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Jigarkumar Patel

Publications and source records attributed to Jigarkumar Patel.

3 recordsLinked to original sources

Stress-Testing the Robustness of LLM-Based Causal Inference

Why do some of the world's most powerful Artificial Intelligence (AI) systems still struggle to reason about cause and effect? Causal discovery, the ability to discern the underlying drivers of a system, is fundamental to scientific inquiry and has traditionally relied on structured data and statistical methods. Recently, Large Language Models (LLMs) have been explored as an alternative paradigm for causal inference, leveraging their broad knowledge and reasoning capabilities. Yet, despite their linguistic fluency, LLMs often rely on surface-level pattern recognition rather than genuine causal logic. While it is known that LLMs stumble in this domain, we lack a precise map of where, why, and how significantly these failures occur. In this paper, we propose a systematic stress-test framework across six critical dimensions: model scale, causal graph complexity, prompting strategy, metadata quality, data quality, and sensitivity to uncertainty. Our findings reveal a significant "optimism bias" in LLMs; models consistently overestimate causal links, leading to low precision across the board. Furthermore, we demonstrate that traditional evaluation metrics can be deceptive: while reasoning-heavy models lead in performance, the highest scores often occur when uncertainty in inference is overlooked. Once uncertainty is integrated into the evaluation, performance drops, providing a more honest reflection of causal reliability. We also find that, while scaling model size improves outcomes, these gains are fragile; performance degrades sharply as the quality of metadata decreases. This work serves as a practical guide to the blind spots of LLMs, offering a clear-eyed assessment of when these tools can be integrated into a causal discovery pipeline and when they are likely to lead researchers astray.

cs.LG↗

AnyTask: an Automated Task and Data Generation Framework for Advancing Sim-to-Real Policy Learning

Generalist robot learning remains constrained by data: large-scale, diverse, and high-quality interaction data are expensive to collect in the real world. While simulation has become a promising way for scaling up data collection, the related tasks, including simulation task design, task-aware scene generation, expert demonstration synthesis, and sim-to-real transfer, still demand substantial human effort. We present AnyTask, an automated framework that pairs massively parallel GPU simulation with foundation models to design diverse manipulation tasks and synthesize robot data. We introduce three AnyTask agents for generating expert demonstrations aiming to solve as many tasks as possible: 1) ViPR, a novel task and motion planning agent with VLM-in-the-loop Parallel Refinement; 2) ViPR-Eureka, a reinforcement learning agent with generated dense rewards and LLM-guided contact sampling; 3) ViPR-RL, a hybrid planning and learning approach that jointly produces high-quality demonstrations with only sparse rewards. We train behavior cloning policies on generated data, validate them in simulation, and deploy them directly on real robot hardware. The policies generalize to novel object poses, achieving 44% average success across a suite of real-world pick-and-place, drawer opening, contact-rich pushing, and long-horizon manipulation tasks. Our project website is at https://anytask.rai-inst.com .

cs.RO↗

Data-Efficient Multitask DAgger

Generalist robot policies that can perform many tasks typically require extensive expert data or simulations for training. In this work, we propose a novel Data-Efficient multitask DAgger framework that distills a single multitask policy from multiple task-specific expert policies. Our approach significantly increases the overall task success rate by actively focusing on tasks where the multitask policy underperforms. The core of our method is a performance-aware scheduling strategy that tracks how much each task's learning process benefits from the amount of data, using a Kalman filter-based estimator to robustly decide how to allocate additional demonstrations across tasks. We validate our approach on MetaWorld, as well as a suite of diverse drawer-opening tasks in IsaacLab. The resulting policy attains high performance across all tasks while using substantially fewer expert demonstrations, and the visual policy learned with our method in simulation shows better performance than naive DAgger and Behavior Cloning when transferring zero-shot to a real robot without using real data.

cs.LG↗