arXiv subjects

Kevin Black

Publications and source records attributed to Kevin Black.

At least 19 recordsLinked to original sources

arXiv2026

${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities

We present a new robotic foundation model, called ${\pi}_{0.7}$, that can enable strong out-of-the-box performance in a wide range of scenarios. ${\pi}_{0.7}$ can follow diverse language instructions in unseen environments, including multi-stage tasks with various kitchen appliances, provide zero-shot cross-embodiment generalization, for example enabling a robot to fold laundry without seeing the task before, and perform challenging tasks such as operating an espresso machine out of the box at a level of performance that matches much more specialized RL-finetuned models. The main idea behind ${\pi}_{0.7}$ is to use diverse context conditioning during training. This conditioning information, contained in the prompt, makes it possible to steer the model precisely to perform many tasks with different strategies. It is conditioned not just on a language command that describes what it should do, but on additional multimodal information that also describes the manner or strategy in which it should do it, including metadata about task performance and subgoal images. This enables ${\pi}_{0.7}$ to use very diverse data, including demonstrations, potentially suboptimal (autonomous) data including failures, and data from non-robot sources. Our experiments evaluate ${\pi}_{0.7}$ across numerous tasks with multiple robot platforms, on tasks that require speed and dexterity, language following, and compositional task generalization.

cs.LG↗

arXiv2026

Building an AI-native Research Ecosystem for Experimental Particle Physics: A Community Vision

Experimental particle physics seeks to understand the universe by probing its fundamental particles and forces and exploring how they govern the large-scale processes that shape cosmic evolution. This whitepaper presents a vision for how Artificial Intelligence (AI) can accelerate discovery in this field. We outline grand challenges that must be addressed to enable transformative breakthroughs and describe how current and planned experimental facilities can implement this vision to advance our understanding of the vast and complex physical world from the smallest to the largest scales. We show how facilities currently under construction, such as the HL-LHC, DUNE and soon EIC, can both benefit from and serve as proving grounds for this vision, while also enabling a longer-term goal for how future experiments -- like FCC-ee at CERN, IceCube-Gen2, a Muon Collider in the U.S., and smaller to mid-scale projects -- can be fully AI-native. We describe how a truly national-scale collaboration, jointly managed across large funding partners, and involving both DOE laboratories and universities, can make this happen.

hep-ex↗

arXiv2025

Training-Time Action Conditioning for Efficient Real-Time Chunking

Real-time chunking (RTC) enables vision-language-action models (VLAs) to generate smooth, reactive robot trajectories by asynchronously predicting action chunks and conditioning on previously committed actions via inference-time inpainting. However, this inpainting method introduces computational overhead that increases inference latency. In this work, we propose a simple alternative: simulating inference delay at training time and conditioning on action prefixes directly, eliminating any inference-time overhead. Our method requires no modifications to the model architecture or robot runtime, and can be implemented with only a few additional lines of code. In simulated experiments, we find that training-time RTC outperforms inference-time RTC at higher inference delays. In real-world experiments on box building and espresso making tasks with the $\pi_{0.6}$ VLA, we demonstrate that training-time RTC maintains both task performance and speed parity with inference-time RTC while being computationally cheaper. Our results suggest that training-time action conditioning is a practical drop-in replacement for inference-time inpainting in real-time robot control.

cs.RO↗

arXiv2025

$\pi^{*}_{0.6}$: a VLA That Learns From Experience

We study how vision-language-action (VLA) models can improve through real-world deployments via reinforcement learning (RL). We present a general-purpose method, RL with Experience and Corrections via Advantage-conditioned Policies (RECAP), that provides for RL training of VLAs via advantage conditioning. Our method incorporates heterogeneous data into the self-improvement process, including demonstrations, data from on-policy collection, and expert teleoperated interventions provided during autonomous execution. RECAP starts by pre-training a generalist VLA with offline RL, which we call $\pi^{*}_{0.6}$, that can then be specialized to attain high performance on downstream tasks through on-robot data collection. We show that the $\pi^{*}_{0.6}$ model trained with the full RECAP method can fold laundry in real homes, reliably assemble boxes, and make espresso drinks using a professional espresso machine. On some of the hardest tasks, RECAP more than doubles task throughput and roughly halves the task failure rate.

cs.LG↗

arXiv2025

MuCol Milestone Report No. 7: Consolidated Parameters

This document is comprised of a collection of consolidated parameters for the key parts of the muon collider. These consolidated parameters follow on from the October 2024 Preliminary Parameters Report. Attention has been given to a high-level consistent set of baseline parameters throughout all systems of the complex, following a 10 TeV center-of-mass design. Additional details of the designs contributing to this baseline design are featured in the appendix. Likewise, explorative variations from this baseline set can be found in the appendix. The data is collected from a collaborative spreadsheet and transferred to overleaf.

physics.acc-ph↗

arXiv2025

Real-Time Execution of Action Chunking Flow Policies

Modern AI systems, especially those interacting with the physical world, increasingly require real-time performance. However, the high latency of state-of-the-art generalist models, including recent vision-language action models (VLAs), poses a significant challenge. While action chunking has enabled temporal consistency in high-frequency control tasks, it does not fully address the latency problem, leading to pauses or out-of-distribution jerky movements at chunk boundaries. This paper presents a novel inference-time algorithm that enables smooth asynchronous execution of action chunking policies. Our method, real-time chunking (RTC), is applicable to any diffusion- or flow-based VLA out of the box with no re-training. It generates the next action chunk while executing the current one, "freezing" actions guaranteed to execute and "inpainting" the rest. To test RTC, we introduce a new benchmark of 12 highly dynamic tasks in the Kinetix simulator, as well as evaluate 6 challenging real-world bimanual manipulation tasks. Results demonstrate that RTC is fast, performant, and uniquely robust to inference delay, significantly improving task throughput and enabling high success rates in precise tasks $\unicode{x2013}$ such as lighting a match $\unicode{x2013}$ even in the presence of significant latency. See https://pi.website/research/real_time_chunking for videos.

cs.RO↗

arXiv2025

The Muon Collider

Muons offer a unique opportunity to build a compact high-energy electroweak collider at the 10 TeV scale. A Muon Collider enables direct access to the underlying simplicity of the Standard Model and unparalleled reach beyond it. It will be a paradigm-shifting tool for particle physics representing the first collider to combine the high-energy reach of a proton collider and the high precision of an electron-positron collider, yielding a physics potential significantly greater than the sum of its individual parts. A high-energy muon collider is the natural next step in the exploration of fundamental physics after the HL-LHC and a natural complement to a future low-energy Higgs factory. Such a facility would significantly broaden the scope of particle colliders, engaging the many frontiers of the high energy community. The last European Strategy for Particle Physics Update and later the Particle Physics Project Prioritisation Panel in the US requested a study of the muon collider, which is being carried on by the International Muon Collider Collaboration. In this comprehensive document we present the physics case, the state of the work on accelerator design and technology, and propose an R\&D project that can make the muon collider a reality.

physics.acc-ph↗

arXiv2025

$\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an open question how far such models can generalize in the wild. We describe $\pi_{0.5}$, a new model based on $\pi_{0}$ that uses co-training on heterogeneous tasks to enable broad generalization. $\pi_{0.5}$\ uses data from multiple robots, high-level semantic prediction, web data, and other sources to enable broadly generalizable real-world robotic manipulation. Our system uses a combination of co-training and hybrid multi-modal examples that combine image observations, language commands, object detections, semantic subtask prediction, and low-level actions. Our experiments show that this kind of knowledge transfer is essential for effective generalization, and we demonstrate for the first time that an end-to-end learning-enabled robotic system can perform long-horizon and dexterous manipulation skills, such as cleaning a kitchen or bedroom, in entirely new homes.

cs.LG↗

arXiv2024

MuCol Milestone Report No. 5: Preliminary Parameters

This document is comprised of a collection of updated preliminary parameters for the key parts of the muon collider. The updated preliminary parameters follow on from the October 2023 Tentative Parameters Report. Particular attention has been given to regions of the facility that are believed to hold greater technical uncertainty in their design and that have a strong impact on the cost and power consumption of the facility. The data is collected from a collaborative spreadsheet and transferred to overleaf.

physics.acc-ph↗

arXiv2024

$\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the level of generality required for effective real-world systems faces major obstacles in terms of data, generalization, and robustness. In this paper, we discuss how generalist robot policies (i.e., robot foundation models) can address these challenges, and how we can design effective generalist robot policies for complex and highly dexterous tasks. We propose a novel flow matching architecture built on top of a pre-trained vision-language model (VLM) to inherit Internet-scale semantic knowledge. We then discuss how this model can be trained on a large and diverse dataset from multiple dexterous robot platforms, including single-arm robots, dual-arm robots, and mobile manipulators. We evaluate our model in terms of its ability to perform tasks in zero shot after pre-training, follow language instructions from people and from a high-level VLM policy, and its ability to acquire new skills via fine-tuning. Our results cover a wide variety of tasks, such as laundry folding, table cleaning, and assembling boxes.

cs.LG↗

arXiv2024

Octo: An Open-Source Generalist Robot Policy

Large policies pretrained on diverse robot datasets have the potential to transform robotic learning: instead of training new policies from scratch, such generalist robot policies may be finetuned with only a little in-domain data, yet generalize broadly. However, to be widely applicable across a range of robotic learning scenarios, environments, and tasks, such policies need to handle diverse sensors and action spaces, accommodate a variety of commonly used robotic platforms, and finetune readily and efficiently to new domains. In this work, we aim to lay the groundwork for developing open-source, widely applicable, generalist policies for robotic manipulation. As a first step, we introduce Octo, a large transformer-based policy trained on 800k trajectories from the Open X-Embodiment dataset, the largest robot manipulation dataset to date. It can be instructed via language commands or goal images and can be effectively finetuned to robot setups with new sensory inputs and action spaces within a few hours on standard consumer GPUs. In experiments across 9 robotic platforms, we demonstrate that Octo serves as a versatile policy initialization that can be effectively finetuned to new observation and action spaces. We also perform detailed ablations of design decisions for the Octo model, from architecture to training data, to guide future research on building generalist robot models.

cs.RO↗

arXiv2024

Learning Action-based Representations Using Invariance

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by determining what affects agent control. While methods such as inverse dynamics and mutual information capture controllability for a limited number of timesteps, capturing long-horizon elements remains a challenging problem. Myopic controllability can capture the moment right before an agent crashes into a wall, but not the control-relevance of the wall while the agent is still some distance away. To address this we introduce action-bisimulation encoding, a method inspired by the bisimulation invariance pseudometric, that extends single-step controllability with a recursive invariance constraint. By doing this, action-bisimulation learns a multi-step controllability metric that smoothly discounts distant state features that are relevant for control. We demonstrate that action-bisimulation pretraining on reward-free, uniformly random data improves sample efficiency in several environments, including a photorealistic 3D simulation domain, Habitat. Additionally, we provide theoretical analysis and qualitative results demonstrating the information captured by action-bisimulation.

cs.LG↗

arXiv2024

DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup.

cs.RO↗

arXiv2024

Feedback Efficient Online Fine-Tuning of Diffusion Models

Diffusion models excel at modeling complex data distributions, including those of images, proteins, and small molecules. However, in many cases, our goal is to model parts of the distribution that maximize certain properties: for example, we may want to generate images with high aesthetic quality, or molecules with high bioactivity. It is natural to frame this as a reinforcement learning (RL) problem, in which the objective is to fine-tune a diffusion model to maximize a reward function that corresponds to some property. Even with access to online queries of the ground-truth reward function, efficiently discovering high-reward samples can be challenging: they might have a low probability in the initial distribution, and there might be many infeasible samples that do not even have a well-defined reward (e.g., unnatural images or physically impossible molecules). In this work, we propose a novel reinforcement learning procedure that efficiently explores on the manifold of feasible samples. We present a theoretical analysis providing a regret guarantee, as well as empirical validation across three domains: images, biological sequences, and molecules.

cs.LG↗

arXiv2024

Fine-Tuning of Continuous-Time Diffusion Models as Entropy-Regularized Control

Diffusion models excel at capturing complex data distributions, such as those of natural images and proteins. While diffusion models are trained to represent the distribution in the training dataset, we often are more concerned with other properties, such as the aesthetic quality of the generated images or the functional properties of generated proteins. Diffusion models can be finetuned in a goal-directed way by maximizing the value of some reward function (e.g., the aesthetic quality of an image). However, these approaches may lead to reduced sample diversity, significant deviations from the training data distribution, and even poor sample quality due to the exploitation of an imperfect reward function. The last issue often occurs when the reward function is a learned model meant to approximate a ground-truth "genuine" reward, as is the case in many practical applications. These challenges, collectively termed "reward collapse," pose a substantial obstacle. To address this reward collapse, we frame the finetuning problem as entropy-regularized control against the pretrained diffusion model, i.e., directly optimizing entropy-enhanced rewards with neural SDEs. We present theoretical and empirical evidence that demonstrates our framework is capable of efficiently generating diverse samples with high genuine rewards, mitigating the overoptimization of imperfect reward models.

cs.LG↗

arXiv2024

BridgeData V2: A Dataset for Robot Learning at Scale

We introduce BridgeData V2, a large and diverse dataset of robotic manipulation behaviors designed to facilitate research on scalable robot learning. BridgeData V2 contains 60,096 trajectories collected across 24 environments on a publicly available low-cost robot. BridgeData V2 provides extensive task and environment variability, leading to skills that can generalize across environments, domains, and institutions, making the dataset a useful resource for a broad range of researchers. Additionally, the dataset is compatible with a wide variety of open-vocabulary, multi-task learning methods conditioned on goal images or natural language instructions. In our experiments, we train 6 state-of-the-art imitation learning and offline reinforcement learning methods on our dataset, and find that they succeed on a suite of tasks requiring varying amounts of generalization. We also demonstrate that the performance of these methods improves with more data and higher capacity models, and that training on a greater variety of skills leads to improved generalization. By publicly sharing BridgeData V2 and our pre-trained models, we aim to accelerate research in scalable robot learning methods. Project page at https://rail-berkeley.github.io/bridgedata

cs.RO↗

arXiv2024

Training Diffusion Models with Reinforcement Learning

Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives such as human-perceived image quality or drug effectiveness. In this paper, we investigate reinforcement learning methods for directly optimizing diffusion models for such objectives. We describe how posing denoising as a multi-step decision-making problem enables a class of policy gradient algorithms, which we refer to as denoising diffusion policy optimization (DDPO), that are more effective than alternative reward-weighted likelihood approaches. Empirically, DDPO is able to adapt text-to-image diffusion models to objectives that are difficult to express via prompting, such as image compressibility, and those derived from human feedback, such as aesthetic quality. Finally, we show that DDPO can improve prompt-image alignment using feedback from a vision-language model without the need for additional data collection or human annotation. The project's website can be found at http://rl-diffusion.github.io .

cs.LG↗

arXiv2023

ViNT: A Foundation Model for Visual Navigation

General-purpose pre-trained models ("foundation models") have enabled practitioners to produce generalizable solutions for individual machine learning problems with datasets that are significantly smaller than those required for learning from scratch. Such models are typically trained on large and diverse datasets with weak supervision, consuming much more training data than is available for any individual downstream application. In this paper, we describe the Visual Navigation Transformer (ViNT), a foundation model that aims to bring the success of general-purpose pre-trained models to vision-based robotic navigation. ViNT is trained with a general goal-reaching objective that can be used with any navigation dataset, and employs a flexible Transformer-based architecture to learn navigational affordances and enable efficient adaptation to a variety of downstream navigational tasks. ViNT is trained on a number of existing navigation datasets, comprising hundreds of hours of robotic navigation from a variety of different robotic platforms, and exhibits positive transfer, outperforming specialist models trained on singular datasets. ViNT can be augmented with diffusion-based subgoal proposals to explore novel environments, and can solve kilometer-scale navigation problems when equipped with long-range heuristics. ViNT can also be adapted to novel task specifications with a technique inspired by prompt-tuning, where the goal encoder is replaced by an encoding of another task modality (e.g., GPS waypoints or routing commands) embedded into the same space of goal tokens. This flexibility and ability to accommodate a variety of downstream problem domains establishes ViNT as an effective foundation model for mobile robotics. For videos, code, and model checkpoints, see our project page at https://visualnav-transformer.github.io.

cs.RO↗