github.io.

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range of applications, from personal assistance to industrial robotics, emphasizing the importance of robots interacting flexibly, naturally and safely with humans. This paper presents an advanced architecture for robotic action planning that integrates communication, perception, and planning with Large Language Models (LLMs). Our system is designed to translate commands expressed in natural language into executable robot actions, incorporating environmental information and dynamically updating plans based on real-time feedback. The Planner Module is the core of the system where LLMs embedded in a modified ReAct framework are employed to interpret and carry out user commands. By leveraging their extensive pre-trained knowledge, LLMs can effectively process user requests without the need to introduce new knowledge on the changing environment. The modified ReAct framework further enhances the execution space by providing real-time environmental perception and the outcomes of physical actions. By combining robust and dynamic semantic map representations as graphs with control components and failure explanations, this architecture enhances a robot adaptability, task execution, and seamless collaboration with human users in shared and dynamic environments. Through the integration of continuous feedback loops with the environment the system can dynamically adjusts the plan to accommodate unexpected changes, optimizing the robot ability to perform tasks. Using a dataset of previous experience is possible to provide detailed feedback about the failure. Updating the LLMs context of the next iteration with suggestion on how to overcame the issue.

Contact-rich bimanual manipulation involves precise coordination of two arms to change object states through strategically selected contacts and motions. Due to the inherent complexity of these tasks, acquiring sufficient demonstration data and training policies that generalize to unseen scenarios remain a largely unresolved challenge. Building on recent advances in planning through contacts, we introduce Generalizable Planning-Guided Diffusion Policy Learning (GLIDE), an approach that effectively learns to solve contact-rich bimanual manipulation tasks by leveraging model-based motion planners to generate demonstration data in high-fidelity physics simulation. Through efficient planning in randomized environments, our approach generates large-scale and high-quality synthetic motion trajectories for tasks involving diverse objects and transformations. We then train a task-conditioned diffusion policy via behavior cloning using these demonstrations. To tackle the sim-to-real gap, we propose a set of essential design options in feature extraction, task representation, action prediction, and data augmentation that enable learning robust prediction of smooth action sequences and generalization to unseen scenarios. Through experiments in both simulation and the real world, we demonstrate that our approach can enable a bimanual robotic system to effectively manipulate objects of diverse geometries, dimensions, and physical properties. Website: https://glide-manip.github.io/

In this paper, we present Duplex Conversation, a multi-turn, multimodal spoken dialogue system that enables telephone-based agents to interact with customers like a human. We use the concept of full-duplex in telecommunication to demonstrate what a human-like interactive experience should be and how to achieve smooth turn-taking through three subtasks: user state detection, backchannel selection, and barge-in detection. Besides, we propose semi-supervised learning with multimodal data augmentation to leverage unlabeled data to increase model generalization. Experimental results on three sub-tasks show that the proposed method achieves consistent improvements compared with baselines. We deploy the Duplex Conversation to Alibaba intelligent customer service and share lessons learned in production. Online A/B experiments show that the proposed system can significantly reduce response latency by 50%.

Text-to-image diffusion generative models can generate high quality images at the cost of tedious prompt engineering. Controllability can be improved by introducing layout conditioning, however existing methods lack layout editing ability and fine-grained control over object attributes. The concept of multi-layer generation holds great potential to address these limitations, however generating image instances concurrently to scene composition limits control over fine-grained object attributes, relative positioning in 3D space and scene manipulation abilities. In this work, we propose a novel multi-stage generation paradigm that is designed for fine-grained control, flexibility and interactivity. To ensure control over instance attributes, we devise a novel training paradigm to adapt a diffusion model to generate isolated scene components as RGBA images with transparency information. To build complex images, we employ these pre-generated instances and introduce a multi-layer composite generation process that smoothly assembles components in realistic scenes. Our experiments show that our RGBA diffusion model is capable of generating diverse and high quality instances with precise control over object attributes. Through multi-layer composition, we demonstrate that our approach allows to build and manipulate images from highly complex prompts with fine-grained control over object appearance and location, granting a higher degree of control than competing methods.

Linear programming (LP) problems are pervasive in real-life applications. However, despite their apparent simplicity, an untrained user may find it difficult to determine the linear model of their specific problem. We envisage the creation of a goal-oriented conversational agent that will engage in conversation with the user to elicit all information required so that a subsequent agent can generate the linear model. In this paper, we present an approach for the generation of sample dialogues that can be used to develop and train such a conversational agent. Using prompt engineering, we develop two agents that "talk" to each other, one acting as the conversational agent, and the other acting as the user. Using a set of text descriptions of linear problems from NL4Opt available to the user only, the agent and the user engage in conversation until the agent has retrieved all key information from the original problem description. We also propose an extrinsic evaluation of the dialogues by assessing how well the summaries generated by the dialogues match the original problem descriptions. We conduct human and automatic evaluations, including an evaluation approach that uses GPT-4 to mimic the human evaluation metrics. The evaluation results show an overall good quality of the dialogues, though research is still needed to improve the quality of the GPT-4 evaluation metrics. The resulting dialogues, including the human annotations of a subset, are available to the research community. The conversational agent used for the generation of the dialogues can be used as a baseline.

Traditional sociological research often relies on human participation, which, though effective, is expensive, challenging to scale, and with ethical concerns. Recent advancements in large language models (LLMs) highlight their potential to simulate human behavior, enabling the replication of individual responses and facilitating studies on many interdisciplinary studies. In this paper, we conduct a comprehensive survey of this field, illustrating the recent progress in simulation driven by LLM-empowered agents. We categorize the simulations into three types: (1) Individual Simulation, which mimics specific individuals or demographic groups; (2) Scenario Simulation, where multiple agents collaborate to achieve goals within specific contexts; and (3) Society Simulation, which models interactions within agent societies to reflect the complexity and variety of real-world dynamics. These simulations follow a progression, ranging from detailed individual modeling to large-scale societal phenomena. We provide a detailed discussion of each simulation type, including the architecture or key components of the simulation, the classification of objectives or scenarios and the evaluation method. Afterward, we summarize commonly used datasets and benchmarks. Finally, we discuss the trends across these three types of simulation. A repository for the related sources is at {https://github.com/FudanDISC/SocialAgent}.

Diffusion models have demonstrated remarkable capabilities in image generation tasks, including image editing and video creation, representing a good understanding of the physical world. On the other line, diffusion models have also shown promise in robotic control tasks by denoising actions, known as diffusion policy. Although the diffusion generative model and diffusion policy exhibit distinct capabilities--image prediction and robotic action, respectively--they technically follow a similar denoising process. In robotic tasks, the ability to predict future images and generate actions is highly correlated since they share the same underlying dynamics of the physical world. Building on this insight, we introduce PAD, a novel visual policy learning framework that unifies image Prediction and robot Action within a joint Denoising process. Specifically, PAD utilizes Diffusion Transformers (DiT) to seamlessly integrate images and robot states, enabling the simultaneous prediction of future images and robot actions. Additionally, PAD supports co-training on both robotic demonstrations and large-scale video datasets and can be easily extended to other robotic modalities, such as depth images. PAD outperforms previous methods, achieving a significant 26.3% relative improvement on the full Metaworld benchmark, by utilizing a single text-conditioned visual policy within a data-efficient imitation learning setting. Furthermore, PAD demonstrates superior generalization to unseen tasks in real-world robot manipulation settings with 28.0% success rate increase compared to the strongest baseline. Project page at https://sites.google.com/view/pad-paper

Language agents have demonstrated promising capabilities in automating web-based tasks, though their current reactive approaches still underperform largely compared to humans. While incorporating advanced planning algorithms, particularly tree search methods, could enhance these agents' performance, implementing tree search directly on live websites poses significant safety risks and practical constraints due to irreversible actions such as confirming a purchase. In this paper, we introduce a novel paradigm that augments language agents with model-based planning, pioneering the innovative use of large language models (LLMs) as world models in complex web environments. Our method, WebDreamer, builds on the key insight that LLMs inherently encode comprehensive knowledge about website structures and functionalities. Specifically, WebDreamer uses LLMs to simulate outcomes for each candidate action (e.g., "what would happen if I click this button?") using natural language descriptions, and then evaluates these imagined outcomes to determine the optimal action at each step. Empirical results on two representative web agent benchmarks with online interaction -- VisualWebArena and Mind2Web-live -- demonstrate that WebDreamer achieves substantial improvements over reactive baselines. By establishing the viability of LLMs as world models in web environments, this work lays the groundwork for a paradigm shift in automated web interaction. More broadly, our findings open exciting new avenues for future research into 1) optimizing LLMs specifically for world modeling in complex, dynamic environments, and 2) model-based speculative planning for language agents.

Systems for language-guided human-robot interaction must satisfy two key desiderata for broad adoption: adaptivity and learning efficiency. Unfortunately, existing instruction-following agents cannot adapt, lacking the ability to incorporate online natural language supervision, and even if they could, require hundreds of demonstrations to learn even simple policies. In this work, we address these problems by presenting Language-Informed Latent Actions with Corrections (LILAC), a framework for incorporating and adapting to natural language corrections - "to the right," or "no, towards the book" - online, during execution. We explore rich manipulation domains within a shared autonomy paradigm. Instead of discrete turn-taking between a human and robot, LILAC splits agency between the human and robot: language is an input to a learned model that produces a meaningful, low-dimensional control space that the human can use to guide the robot. Each real-time correction refines the human's control space, enabling precise, extended behaviors - with the added benefit of requiring only a handful of demonstrations to learn. We evaluate our approach via a user study where users work with a Franka Emika Panda manipulator to complete complex manipulation tasks. Compared to existing learned baselines covering both open-loop instruction following and single-turn shared autonomy, we show that our corrections-aware approach obtains higher task completion rates, and is subjectively preferred by users because of its reliability, precision, and ease of use.

Persona agents, which are LLM agents that act according to an assigned persona, have demonstrated impressive contextual response capabilities across various applications. These persona agents offer significant enhancements across diverse sectors, such as education, healthcare, and entertainment, where model developers can align agent responses to different user requirements thereby broadening the scope of agent applications. However, evaluating persona agent performance is incredibly challenging due to the complexity of assessing persona adherence in free-form interactions across various environments that are relevant to each persona agent. We introduce PersonaGym, the first dynamic evaluation framework for assessing persona agents, and PersonaScore, the first automated human-aligned metric grounded in decision theory for comprehensive large-scale evaluation of persona agents. Our evaluation of 6 open and closed-source LLMs, using a benchmark encompassing 200 personas and 10,000 questions, reveals significant opportunities for advancement in persona agent capabilities across state-of-the-art models. For example, Claude 3.5 Sonnet only has a 2.97% relative improvement in PersonaScore than GPT 3.5 despite being a much more advanced model. Importantly, we find that increased model size and complexity do not necessarily imply enhanced persona agent capabilities thereby highlighting the pressing need for algorithmic and architectural invention towards faithful and performant persona agents.

Closed-loop brain stimulation refers to capturing neurophysiological measures such as electroencephalography (EEG), quickly identifying neural events of interest, and producing auditory, magnetic or electrical stimulation so as to interact with brain processes precisely. It is a promising new method for fundamental neuroscience and perhaps for clinical applications such as restoring degraded memory function; however, existing tools are expensive, cumbersome, and offer limited experimental flexibility. In this article, we propose the Portiloop, a deep learning-based, portable and low-cost closed-loop stimulation system able to target specific brain oscillations. We first document open-hardware implementations that can be constructed from commercially available components. We also provide a fast, lightweight neural network model and an exploration algorithm that automatically optimizes the model hyperparameters to the desired brain oscillation. Finally, we validate the technology on a challenging test case of real-time sleep spindle detection, with results comparable to off-line expert performance on the Massive Online Data Annotation spindle dataset (MODA; group consensus). Software and plans are available to the community as an open science initiative to encourage further development and advance closed-loop neuroscience research.

Tuning language models for dialogue generation has been a prevalent paradigm for building capable dialogue agents. Yet, traditional tuning narrowly views dialogue generation as resembling other language generation tasks, ignoring the role disparities between two speakers and the multi-round interactive process that dialogues ought to be. Such a manner often leads to unsatisfactory chat consistency for the built agent. In this work, we emphasize the interactive, communicative nature of dialogue and argue that it is more feasible to model the speaker roles of agent and user separately, enabling the agent to adhere to its role consistently. With this in mind, we propose an efficient Multi-round Interactive Dialogue Tuning (Midi-Tuning) framework. It models the agent and user individually with two adapters built upon large language models. The adapters make use of respective utterances round by round in alternating order and they are tuned via a round-level memory caching mechanism. Extensive experiments demonstrate that, our framework performs superior to traditional fine-tuning and harbors the tremendous potential for improving dialogue consistency.

A common pipeline in learning-based control is to iteratively estimate a model of system dynamics, and apply a trajectory optimization algorithm - e.g.~iLQR - on the learned model to minimize a target cost. This paper conducts a rigorous analysis of a simplified variant of this strategy for general nonlinear systems. We analyze an algorithm which iterates between estimating local linear models of nonlinear system dynamics and performing iLQR-like policy updates. We demonstrate that this algorithm attains sample complexity polynomial in relevant problem parameters, and, by synthesizing locally stabilizing gains, overcomes exponential dependence in problem horizon. Experimental results validate the performance of our algorithm, and compare to natural deep-learning baselines.

This research paper delves into the integration of OpenAI's ChatGPT into embodied agent systems, evaluating its influence on interactive decision-making benchmark. Drawing a parallel to the concept of people assuming roles according to their unique strengths, we introduce InterAct. In this approach, we feed ChatGPT with varied prompts, assigning it a numerous roles like a checker and a sorter, then integrating them with the original language model. Our research shows a remarkable success rate of 98% in AlfWorld, which consists of 6 different tasks in a simulated household environment, emphasizing the significance of proficient prompt engineering. The results highlight ChatGPT's competence in comprehending and performing intricate tasks effectively in real-world settings, thus paving the way for further advancements in task planning.

Differentiable physics enables efficient gradient-based optimizations of neural network (NN) controllers. However, existing work typically only delivers NN controllers with limited capability and generalizability. We present a practical learning framework that outputs unified NN controllers capable of tasks with significantly improved complexity and diversity. To systematically improve training robustness and efficiency, we investigated a suite of improvements over the baseline approach, including periodic activation functions, and tailored loss functions. In addition, we find our adoption of batching and an Adam optimizer effective in training complex locomotion tasks. We evaluate our framework on differentiable mass-spring and material point method (MPM) simulations, with challenging locomotion tasks and multiple robot designs. Experiments show that our learning framework, based on differentiable physics, delivers better results than reinforcement learning and converges much faster. We demonstrate that users can interactively control soft robot locomotion and switch among multiple goals with specified velocity, height, and direction instructions using a unified NN controller trained in our system. Code is available at https://github.com/erizmr/Complex-locomotion-skill-learning-via-differentiable-physics.

We explore a novel video creation experience, namely Video Creation by Demonstration. Given a demonstration video and a context image from a different scene, we generate a physically plausible video that continues naturally from the context image and carries out the action concepts from the demonstration. To enable this capability, we present delta-Diffusion, a self-supervised training approach that learns from unlabeled videos by conditional future frame prediction. Unlike most existing video generation controls that are based on explicit signals, we adopts the form of implicit latent control for maximal flexibility and expressiveness required by general videos. By leveraging a video foundation model with an appearance bottleneck design on top, we extract action latents from demonstration videos for conditioning the generation process with minimal appearance leakage. Empirically, delta-Diffusion outperforms related baselines in terms of both human preference and large-scale machine evaluations, and demonstrates potentials towards interactive world simulation. Sampled video generation results are available at https://delta-diffusion.github.io/.

Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can pre-compute a corresponding safety controller. While this may make sense for some safety constraints (e.g., avoiding collision with walls by analyzing a floor plan), other constraints are more complex (e.g., spills), inherently personal, context-dependent, and can only be identified at deployment time when the robot is interacting in a specific environment and with a specific person (e.g., fragile objects, expensive rugs). Here, language provides a flexible mechanism to communicate these evolving safety constraints to the robot. In this work, we use vision language models (VLMs) to interpret language feedback and the robot's image observations to continuously update the robot's representation of safety constraints. With these inferred constraints, we update a Hamilton-Jacobi reachability safety controller online via efficient warm-starting techniques. Through simulation and hardware experiments, we demonstrate the robot's ability to infer and respect language-based safety constraints with the proposed approach.

Performing simple household tasks based on language directives is very natural to humans, yet it remains an open challenge for AI agents. The 'interactive instruction following' task attempts to make progress towards building agents that jointly navigate, interact, and reason in the environment at every step. To address the multifaceted problem, we propose a model that factorizes the task into interactive perception and action policy streams with enhanced components and name it as MOCA, a Modular Object-Centric Approach. We empirically validate that MOCA outperforms prior arts by significant margins on the ALFRED benchmark with improved generalization.

Despite the growing adoption of mixed reality and interactive AI agents, it remains challenging for these systems to generate high quality 2D/3D scenes in unseen environments. The common practice requires deploying an AI agent to collect large amounts of data for model training for every new task. This process is costly, or even impossible, for many domains. In this study, we develop an infinite agent that learns to transfer knowledge memory from general foundation models (e.g. GPT4, DALLE) to novel domains or scenarios for scene understanding and generation in the physical or virtual world. The heart of our approach is an emerging mechanism, dubbed Augmented Reality with Knowledge Inference Interaction (ArK), which leverages knowledge-memory to generate scenes in unseen physical world and virtual reality environments. The knowledge interactive emergent ability (Figure 1) is demonstrated as the observation learns i) micro-action of cross-modality: in multi-modality models to collect a large amount of relevant knowledge memory data for each interaction task (e.g., unseen scene understanding) from the physical reality; and ii) macro-behavior of reality-agnostic: in mix-reality environments to improve interactions that tailor to different characterized roles, target variables, collaborative information, and so on. We validate the effectiveness of ArK on the scene generation and editing tasks. We show that our ArK approach, combined with large foundation models, significantly improves the quality of generated 2D/3D scenes, compared to baselines, demonstrating the potential benefit of incorporating ArK in generative AI for applications such as metaverse and gaming simulation.

Convergent Cross Mapping (CCM) is a powerful method for detecting causality in coupled nonlinear dynamical systems, providing a model-free approach to capture dynamic causal interactions. Partial Cross Mapping (PCM) was introduced as an extension of CCM to address indirect causality in three-variable systems by comparing cross-mapping quality between direct cause-effect mapping and indirect mapping through an intermediate conditioning variable. However, PCM remains limited to univariate delay embeddings in its cross-mapping processes. In this work, we extend PCM to the multivariate setting, introducing multiPCM, which leverages multivariate embeddings to more effectively distinguish indirect causal relationships. We further propose a multivariate cross-mapping framework (MXMap) for causal discovery in dynamical systems. This two-phase framework combines (1) pairwise CCM tests to establish an initial causal graph and (2) multiPCM to refine the graph by pruning indirect causal connections. Through experiments on simulated data and the ERA5 Reanalysis weather dataset, we demonstrate the effectiveness of MXMap. Additionally, MXMap is compared against several baseline methods, showing advantages in accuracy and causal graph refinement.

This survey explores the burgeoning field of role-playing with language models, focusing on their development from early persona-based models to advanced character-driven simulations facilitated by Large Language Models (LLMs). Initially confined to simple persona consistency due to limited model capabilities, role-playing tasks have now expanded to embrace complex character portrayals involving character consistency, behavioral alignment, and overall attractiveness. We provide a comprehensive taxonomy of the critical components in designing these systems, including data, models and alignment, agent architecture and evaluation. This survey not only outlines the current methodologies and challenges, such as managing dynamic personal profiles and achieving high-level persona consistency but also suggests avenues for future research in improving the depth and realism of role-playing applications. The goal is to guide future research by offering a structured overview of current methodologies and identifying potential areas for improvement. Related resources and papers are available at https://github.com/nuochenpku/Awesome-Role-Play-Papers.

Methods for making high-quality recommendations often rely on learning latent representations from interaction data. These methods, while performant, do not provide ready mechanisms for users to control the recommendation they receive. Our work tackles this problem by proposing LACE, a novel concept value bottleneck model for controllable text recommendations. LACE represents each user with a succinct set of human-readable concepts through retrieval given user-interacted documents and learns personalized representations of the concepts based on user documents. This concept based user profile is then leveraged to make recommendations. The design of our model affords control over the recommendations through a number of intuitive interactions with a transparent user profile. We first establish the quality of recommendations obtained from LACE in an offline evaluation on three recommendation tasks spanning six datasets in warm-start, cold-start, and zero-shot setups. Next, we validate the controllability of LACE under simulated user interactions. Finally, we implement LACE in an interactive controllable recommender system and conduct a user study to demonstrate that users are able to improve the quality of recommendations they receive through interactions with an editable user profile.

Simulated humanoids are an appealing research domain due to their physical capabilities. Nonetheless, they are also challenging to control, as a policy must drive an unstable, discontinuous, and high-dimensional physical system. One widely studied approach is to utilize motion capture (MoCap) data to teach the humanoid agent low-level skills (e.g., standing, walking, and running) that can then be re-used to synthesize high-level behaviors. However, even with MoCap data, controlling simulated humanoids remains very hard, as MoCap data offers only kinematic information. Finding physical control inputs to realize the demonstrated motions requires computationally intensive methods like reinforcement learning. Thus, despite the publicly available MoCap data, its utility has been limited to institutions with large-scale compute. In this work, we dramatically lower the barrier for productive research on this topic by training and releasing high-quality agents that can track over three hours of MoCap data for a simulated humanoid in the dm_control physics-based environment. We release MoCapAct (Motion Capture with Actions), a dataset of these expert agents and their rollouts, which contain proprioceptive observations and actions. We demonstrate the utility of MoCapAct by using it to train a single hierarchical policy capable of tracking the entire MoCap dataset within dm_control and show the learned low-level component can be re-used to efficiently learn downstream high-level tasks. Finally, we use MoCapAct to train an autoregressive GPT model and show that it can control a simulated humanoid to perform natural motion completion given a motion prompt. Videos of the results and links to the code and dataset are available at https://microsoft.github.io/MoCapAct.

World models empower model-based agents to interactively explore, reason, and plan within imagined environments for real-world decision-making. However, the high demand for interactivity poses challenges in harnessing recent advancements in video generative models for developing world models at scale. This work introduces Interactive VideoGPT (iVideoGPT), a scalable autoregressive transformer framework that integrates multimodal signals--visual observations, actions, and rewards--into a sequence of tokens, facilitating an interactive experience of agents via next-token prediction. iVideoGPT features a novel compressive tokenization technique that efficiently discretizes high-dimensional visual observations. Leveraging its scalable architecture, we are able to pre-train iVideoGPT on millions of human and robotic manipulation trajectories, establishing a versatile foundation that is adaptable to serve as interactive world models for a wide range of downstream tasks. These include action-conditioned video prediction, visual planning, and model-based reinforcement learning, where iVideoGPT achieves competitive performance compared with state-of-the-art methods. Our work advances the development of interactive general world models, bridging the gap between generative video models and practical model-based reinforcement learning applications.

We investigate an experiential learning paradigm for acquiring an internal model of intuitive physics. Our model is evaluated on a real-world robotic manipulation task that requires displacing objects to target locations by poking. The robot gathered over 400 hours of experience by executing more than 100K pokes on different objects. We propose a novel approach based on deep neural networks for modeling the dynamics of robot's interactions directly from images, by jointly estimating forward and inverse models of dynamics. The inverse model objective provides supervision to construct informative visual features, which the forward model can then predict and in turn regularize the feature space for the inverse model. The interplay between these two objectives creates useful, accurate models that can then be used for multi-step decision making. This formulation has the additional benefit that it is possible to learn forward models in an abstract feature space and thus alleviate the need of predicting pixels. Our experiments show that this joint modeling approach outperforms alternative methods.

State Space Models (SSMs) have emerged as efficient alternatives to Transformers, mitigating their quadratic computational cost. However, the application of Parameter-Efficient Fine-Tuning (PEFT) methods to SSMs remains largely unexplored. In particular, prompt-based methods like Prompt Tuning and Prefix-Tuning, which are widely used in Transformers, do not perform well on SSMs. To address this, we propose state-based methods as a superior alternative to prompt-based methods. This new family of methods naturally stems from the architectural characteristics of SSMs. State-based methods adjust state-related features directly instead of depending on external prompts. Furthermore, we introduce a novel state-based PEFT method: State-offset Tuning. At every timestep, our method directly affects the state at the current step, leading to more effective adaptation. Through extensive experiments across diverse datasets, we demonstrate the effectiveness of our method. Code is available at https://github.com/furiosa-ai/ssm-state-tuning.

Traditional agentic workflows rely on external prompts to manage interactions with tools and the environment, which limits the autonomy of reasoning models. We position Large Agent Models (LAMs) that internalize the generation of Chain-of-Action (CoA), enabling the model to autonomously decide when and how to use external tools. Our proposed AutoCoA framework combines supervised fine-tuning (SFT) and reinforcement learning (RL), allowing the model to seamlessly switch between reasoning and action while efficiently managing environment interactions. Main components include step-level action triggering, trajectory-level CoA optimization, and an internal world model to reduce real-environment interaction costs. Evaluations on open-domain QA tasks demonstrate that AutoCoA-trained agent models significantly outperform ReAct-based workflows in task completion, especially in tasks that require long-term reasoning and multi-step actions. Code and dataset are available at https://github.com/ADaM-BJTU/AutoCoA

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots to also demonstrate expressive behaviors in human-robot interaction. Prior work proposes rule-based methods that struggle to scale to new communication modalities or social situations, while data-driven methods require specialized datasets for each social situation the robot is used in. We propose to leverage the rich social context available from large language models (LLMs) and their ability to generate motion based on instructions or user preferences, to generate expressive robot motion that is adaptable and composable, building upon each other. Our approach utilizes few-shot chain-of-thought prompting to translate human language instructions into parametrized control code using the robot's available and learned skills. Through user studies and simulation experiments, we demonstrate that our approach produces behaviors that users found to be competent and easy to understand. Supplementary material can be found at https://generative-expressive-motion.github.io/.

Text-to-image diffusion models have recently received a lot of interest for their astonishing ability to produce high-fidelity images from text only. However, achieving one-shot generation that aligns with the user's intent is nearly impossible, yet small changes to the input prompt often result in very different images. This leaves the user with little semantic control. To put the user in control, we show how to interact with the diffusion process to flexibly steer it along semantic directions. This semantic guidance (SEGA) allows for subtle and extensive edits, changes in composition and style, as well as optimizing the overall artistic conception. We demonstrate SEGA's effectiveness on a variety of tasks and provide evidence for its versatility and flexibility.