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In-context learning is the holy grail of robot learning. It is challenging because: 1. long-context training and infra (ICL can easily max out disk I/O) 2. need model to follow multimodal (sensorimotor) condition 3. data collection strategy and how to pair data Tried to get it work in 2024,... show more

Max Fu

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10,235 görüntüleme • 1 ay önce •via X (Twitter)

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白川ユウ profil fotoğrafı

白川ユウ1 ay önce

Curious what disk throughput per node you needed before long-context ICL training stopped stalling.

Shelby Carpenter profil fotoğrafı

Shelby Carpenter27 gün önce

@letian_fu agree on the complexity of in-context learning for robotics. I work with the team at LanceDB helping physical AI teams with their multimodal data. We’ll be talking about multimodal data in a robotics at in SF 11/5, dm me for a discounted pass!

Martin Ronfort profil fotoğrafı

Martin Ronfort1 ay önce

Those are exactly the challenges GEN-1.5 just cracked. We actually mapped how here:

Benzer Videolar

Robot AI brains, aka Vision-Language-Action models, cannot adapt to new tasks as easily as LLMs like Gemini, ChatGPT, or Grok. LLMs can adapt quickly with their in-context learning (ICL) capabilities. But can we inject ICL abilities into a pre-trained VLA like pi0? Yes! Introducing RICL (Retraining for In-Context Learning), our Conference on Robot Learning (CoRL) 2025 paper. Our RICL-pi0 model can adapt to unseen objects, novel motions, and new scenes with just ICL and RAG (retrieval-augmented generation). RICL-pi0 also boosts performance on the long-tail of tasks. A quick 1 minute video summary:

Robot AI brains, aka Vision-Language-Action models, cannot adapt to new tasks as easily as LLMs like Gemini, ChatGPT, or Grok. LLMs can adapt quickly with their in-context learning (ICL) capabilities. But can we inject ICL abilities into a pre-trained VLA like pi0? Yes! Introducing RICL (Retraining for In-Context Learning), our Conference on Robot Learning (CoRL) 2025 paper. Our RICL-pi0 model can adapt to unseen objects, novel motions, and new scenes with just ICL and RAG (retrieval-augmented generation). RICL-pi0 also boosts performance on the long-tail of tasks. A quick 1 minute video summary:

Kaustubh Sridhar

52,868 görüntüleme • 1 yıl önce

Excited to finally share Generative Value Learning (GVL), my Google DeepMind project on extracting universal value functions from long-context VLMs via in-context learning! We discovered a simple method to generate zero-shot and few-shot values for 300+ robot tasks and 50+ datasets using SOTA VLMs like Gemini (Try out the demo on our website on your robot video today!) I worked a lot on leveraging foundation models as guidance for robots in my PhD, and to me, this result forges a new frontier in how we can use foundation models for robot learning, given its broad applicability independent of embodiment and task types. Quite excited about how we can build on this work as a community!

Excited to finally share Generative Value Learning (GVL), my Google DeepMind project on extracting universal value functions from long-context VLMs via in-context learning! We discovered a simple method to generate zero-shot and few-shot values for 300+ robot tasks and 50+ datasets using SOTA VLMs like Gemini (Try out the demo on our website on your robot video today!) I worked a lot on leveraging foundation models as guidance for robots in my PhD, and to me, this result forges a new frontier in how we can use foundation models for robot learning, given its broad applicability independent of embodiment and task types. Quite excited about how we can build on this work as a community!

Jason Ma

98,270 görüntüleme • 1 yıl önce

This is a single uncut video, showing a robot learning several tasks instantly, after just one demonstration each ... This is possible because we've now been able to achieve in-context learning for everyday robotics tasks, and I'm very excited to announce our latest paper: 🎆 Instant Policy: In-Context Imitation Learning via Graph Diffusion 🎆 (1/6) 🧵👇

This is a single uncut video, showing a robot learning several tasks instantly, after just one demonstration each ... This is possible because we've now been able to achieve in-context learning for everyday robotics tasks, and I'm very excited to announce our latest paper: 🎆 Instant Policy: In-Context Imitation Learning via Graph Diffusion 🎆 (1/6) 🧵👇

Edward Johns

74,683 görüntüleme • 1 yıl önce

How can you solve complex tasks using a Large Language Model? Here is a 2-minute introduction to everything you need to know to 10x the quality of your results. Let's talk about three techniques, in order of complexity, starting with the easiest one: • In-Context Learning • Indexing + In-Context Learning • Fine-tuning In-Context Learning The team that trained GPT-3 found something they couldn't explain: You can condition a model using examples of how you want it to behave. I included an example prompt in the attached video. You can "teach" the model how you want it to interpret questions, select the correct answers, and format the results by giving a few examples. You can also give specific knowledge to the model that will be helpful when formulating answers. We call this approach "grounding the model." There's another example in the video. Indexing + In-Context Learning Unfortunately, there is a limit to how much data you can include in a prompt. We call this the "context size." One version of GPT-4 supports a context of approximately 6,000 words, while the other supports 25,000 words. Although this sounds like a lot, many applications need more than that. Imagine you wrote a book and want to build an application to answer any questions about your story. What happens if your book is longer than the context? That's where Indexing comes in. Using a model, you can turn every book passage into an embedding. These are vectors, numbers that "encode" the passage's text. You can then store these embeddings in a particular database that supports fast retrieval of these vectors. You can then turn any question into an embedding and search the database for the list of passages that are similar to that query. Instead of using the entire book to ask the model, you can now use the relevant passages as in-context information, effectively working around the context size limitation. Fine-tuning Fine-tuning can give you an extra boost to get reliable outputs from your LLM. It is, however, the most complex approach on the list. There are different approaches to fine-tuning a model with your data. A popular technique is to process your data with your LLM and use the outputs to train a new classifier that solves your specific task. Notice that here you aren't modifying the LLM. Instead, you are chaining it with your trained classifier. Another approach is to modify the parameters of the LLM using your data. Think of this as "rewiring" the model in a way that solves your particular task. The results and costs will vary depending on how many layers you want to fine-tune from the original model. Many companies think that fine-tuning is the solution to their problems. In my experience, many will benefit from exploring the other two approaches. I love explaining Machine Learning and Artificial Intelligence ideas. If you enjoy in-depth content like this, follow me Santiago so you don't miss what comes next.

How can you solve complex tasks using a Large Language Model? Here is a 2-minute introduction to everything you need to know to 10x the quality of your results. Let's talk about three techniques, in order of complexity, starting with the easiest one: • In-Context Learning • Indexing + In-Context Learning • Fine-tuning In-Context Learning The team that trained GPT-3 found something they couldn't explain: You can condition a model using examples of how you want it to behave. I included an example prompt in the attached video. You can "teach" the model how you want it to interpret questions, select the correct answers, and format the results by giving a few examples. You can also give specific knowledge to the model that will be helpful when formulating answers. We call this approach "grounding the model." There's another example in the video. Indexing + In-Context Learning Unfortunately, there is a limit to how much data you can include in a prompt. We call this the "context size." One version of GPT-4 supports a context of approximately 6,000 words, while the other supports 25,000 words. Although this sounds like a lot, many applications need more than that. Imagine you wrote a book and want to build an application to answer any questions about your story. What happens if your book is longer than the context? That's where Indexing comes in. Using a model, you can turn every book passage into an embedding. These are vectors, numbers that "encode" the passage's text. You can then store these embeddings in a particular database that supports fast retrieval of these vectors. You can then turn any question into an embedding and search the database for the list of passages that are similar to that query. Instead of using the entire book to ask the model, you can now use the relevant passages as in-context information, effectively working around the context size limitation. Fine-tuning Fine-tuning can give you an extra boost to get reliable outputs from your LLM. It is, however, the most complex approach on the list. There are different approaches to fine-tuning a model with your data. A popular technique is to process your data with your LLM and use the outputs to train a new classifier that solves your specific task. Notice that here you aren't modifying the LLM. Instead, you are chaining it with your trained classifier. Another approach is to modify the parameters of the LLM using your data. Think of this as "rewiring" the model in a way that solves your particular task. The results and costs will vary depending on how many layers you want to fine-tune from the original model. Many companies think that fine-tuning is the solution to their problems. In my experience, many will benefit from exploring the other two approaches. I love explaining Machine Learning and Artificial Intelligence ideas. If you enjoy in-depth content like this, follow me Santiago so you don't miss what comes next.

Santiago

384,510 görüntüleme • 3 yıl önce

Our last Stanford guest lecture - Ekdeep Singh Lubana on what counts as an explanation & a neuro-inspired "model systems approach" to interp Plus, how in-context learning and many-shot jailbreaking are explained by LLM representations changing in-context (as a case study for that approach) 00:33 - What counts as an explanation? 04:47 - Levels of analysis & standard interpretability approaches 18:19 - The "model systems" approach to interp [Case study on in-context learning] 23:36 - How LLM representations change in-context 44:10 - Modeling ICL with rational analysis 1:10:54 - Conclusion & questions Thanks again to Surya Ganguli for having us in his class!

Our last Stanford guest lecture - Ekdeep Singh Lubana on what counts as an explanation & a neuro-inspired "model systems approach" to interp Plus, how in-context learning and many-shot jailbreaking are explained by LLM representations changing in-context (as a case study for that approach) 00:33 - What counts as an explanation? 04:47 - Levels of analysis & standard interpretability approaches 18:19 - The "model systems" approach to interp [Case study on in-context learning] 23:36 - How LLM representations change in-context 44:10 - Modeling ICL with rational analysis 1:10:54 - Conclusion & questions Thanks again to Surya Ganguli for having us in his class!

Goodfire

31,410 görüntüleme • 9 ay önce

Jeff Dean says models hallucinate because their training data is “squishy.” But what’s in the context window is sharp, the exact text or video frame right in front of them. The goal is to bring more of the world into that context. Compression gives it intuition. Context gives it precision.

Jeff Dean says models hallucinate because their training data is “squishy.” But what’s in the context window is sharp, the exact text or video frame right in front of them. The goal is to bring more of the world into that context. Compression gives it intuition. Context gives it precision.

vitrupo

41,638 görüntüleme • 5 ay önce

We scaled a robot model natively to 8,000 timesteps of context, 5 minutes worth of muscle memory, with constant inference cost. Robot policies used to live their lives a few frames at a time (< 0.1 sec), instantly forgetting what just happened. We pushed to 3 orders of magnitude beyond SOTA. Introducing RoboTTT. Test-Time Training (“TTT”) carries a tiny model *inside* the model. Every incoming sensor reading triggers one gradient step on that tiny core, so the history keeps getting compressed into its weights. The hidden state has a fixed size (literally a small neural net), so the robot can “grok” arbitrarily long experience with little overhead. Learning continues indefinitely after deployment. We can then put an entire video in context as prompt! RoboTTT enables one-shot in-context learning from human video: in circuit board assembly, a human demonstrates a never-seen configuration once, and the robot imitates it faithfully. Humans drop things all the time, but we pick them up so fast that we don’t even notice. That reflex to fix is half of our physical competence. RoboTTT shows self-improvement on the fly: the robot is skilled at recovering from its own errors mid-episode, and each fix enters its context to inform the next move. The TTT core distills a general-purpose, failure-to-correction mapping from the training data. One more thing. What excites me the most is a new Context Scaling Curve: from 128 to 8K timesteps, closed-loop performance hill-climbs steadily with no sign of saturation. 8K-context pretraining beats 1K by 62%. What LLM enjoys, robotics should too. Soon, even 1M context is not a fantasy. Deep dive in thread:

We scaled a robot model natively to 8,000 timesteps of context, 5 minutes worth of muscle memory, with constant inference cost. Robot policies used to live their lives a few frames at a time (< 0.1 sec), instantly forgetting what just happened. We pushed to 3 orders of magnitude beyond SOTA. Introducing RoboTTT. Test-Time Training (“TTT”) carries a tiny model inside the model. Every incoming sensor reading triggers one gradient step on that tiny core, so the history keeps getting compressed into its weights. The hidden state has a fixed size (literally a small neural net), so the robot can “grok” arbitrarily long experience with little overhead. Learning continues indefinitely after deployment. We can then put an entire video in context as prompt! RoboTTT enables one-shot in-context learning from human video: in circuit board assembly, a human demonstrates a never-seen configuration once, and the robot imitates it faithfully. Humans drop things all the time, but we pick them up so fast that we don’t even notice. That reflex to fix is half of our physical competence. RoboTTT shows self-improvement on the fly: the robot is skilled at recovering from its own errors mid-episode, and each fix enters its context to inform the next move. The TTT core distills a general-purpose, failure-to-correction mapping from the training data. One more thing. What excites me the most is a new Context Scaling Curve: from 128 to 8K timesteps, closed-loop performance hill-climbs steadily with no sign of saturation. 8K-context pretraining beats 1K by 62%. What LLM enjoys, robotics should too. Soon, even 1M context is not a fantasy. Deep dive in thread:

Jim Fan

328,360 görüntüleme • 2 ay önce

Dario says robotics will be revolutionized once AI models can control them, whether through human-like learning, training on simulations, or in-context learning. The path doesn't matter. Both robot design and control will improve, happening maybe 1-2 years after key AI breakthroughs.

Dario says robotics will be revolutionized once AI models can control them, whether through human-like learning, training on simulations, or in-context learning. The path doesn't matter. Both robot design and control will improve, happening maybe 1-2 years after key AI breakthroughs.

The Humanoid Labs

15,270 görüntüleme • 7 ay önce

The robot is learning several novel tasks instantly, after just ONE demonstration each... Instant Policy makes it possible: no extra training, no weight updates, just pure in-context learning. It just got accepted at ICLR 2025, and it’s changing how robots learn. With just a single demo, a robot can pick up a new task and start performing it right away. Why this is a big deal: ✅ Learns tasks instantly with just one or a few demonstrations ✅ Improves over time as more demonstrations are given ✅ Uses simulation-based training with “pseudo-demonstrations” for scalability ✅ Can transfer skills across different robots and even follow language-defined tasks It brings in-context learning to robotics, opening up new possibilities for flexible, real-world automation. You can try it yourself: code and weights are available at • • • • Thank you to Edward Johns, Director of the Robot Learning Lab at Imperial College for sharing their work! 🙏

The robot is learning several novel tasks instantly, after just ONE demonstration each... Instant Policy makes it possible: no extra training, no weight updates, just pure in-context learning. It just got accepted at ICLR 2025, and it’s changing how robots learn. With just a single demo, a robot can pick up a new task and start performing it right away. Why this is a big deal: ✅ Learns tasks instantly with just one or a few demonstrations ✅ Improves over time as more demonstrations are given ✅ Uses simulation-based training with “pseudo-demonstrations” for scalability ✅ Can transfer skills across different robots and even follow language-defined tasks It brings in-context learning to robotics, opening up new possibilities for flexible, real-world automation. You can try it yourself: code and weights are available at • • • • Thank you to Edward Johns, Director of the Robot Learning Lab at Imperial College for sharing their work! 🙏

Ilir Aliu

46,285 görüntüleme • 1 yıl önce

Apart from solving new tasks, memory also allows our policies to be more robust: we show early signs of in-context adaptation, where the robot learns to adapt its behavior on-the-fly by learning from its past mistakes.

Apart from solving new tasks, memory also allows our policies to be more robust: we show early signs of in-context adaptation, where the robot learns to adapt its behavior on-the-fly by learning from its past mistakes.

Physical Intelligence

14,923 görüntüleme • 6 ay önce

So I heard we need more data for robot learning :) Purely real world teleop is expensive and slow, making large scale data collection challenging. I’ve been excited about getting more data into robot learning, going beyond just real-world teleop data. To this end, we’ve been scaling up data generation with RL in realistic simulations generated on the fly from crowdsourced videos. Enables realistic data collection, much more cheaply than purely real world teleop. Importantly, data collection becomes even*cheaper* with more environments, allowing training with over 100x more data. Transfers to real robots for generalizable manipulation. A 🧵 (1/N)

So I heard we need more data for robot learning :) Purely real world teleop is expensive and slow, making large scale data collection challenging. I’ve been excited about getting more data into robot learning, going beyond just real-world teleop data. To this end, we’ve been scaling up data generation with RL in realistic simulations generated on the fly from crowdsourced videos. Enables realistic data collection, much more cheaply than purely real world teleop. Importantly, data collection becomes evencheaper with more environments, allowing training with over 100x more data. Transfers to real robots for generalizable manipulation. A 🧵 (1/N)

Abhishek Gupta

13,358 görüntüleme • 1 yıl önce

✨ Meet our new open family of models: NVIDIA Nemotron 3 Open in weights, data, tools, and training, Nemotron 3 is built for multi-agent apps and features: • An efficient hybrid Mamba‑Transformer MoE architecture • 1M token context for long-term memory and improved reasoning • Multi‑environment reinforcement learning via NeMo Gym for advanced skill adaptation Plus NVFP4 pre-training, latent MoE, 1T tokens of data, and more. 📗Read the details in our tech blog: 🤗 Try the model on Hugging Face:

✨ Meet our new open family of models: NVIDIA Nemotron 3 Open in weights, data, tools, and training, Nemotron 3 is built for multi-agent apps and features: • An efficient hybrid Mamba‑Transformer MoE architecture • 1M token context for long-term memory and improved reasoning • Multi‑environment reinforcement learning via NeMo Gym for advanced skill adaptation Plus NVFP4 pre-training, latent MoE, 1T tokens of data, and more. 📗Read the details in our tech blog: 🤗 Try the model on Hugging Face:

NVIDIA AI Developer

69,008 görüntüleme • 9 ay önce

In my experience, robot 'generalists' are often jacks of all trades but masters of none. In training across multiple tasks and environments, robot policies fail to generalize robustly and effectively to each particular test setting. What if at test time, we non-parametrically *retrieved* “relevant” data from the training set and used it to significantly improve the performance of few-shot imitation learning to be robust to various test time scenes. Notably, we are *not* collecting lots of new data, just training more on sub-components of the same training data! Now, we’re certainly not the first to suggest retrieval, but in our new work - STRAP, we show how retrieving relevant *sub-trajectories* from offline datasets can significantly increase data reuse across tasks, when paired with an appropriate metric space. A 🧵 (1/7)

In my experience, robot 'generalists' are often jacks of all trades but masters of none. In training across multiple tasks and environments, robot policies fail to generalize robustly and effectively to each particular test setting. What if at test time, we non-parametrically retrieved “relevant” data from the training set and used it to significantly improve the performance of few-shot imitation learning to be robust to various test time scenes. Notably, we are not collecting lots of new data, just training more on sub-components of the same training data! Now, we’re certainly not the first to suggest retrieval, but in our new work - STRAP, we show how retrieving relevant sub-trajectories from offline datasets can significantly increase data reuse across tasks, when paired with an appropriate metric space. A 🧵 (1/7)

Abhishek Gupta

12,045 görüntüleme • 1 yıl önce

Gemini-1.5 Pro has its spotlight stolen today, and people are poking fun at Sora vs Google memes. Well, I think it's the biggest boost in LLM capability so far in 2024. v1.5's 10M token context (1) excels at retrieval; (2) generalizes zero-shot to extremely long instructions like full tutorials and codebases; and (3) works across modalities such as text, audio, and video. Here's a stunning example: v1.5 learns to translate from English to Kalamang purely in context, following a full linguistic manual at inference time. Kalamang is a language spoken by fewer than 200 speakers in western New Guinea. Gemini has never seen this language during training and is only provided with 500 pages of linguistic documentation, a dictionary, and ~400 parallel sentences in context. It basically acquires a sophisticated new skill in the neural activations, instead of gradient finetuning. I talked about the Myth of Context Length many times before: don't get too excited by claims of 1M or even 1B context tokens. LSTMs already achieved literally infinite context length 25 yrs ago! What truly matters is how well the model actually uses the context to solve real-world problems, and Gemini-1.5 has surpassed the SOTA with flying colors. The paper is also well-written with lots of solid quantitative analysis on in-context memorization and generalization. Paper: “Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context” Congrats to Jeff Dean Oriol Vinyals Sundar Pichai and team!

Gemini-1.5 Pro has its spotlight stolen today, and people are poking fun at Sora vs Google memes. Well, I think it's the biggest boost in LLM capability so far in 2024. v1.5's 10M token context (1) excels at retrieval; (2) generalizes zero-shot to extremely long instructions like full tutorials and codebases; and (3) works across modalities such as text, audio, and video. Here's a stunning example: v1.5 learns to translate from English to Kalamang purely in context, following a full linguistic manual at inference time. Kalamang is a language spoken by fewer than 200 speakers in western New Guinea. Gemini has never seen this language during training and is only provided with 500 pages of linguistic documentation, a dictionary, and ~400 parallel sentences in context. It basically acquires a sophisticated new skill in the neural activations, instead of gradient finetuning. I talked about the Myth of Context Length many times before: don't get too excited by claims of 1M or even 1B context tokens. LSTMs already achieved literally infinite context length 25 yrs ago! What truly matters is how well the model actually uses the context to solve real-world problems, and Gemini-1.5 has surpassed the SOTA with flying colors. The paper is also well-written with lots of solid quantitative analysis on in-context memorization and generalization. Paper: “Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context” Congrats to Jeff Dean Oriol Vinyals Sundar Pichai and team!

Jim Fan

278,517 görüntüleme • 2 yıl önce

The new company brain. Context is the soul of your company, I learned today. Since I wrote a book, “Age of Context,” years ago I see that context is what we now call our private data. That data should be stored in a way to let AI agents and humans get more and more use out of it. This is precisely what PromptQL does and here Tanmai Gopal goes deep on how it now is a company brain, or, rather, a wiki that everyone updates and uses.

The new company brain. Context is the soul of your company, I learned today. Since I wrote a book, “Age of Context,” years ago I see that context is what we now call our private data. That data should be stored in a way to let AI agents and humans get more and more use out of it. This is precisely what PromptQL does and here Tanmai Gopal goes deep on how it now is a company brain, or, rather, a wiki that everyone updates and uses.

Robert Scoble

18,341 görüntüleme • 2 ay önce

Helix is now learning directly from human video data We have already trained on data collected in the real world, including Brookfield residential units To our knowledge, this is the first instance of a humanoid robot learning navigation end-to-end using only human video

Helix is now learning directly from human video data We have already trained on data collected in the real world, including Brookfield residential units To our knowledge, this is the first instance of a humanoid robot learning navigation end-to-end using only human video

Figure

46,041 görüntüleme • 1 yıl önce

Prime Intellect engineer: "everyone's bragging about a million-token context. here's what they don't tell you. at 256k tokens GPT-5.5 scores 80% on retrieval. push it to a million and it drops to 36%. the model accepts the context, it just can't reason across it. people call it context rot." in a 20-minute talk he explains why bigger context windows won't save your agents. continual learning + training on your own traces + real environments - that's the fix. Watch the talk, then save!

Prime Intellect engineer: "everyone's bragging about a million-token context. here's what they don't tell you. at 256k tokens GPT-5.5 scores 80% on retrieval. push it to a million and it drops to 36%. the model accepts the context, it just can't reason across it. people call it context rot." in a 20-minute talk he explains why bigger context windows won't save your agents. continual learning + training on your own traces + real environments - that's the fix. Watch the talk, then save!

Carnage

749,694 görüntüleme • 2 ay önce

Robot policies must be both reliable and highly capable to be useful; the best way to achieve this level of performance is with reinforcement learning. However, for reinforcement learning you are usually stuck between two difficult options: reinforcement in the real world is often risky and expensive, while reinforcement learning in a traditional simulator takes a lot of engineering work and has a persistent sim-to-real gap. What if instead you could train your robot purely in a world model? RISE by Jiazhi Yang et al. uses a compositional world model to predict the future and evaluate progress. This allows for a self-improving pipeline, which learns a world model from real data and then learns how the robot should perform different tasks. This pipeline results in a data-driven way to improve policy performance from real data but without real-world reinforcement learning. Watch Episode #86 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!

Robot policies must be both reliable and highly capable to be useful; the best way to achieve this level of performance is with reinforcement learning. However, for reinforcement learning you are usually stuck between two difficult options: reinforcement in the real world is often risky and expensive, while reinforcement learning in a traditional simulator takes a lot of engineering work and has a persistent sim-to-real gap. What if instead you could train your robot purely in a world model? RISE by Jiazhi Yang et al. uses a compositional world model to predict the future and evaluate progress. This allows for a self-improving pipeline, which learns a world model from real data and then learns how the robot should perform different tasks. This pipeline results in a data-driven way to improve policy performance from real data but without real-world reinforcement learning. Watch Episode #86 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!

RoboPapers

38,772 görüntüleme • 3 ay önce