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Efficient exploration is critical for learning relational models in large-scale environments with complex, long-horizon tasks. Random exploration methods often collect redundant or irrelevant data, limiting their ability to learn accurate relational models of the environment. Goal-literal babbling (GLIB) improves upon random exploration by setting and planning to novel goals, but its reliance on random actions and random novel goal selection limits its scalability to larger domains. In this work, we identify the principles underlying efficient exploration in relational domains: (1) operator initialization with demonstrations that cover the distinct lifted effects necessary for planning and (2) refining preconditions to collect maximally informative transitions by selecting informative goal-action pairs and executing plans to them. To demonstrate these principles, we introduce Baking-Large, a challenging domain with extensive state-action spaces and long-horizon tasks. We evaluate methods using oracle-driven demonstrations for operator initialization and precondition-targeting guidance to efficiently gather critical transitions. Experiments show that both the oracle demonstrations and precondition-targeting oracle guidance significantly improve sample efficiency and generalization, paving the way for future methods to use these principles to efficiently learn accurate relational models in complex domains.

Domain randomization in reinforcement learning is an established technique for increasing the robustness of control policies trained in simulation. By randomizing environment properties during training, the learned policy can become robust to uncertainties along the randomized dimensions. While the environment distribution is typically specified by hand, in this paper we investigate automatically discovering a sampling distribution via entropy-regularized reward maximization of a normalizing-flow-based neural sampling distribution. We show that this architecture is more flexible and provides greater robustness than existing approaches that learn simpler, parameterized sampling distributions, as demonstrated in six simulated and one real-world robotics domain. Lastly, we explore how these learned sampling distributions, combined with a privileged value function, can be used for out-of-distribution detection in an uncertainty-aware multi-step manipulation planner.

Our aim is to learn to solve long-horizon decision-making problems in highly-variable, combinatorially-complex robotics domains given raw sensor input in the form of images. Previous work has shown that one way to achieve this aim is to learn a structured abstract transition model in the form of symbolic predicates and operators, and then plan within this model to solve novel tasks at test time. However, these learned models do not ground directly into pixels from just a handful of demonstrations. In this work, we propose to invent predicates that operate directly over input images by leveraging the capabilities of pretrained vision-language models (VLMs). Our key idea is that, given a set of demonstrations, a VLM can be used to propose a set of predicates that are potentially relevant for decision-making and then to determine the truth values of these predicates in both the given demonstrations and new image inputs. We build upon an existing framework for predicate invention, which generates feature-based predicates operating on object-centric states, to also generate visual predicates that operate on images. Experimentally, we show that our approach -- pix2pred -- is able to invent semantically meaningful predicates that enable generalization to novel, complex, and long-horizon tasks across two simulated robotic environments., Comment: Workshop on Planning in the Era of LLMs (LM4Plan @ AAAI 2025)

The field of Machine Learning has changed significantly since the 1970s. However, its most basic principle, Empirical Risk Minimization (ERM), remains unchanged. We propose Functional Risk Minimization~(FRM), a general framework where losses compare functions rather than outputs. This results in better performance in supervised, unsupervised, and RL experiments. In the FRM paradigm, for each data point $(x_i,y_i)$ there is function $f_{\theta_i}$ that fits it: $y_i = f_{\theta_i}(x_i)$. This allows FRM to subsume ERM for many common loss functions and to capture more realistic noise processes. We also show that FRM provides an avenue towards understanding generalization in the modern over-parameterized regime, as its objective can be framed as finding the simplest model that fits the training data.

We present a novel approach, MAGIC (manipulation analogies for generalizable intelligent contacts), for one-shot learning of manipulation strategies with fast and extensive generalization to novel objects. By leveraging a reference action trajectory, MAGIC effectively identifies similar contact points and sequences of actions on novel objects to replicate a demonstrated strategy, such as using different hooks to retrieve distant objects of different shapes and sizes. Our method is based on a two-stage contact-point matching process that combines global shape matching using pretrained neural features with local curvature analysis to ensure precise and physically plausible contact points. We experiment with three tasks including scooping, hanging, and hooking objects. MAGIC demonstrates superior performance over existing methods, achieving significant improvements in runtime speed and generalization to different object categories. Website: https://magic-2024.github.io/ ., Comment: CoRL LEAP Workshop, 2024

Careful robot manipulation in every-day cluttered environments requires an accurate understanding of the 3D scene, in order to grasp and place objects stably and reliably and to avoid mistakenly colliding with other objects. In general, we must construct such a 3D interpretation of a complex scene based on limited input, such as a single RGB-D image. We describe SceneComplete, a system for constructing a complete, segmented, 3D model of a scene from a single view. It provides a novel pipeline for composing general-purpose pretrained perception modules (vision-language, segmentation, image-inpainting, image-to-3D, and pose-estimation) to obtain high-accuracy results. We demonstrate its accuracy and effectiveness with respect to ground-truth models in a large benchmark dataset and show that its accurate whole-object reconstruction enables robust grasp proposal generation, including for a dexterous hand. Project website - https://scenecomplete.github.io/

Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been proven effective as a succinct representation for capturing essential object features, and for establishing a reference frame in action prediction, enabling data-efficient learning of robot skills. However, their manual design nature and reliance on additional human labels limit their scalability. In this paper, we propose KALM, a framework that leverages large pre-trained vision-language models (LMs) to automatically generate task-relevant and cross-instance consistent keypoints. KALM distills robust and consistent keypoints across views and objects by generating proposals using LMs and verifies them against a small set of robot demonstration data. Based on the generated keypoints, we can train keypoint-conditioned policy models that predict actions in keypoint-centric frames, enabling robots to generalize effectively across varying object poses, camera views, and object instances with similar functional shapes. Our method demonstrates strong performance in the real world, adapting to different tasks and environments from only a handful of demonstrations while requiring no additional labels. Website: https://kalm-il.github.io/, Comment: CoRL LangRob Workshop, 2024

Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and movement with the object in tow. In many real-world situations, object dynamics are incredibly complex, such as the interaction of an office chair (with a rotating base and five caster wheels) and the ground. We present a hierarchical algorithm for long-horizon robot manipulation problems in which the dynamics are partially unknown. We observe that diffusion-based behavior cloning is highly effective for short-horizon problems with unknown dynamics, so we decompose the problem into an abstract high-level, obstacle-aware motion-planning problem that produces a waypoint sequence. We use a short-horizon, relative-motion diffusion policy to achieve the waypoints in sequence. We train mobile manipulation policies on a Spot robot that has to push and pull an office chair. Our hierarchical manipulation policy performs consistently better, especially when the horizon increases, compared to a diffusion policy trained on long-horizon demonstrations or motion planning assuming a rigidly-attached object (success rate of 8 (versus 0 and 5 respectively) out of 10 runs). Importantly, our learned policy generalizes to new layouts, grasps, chairs, and flooring that induces more friction, without any further training, showing promise for other complex mobile manipulation problems. Project Page: https://yravan.github.io/plannerorderedpolicy/, Comment: Submitted to ICRA 2025

The isotopic compositions of samples returned from Cb-type asteroid Ryugu and Ivuna-type (CI) chondrites are distinct from other carbonaceous chondrites, which has led to the suggestion that Ryugu and CI chondrites formed in a different region of the accretion disk, possibly around the orbits of Uranus and Neptune. We show that, like for Fe, Ryugu and CI chondrites also have indistinguishable Ni isotope anomalies, which differ from those of other carbonaceous chondrites. We propose that this unique Fe and Ni isotopic composition reflects different accretion efficiencies of small FeNi metal grains among the carbonaceous chondrite parent bodies. The CI chondrites incorporated these grains more efficiently, possibly because they formed at the end of the disk's lifetime, when planetesimal formation was also triggered by photoevaporation of the disk. Isotopic variations among carbonaceous chondrites may thus reflect fractionation of distinct dust components from a common reservoir, implying CI chondrites and Ryugu may have formed in the same region of the accretion disk as other carbonaceous chondrites., Comment: Published open access in Science Advances

Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically and kinematically feasible for a particular robot embodiment. As a result, many prerequisite steps such as opening drawers to access objects are often omitted in their plans. Robot task and motion planners can generate motion trajectories that respect the geometric feasibility of actions and insert physically necessary actions, but do not scale to everyday problems that require common-sense knowledge and involve large state spaces comprised of many variables. We propose VLM-TAMP, a hierarchical planning algorithm that leverages a VLM to generate goth semantically-meaningful and horizon-reducing intermediate subgoals that guide a task and motion planner. When a subgoal or action cannot be refined, the VLM is queried again for replanning. We evaluate VLM- TAMP on kitchen tasks where a robot must accomplish cooking goals that require performing 30-50 actions in sequence and interacting with up to 21 objects. VLM-TAMP substantially outperforms baselines that rigidly and independently execute VLM-generated action sequences, both in terms of success rates (50 to 100% versus 0%) and average task completion percentage (72 to 100% versus 15 to 45%). See project site https://zt-yang.github.io/vlm-tamp-robot/ for more information.

We introduce uncertainty-aware object instance segmentation (UncOS) and demonstrate its usefulness for embodied interactive segmentation. To deal with uncertainty in robot perception, we propose a method for generating a hypothesis distribution of object segmentation. We obtain a set of region-factored segmentation hypotheses together with confidence estimates by making multiple queries of large pre-trained models. This process can produce segmentation results that achieve state-of-the-art performance on unseen object segmentation problems. The output can also serve as input to a belief-driven process for selecting robot actions to perturb the scene to reduce ambiguity. We demonstrate the effectiveness of this method in real-robot experiments. Website: https://sites.google.com/view/embodied-uncertain-seg, Comment: IROS 2024

When using sampling-based motion planners, such as PRMs, in configuration spaces, it is difficult to determine how many samples are required for the PRM to find a solution consistently. This is relevant in Task and Motion Planning (TAMP), where many motion planning problems must be solved in sequence. We attempt to solve this problem by proving an upper bound on the number of samples that are sufficient, with high probability, to find a solution by drawing on prior work in deterministic sampling and sample complexity theory. We also introduce a numerical algorithm to compute a tighter number of samples based on the proof of the sample complexity theorem we apply to derive our bound. Our experiments show that our numerical bounding algorithm is tight within two orders of magnitude on planar planning problems and becomes looser as the problem's dimensionality increases. When deployed as a heuristic to schedule samples in a TAMP planner, we also observe planning time improvements in planar problems. While our experiments show much work remains to tighten our bounds, the ideas presented in this paper are a step towards a practical sample bound.

We consider large-scale, implicit-search-based solutions to Shortest Path Problems on Graphs of Convex Sets (GCS). We propose GCS*, a forward heuristic search algorithm that generalizes A* search to the GCS setting, where a continuous-valued decision is made at each graph vertex, and constraints across graph edges couple these decisions, influencing costs and feasibility. Such mixed discrete-continuous planning is needed in many domains, including motion planning around obstacles and planning through contact. This setting provides a unique challenge for best-first search algorithms: the cost and feasibility of a path depend on continuous-valued points chosen along the entire path. We show that by pruning paths that are cost-dominated over their entire terminal vertex, GCS* can search efficiently while still guaranteeing cost-optimality and completeness. To find satisficing solutions quickly, we also present a complete but suboptimal variation, pruning instead reachability-dominated paths. We implement these checks using polyhedral-containment or sampling-based methods. The former implementation is complete and cost-optimal, while the latter is probabilistically complete and asymptotically cost-optimal and performs effectively even with minimal samples in practice. We demonstrate GCS* on planar pushing tasks where the combinatorial explosion of contact modes renders prior methods intractable and show it performs favorably compared to the state-of-the-art. Project website: https://shaoyuan.cc/research/gcs-star/, Comment: Corrected Figure 2b and added acknowledgements

Robust and effective scaling of models from small to large width typically requires the precise adjustment of many algorithmic and architectural details, such as parameterization and optimizer choices. In this work, we propose a new perspective on parameterization by investigating a key assumption in prior work about the alignment between parameters and data and derive new theoretical results under weaker assumptions and a broader set of optimizers. Our extensive empirical investigation includes tens of thousands of models trained with all combinations of three optimizers, four parameterizations, several alignment assumptions, more than a dozen learning rates, and fourteen model sizes up to 26.8B parameters. We find that the best learning rate scaling prescription would often have been excluded by the assumptions in prior work. Our results show that all parameterizations, not just maximal update parameterization (muP), can achieve hyperparameter transfer; moreover, our novel per-layer learning rate prescription for standard parameterization outperforms muP. Finally, we demonstrate that an overlooked aspect of parameterization, the epsilon parameter in Adam, must be scaled correctly to avoid gradient underflow and propose Adam-atan2, a new numerically stable, scale-invariant version of Adam that eliminates the epsilon hyperparameter entirely., Comment: 63 pages, International Conference on Machine Learning 2024

Large language models (LLMs) are capable of producing documents, and retrieval augmented generation (RAG) has shown itself to be a powerful method for improving accuracy without sacrificing fluency. However, not all information can be retrieved from text. We propose an approach that uses the analysis of structured data to generate fact sets that are used to guide generation in much the same way that retrieved documents are used in RAG. This analytics augmented generation (AAG) approach supports the ability to utilize standard analytic techniques to generate facts that are then converted to text and passed to an LLM. We present a neurosymbolic platform, Satyrn, that leverages AAG to produce accurate, fluent, and coherent reports grounded in large scale databases. In our experiments, we find that Satyrn generates reports in which over 86% of claims are accurate while maintaining high levels of fluency and coherence, even when using smaller language models such as Mistral-7B, as compared to GPT-4 Code Interpreter in which just 57% of claims are accurate., Comment: Accepted to EMNLP 2024

Recent developments in pretrained large language models (LLMs) applied to robotics have demonstrated their capacity for sequencing a set of discrete skills to achieve open-ended goals in simple robotic tasks. In this paper, we examine the topic of LLM planning for a set of continuously parameterized skills whose execution must avoid violations of a set of kinematic, geometric, and physical constraints. We prompt the LLM to output code for a function with open parameters, which, together with environmental constraints, can be viewed as a Continuous Constraint Satisfaction Problem (CCSP). This CCSP can be solved through sampling or optimization to find a skill sequence and continuous parameter settings that achieve the goal while avoiding constraint violations. Additionally, we consider cases where the LLM proposes unsatisfiable CCSPs, such as those that are kinematically infeasible, dynamically unstable, or lead to collisions, and re-prompt the LLM to form a new CCSP accordingly. Experiments across three different simulated 3D domains demonstrate that our proposed strategy, PRoC3S, is capable of solving a wide range of complex manipulation tasks with realistic constraints on continuous parameters much more efficiently and effectively than existing baselines.

The discovery of superconductivity in twisted bilayer and twisted trilayer graphene has generated tremendous interest. The key feature of these systems is an interplay between interlayer coupling and a moir\'e superlattice that gives rise to low-energy flat bands with strong correlations. Flat bands can also be induced by moir\'e patterns in lattice-mismatched and or twisted heterostructures of other two-dimensional materials such as transition metal dichalcogenides (TMDs). Although a wide range of correlated phenomenon have indeed been observed in the moir\'e TMDs, robust demonstration of superconductivity has remained absent. Here we report superconductivity in 5 degree twisted bilayer WSe$_2$ (tWSe$_2$) with a maximum critical temperature of 426 mK. The superconducting state appears in a limited region of displacement field and density that is adjacent to a metallic state with Fermi surface reconstruction believed to arise from antiferromagnetic order. A sharp boundary is observed between the superconducting and magnetic phases at low temperature, reminiscent of spin-fluctuation mediated superconductivity. Our results establish that moir\'e flat-band superconductivity extends beyond graphene structures. Material properties that are absent in graphene but intrinsic among the TMDs such as a native band gap, large spin-orbit coupling, spin-valley locking, and magnetism offer the possibility to access a broader superconducting parameter space than graphene-only structures.

This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused on much more explicit instructions, such as "put object A on the table." We introduce a framework, SetItUp, for learning to interpret under-specified instructions. SetItUp takes a small number of training examples and a human-crafted program sketch to uncover arrangement rules for specific scene types. By leveraging an intermediate graph-like representation of abstract spatial relationships among objects, SetItUp decomposes the arrangement problem into two subproblems: i) learning the arrangement patterns from limited data and ii) grounding these abstract relationships into object poses. SetItUp leverages large language models (LLMs) to propose the abstract spatial relationships among objects in novel scenes as the constraints to be satisfied; then, it composes a library of diffusion models associated with these abstract relationships to find object poses that satisfy the constraints. We validate our framework on a dataset comprising study desks, dining tables, and coffee tables, with the results showing superior performance in generating physically plausible, functional, and aesthetically pleasing object arrangements compared to existing models., Comment: 10 pages main paper, 21 pages appendix, RSS 2024

Integrated task and motion planning (TAMP) has proven to be a valuable approach to generalizable long-horizon robotic manipulation and navigation problems. However, the typical TAMP problem formulation assumes full observability and deterministic action effects. These assumptions limit the ability of the planner to gather information and make decisions that are risk-aware. We propose a strategy for TAMP with Uncertainty and Risk Awareness (TAMPURA) that is capable of efficiently solving long-horizon planning problems with initial-state and action outcome uncertainty, including problems that require information gathering and avoiding undesirable and irreversible outcomes. Our planner reasons under uncertainty at both the abstract task level and continuous controller level. Given a set of closed-loop goal-conditioned controllers operating in the primitive action space and a description of their preconditions and potential capabilities, we learn a high-level abstraction that can be solved efficiently and then refined to continuous actions for execution. We demonstrate our approach on several robotics problems where uncertainty is a crucial factor and show that reasoning under uncertainty in these problems outperforms previously proposed determinized planning, direct search, and reinforcement learning strategies. Lastly, we demonstrate our planner on two real-world robotics problems using recent advancements in probabilistic perception.

Four-dimensional (4D) wide coverage computed tomography (CT) is an effective imaging modality for measuring the mechanical function of the myocardium. However, repeated CT measurement across several heartbeats is still a concern. A projection-domain noise emulation method is presented to generate accurate low-dose (mA modulated) 4D cardiac CT scans from high-dose scans, enabling protocol optimization to deliver sufficient image quality for functional cardiac analysis while using a dose level that is as low as reasonably achievable. Given a targeted low-dose mA modulation curve, the proposed noise emulation method injects both quantum and electronic noise of proper magnitude and correlation to the high-dose data in projection domain. A spatially varying detector gain term as well as its calibration method were proposed to further improve the noise emulation accuracy. To determine the low dose threshold, a projection domain image quality (IQ) metric was proposed that is based on the number of projection rays that do not fall under the non-linear region of the detector. Experiments were performed to validate the noise emulation method with both phantom and clinical data. For both phantom and clinical data, the low-dose emulated images exhibited similar noise magnitude, artifacts, and texture to that of the real low-dose images. The proposed channel-dependent detector gain term resulted in additional increase in emulation accuracy. Using the proposed IQ metric, recommended kVp and mA settings were calculated for low dose 4D Cardiac CT acquisitions for patients of different sizes. In conclusion, a detailed method to estimate system-dependent parameters for a raw-data based low dose emulation framework was described. The proposed low-dose emulation method can be used to prospectively select patient-specific minimal-dose protocols for functional cardiac CT., Comment: First two authors contributed equally

Although dual enrollment programming and interest in how that programming shapes students' college outcomes have expanded considerably in the past 20 years, policymakers, educational administrators, and practitioners do not have adequate information about which dual enrollment structural options are most effective. Using statewide administrative data in Texas on students who entered 9th grade in 2015 or 2016 and took at least one dual enrollment course through a community college, this paper examines dual enrollment course enrollments and outcomes among recent high school entrants. We describe dual enrollment coursetaking and dual enrollment course characteristics (including instructor affiliation, course location, and instructional modality) for traditional Texas public high school students (as opposed to those attending an Early College High School or charter school), illustrating how students participate in dual enrollment (e.g., the types of courses taken and when in their high school career students take these courses) and highlighting typical course characteristics. We then examine how dual enrollment course and instructor characteristics predict student course completion, course grades, and subsequent college enrollment. Our descriptive analyses illuminate striking differences between the demographic and academic backgrounds of students who take academic dual enrollment courses versus career and technical education dual enrollment courses, as well as variation in course characteristics across these two dual enrollment course types. Our regression analyses illustrate how several malleable dual enrollment course characteristics are associated with students' course outcomes and subsequent college enrollment. The relationships we identify offer insights for the design of dual enrollment courses and programs.

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized skills, (2) an AI planner for sequencing together the skills given a goal, and (3) a very general prior distribution for selecting skill parameters. Once deployed, the robot should rapidly and autonomously learn to improve its performance by specializing its skill parameter selection policy to the particular objects, goals, and constraints in its environment. In this work, we focus on the active learning problem of choosing which skills to practice to maximize expected future task success. We propose that the robot should estimate the competence of each skill, extrapolate the competence (asking: "how much would the competence improve through practice?"), and situate the skill in the task distribution through competence-aware planning. This approach is implemented within a fully autonomous system where the robot repeatedly plans, practices, and learns without any environment resets. Through experiments in simulation, we find that our approach learns effective parameter policies more sample-efficiently than several baselines. Experiments in the real-world demonstrate our approach's ability to handle noise from perception and control and improve the robot's ability to solve two long-horizon mobile-manipulation tasks after a few hours of autonomous practice. Project website: http://ees.csail.mit.edu, Comment: RSS 2024

While drastic improvements in CT technology have occurred in the past 25 years, spatial resolution is one area where progress has been limited until recently. New photon counting CT systems, are capable of much better spatial resolution than their (energy integrating) predecessors. These improvements have the potential to improve the evaluation obstructive coronary artery disease by enabling more accurate delineation between calcified plaque and coronary vessel lumen. A new set of vessel phantoms has been designed and manufactured for quantifying this improvement. Comparisons are made between an existing clinical CT system, a prototype photon counting system, with images from a micro CT system being used as the gold standard. Scans were made of the same objects on all three systems. The resulting images were registered and the luminal cross section areas were compared. Luminal cross-sections near calcified plaques were reduced due to blooming, but this effect was much less pronounced in images from the prototype photon counting system as compared to the images from the clinical CT system.

While machine learning (ML) includes a valuable array of tools for analyzing biomedical data, significant time and expertise is required to assemble effective, rigorous, and unbiased pipelines. Automated ML (AutoML) tools seek to facilitate ML application by automating a subset of analysis pipeline elements. In this study we develop and validate a Simple, Transparent, End-to-end Automated Machine Learning Pipeline (STREAMLINE) and apply it to investigate the added utility of photography-based phenotypes for predicting obstructive sleep apnea (OSA); a common and underdiagnosed condition associated with a variety of health, economic, and safety consequences. STREAMLINE is designed to tackle biomedical binary classification tasks while adhering to best practices and accommodating complexity, scalability, reproducibility, customization, and model interpretation. Benchmarking analyses validated the efficacy of STREAMLINE across data simulations with increasingly complex patterns of association. Then we applied STREAMLINE to evaluate the utility of demographics (DEM), self-reported comorbidities (DX), symptoms (SYM), and photography-based craniofacial (CF) and intraoral (IO) anatomy measures in predicting any OSA or moderate/severe OSA using 3,111 participants from Sleep Apnea Global Interdisciplinary Consortium (SAGIC). OSA analyses identified a significant increase in ROC-AUC when adding CF to DEM+DX+SYM to predict moderate/severe OSA. A consistent but non-significant increase in PRC-AUC was observed with the addition of each subsequent feature set to predict any OSA, with CF and IO yielding minimal improvements. Application of STREAMLINE to OSA data suggests that CF features provide additional value in predicting moderate/severe OSA, but neither CF nor IO features meaningfully improved the prediction of any OSA beyond established demographics, comorbidity and symptom characteristics., Comment: 23 pages, 7 figures, 1 table, 1 supplemental information document (77 pages), and 7 ancillary files

Goal-conditioned policies are generally understood to be "feed-forward" circuits, in the form of neural networks that map from the current state and the goal specification to the next action to take. However, under what circumstances such a policy can be learned and how efficient the policy will be are not well understood. In this paper, we present a circuit complexity analysis for relational neural networks (such as graph neural networks and transformers) representing policies for planning problems, by drawing connections with serialized goal regression search (S-GRS). We show that there are three general classes of planning problems, in terms of the growth of circuit width and depth as a function of the number of objects and planning horizon, providing constructive proofs. We also illustrate the utility of this analysis for designing neural networks for policy learning., Comment: NeurIPS 2023 (Spotlight). Project page: https://concepts-ai.com/p/goal-regression-width/

Recent development of photon-counting CT (PCCT) brings great opportunities for plaque characterization with much-improved spatial resolution and spectral imaging capability. While existing coronary plaque PCCT imaging results are based on detectors made of CZT or CdTe materials, deep-silicon photon-counting detectors have unique performance characteristics and promise distinct imaging capabilities. In this work, we report a systematic simulation study of a deep-silicon PCCT scanner with a new clinically-relevant digital plaque phantom with realistic geometrical parameters and chemical compositions. This work investigates the effects of spatial resolution, noise, motion artifacts, radiation dose, and spectral characterization. Our simulation results suggest that the deep-silicon PCCT design provides adequate spatial resolution for visualizing a necrotic core and quantitation of key plaque features. Advanced denoising techniques and aggressive bowtie filter designs can keep image noise to acceptable levels at this resolution while keeping radiation dose comparable to that of a conventional CT scan. The ultrahigh resolution of PCCT also means an elevated sensitivity to motion artifacts. It is found that a tolerance of less than 0.4 mm residual movement range requires the application of accurate motion correction methods for best plaque imaging quality with PCCT., Comment: 13 figures, 5 tables

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different object positions, sizes, and categories (e.g., forks and hammers). Additionally, we can flexibly combine various skills to devise long-term plans. In this paper, we present a framework that enables machines to acquire such manipulation skills, referred to as "mechanisms," through a single demonstration and self-play. Our key insight lies in interpreting each demonstration as a sequence of changes in robot-object and object-object contact modes, which provides a scaffold for learning detailed samplers for continuous parameters. These learned mechanisms and samplers can be seamlessly integrated into standard task and motion planners, enabling their compositional use., Comment: CoRL 2023. Project page: https://concepts-ai.com/p/mechanisms/

Two-dimensional (2D) semiconductors, such as the transition metal dichalcogenides, have demonstrated tremendous promise for the development of highly tunable quantum devices. Realizing this potential requires low-resistance electrical contacts that perform well at low temperatures and low densities where quantum properties are relevant. Here we present a new device architecture for 2D semiconductors that utilizes a charge-transfer layer to achieve large hole doping in the contact region, and implement this technique to measure magneto-transport properties of high-purity monolayer WSe$_2$. We measure a record-high hole mobility of 80,000 cm$^2$/Vs and access channel carrier densities as low as $1.6\times10^{11}$ cm$^{-2}$, an order of magnitude lower than previously achievable. Our ability to realize transparent contact to high-mobility devices at low density enables transport measurement of correlation-driven quantum phases including observation of a low temperature metal-insulator transition in a density and temperature regime where Wigner crystal formation is expected, and observation of the fractional quantum Hall effect under large magnetic fields. The charge transfer contact scheme paves the way for discovery and manipulation of new quantum phenomena in 2D semiconductors and their heterostructures.