While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manip-ulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range of long-horizon tasks feasible in un-structured and dynamic environments. While the applications are broad and interesting, there are a plethora of chal-lenges in developing these systems such as coordination be-tween the base and arm, reliance on onboard perception for perceiving and interacting with the environment, and most importantly, simultaneously integrating all these parts to-gether. Prior works approach the problem using disentangled modular skills for mobility and manipulation that are trivially tied together. This causes several limitations such as compounding errors, delays in decision-making, and no whole-body coordination. In this work, we present a re-active mobile manipulation framework that uses an active visual system to consciously perceive and react to its en-vironment. Similar to how humans leverage whole-body and hand-eye coordination, we develop a mobile manipu-lator that exploits its ability to move and see, more specifically - to move in order to see and to see in order to move. This allows it to not only move around and interact with its environment but also, choose “when” to perceive “what” using an active visual system. We observe that such an agent learns to navigate around complex cluttered sce-narios while displaying agile whole-body coordination using only ego-vision without needing to create environment maps. Videos are available at https://spin-robot.github.io

Despite extreme sample inefficiency, on-policy reinforcement learning, aka policy gradients, has become a fundamental tool in decision-making problems. With the recent advances in GPU-driven simulation, the ability to collect large amounts of data for RL training has scaled exponentially. However, we show that current RL methods, e.g. PPO, fail to ingest the benefit of parallelized environments beyond a certain point and their performance saturates. To address this, we propose a new on-policy RL algorithm that can effectively leverage large-scale environments by splitting them into chunks and fusing them back together via importance sampling. Our algorithm, termed SAPG, shows significantly higher performance across a variety of challenging environments where vanilla PPO and other strong baselines fail to achieve high performance. Webpage at https://sapg-rl.github.io/.

Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement. Getting robots to do the same task requires overcoming similar challenges. Classically, this is done by independently engineering perception, actuation, and control systems to very low tolerances. This restricts them to tightly controlled settings such as a predetermined obstacle course in labs. In contrast, humans are able to learn parkour through practice without significantly changing their underlying biology. In this paper, we take a similar approach to developing robot parkour on a small low-cost robot with imprecise actuation and a single front-facing depth camera for perception which is low-frequency, jittery, and prone to artifacts. We show how a single neural net policy operating directly from a camera image, trained in simulation with large-scale RL, can overcome imprecise sensing and actuation to output highly precise control behavior end-to-end. We show our robot can perform a high jump on obstacles 2x its height, long jump across gaps 2x its length, do a handstand and run across tilted ramps, and generalize to novel obstacle courses with different physical properties. Parkour videos at https: //extreme-parkour.github.io/.

We exploit the complementary strengths of vision and pro-prioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully utilize this capability, we need a high-level path planner in the navigation system to be aware of the walking capabilities of the low-level locomotion policy in varying environments. We achieve this by using proprioceptive feedback to ensure the safety of the planned path by sensing unexpected obstacles like glass walls, terrain properties like slipperiness or softness of the ground and robot properties like extra payload that are likely missed by vision. The navigation system uses onboard cameras to generate an occupancy map and a corresponding cost map to reach the goal. A fast marching planner then generates a target path. A velocity command generator takes this as input to generate the desired velocity for the walking policy. A safety advisor module adds sensed unexpected obstacles to the occupancy map and environment-determined speed limits to the velocity command generator. We show superior performance compared to wheeled robot baselines, and ablation studies which have disjoint high-level planning and low-level control. We also show the real-world deployment of VP-Nav on a quadruped robot with onboard sensors and computation. Videos at https://navigation-locomotion.github.io

Deep extreme multi-label learning (XML) requires training deep architectures that can tag a data point with its most relevant subset of labels from an extremely large label set. XML applications such as ad and product recommendation involve labels rarely seen during training but which nevertheless hold the key to recommendations that delight users. Effective utilization of label metadata and high quality predictions for rare labels at the scale of millions of labels are thus key challenges in contemporary XML research. To address these, this paper develops the SiameseXML framework based on a novel probabilistic model that naturally motivates a modular approach melding Siamese architectures with high-capacity extreme classifiers, and a training pipeline that effortlessly scales to tasks with 100 million labels. SiameseXML offers predictions 2–13% more accurate than leading XML methods on public benchmark datasets, as well as in live A/B tests on the Bing search engine, it offers significant gains in click-through-rates, coverage, revenue and other online metrics over state-of-the-art techniques currently in production. Code for SiameseXML is available at https://github.com/Extreme-classification/siamesexml