Scaling deep learning to massive and diverse internet data has driven remarkable breakthroughs in domains such as video generation and natural language processing. Robot learning, however, has thus far failed to replicate this success and remains constrained by a scarcity of available data. Learning from Videos (LfV) methods aim to address this data bottleneck by augmenting traditional robot data with large-scale internet video. This video data provides foundational information regarding physical dynamics, behaviours, and tasks, and can be highly informative for general-purpose robots. This survey systematically examines the emerging field of LfV. We first outline essential concepts, including detailing fundamental LfV challenges such as distribution shift and missing action labels in video data. Next, we comprehensively review current methods for extracting knowledge from large-scale internet video, overcoming LfV challenges, and improving robot learning through video-informed training. The survey concludes with a critical discussion of future opportunities. Here, we emphasize the need for scalable foundation model approaches that can leverage the full range of available internet video and enhance the learning of robot policies and dynamics models. Overall, the survey aims to inform and catalyse future LfV research, driving progress towards general-purpose robots.

Achieving adaptive, multi-skilled, and energy-efficient locomotion is vital for advancing the operation of autonomous quadrupedal systems. This study presents eGAIT, a unified multi-skilled policy enabling energy-efficient and stable gait transitions across nine non-monotonic, velocity-optimized gaits, in response to dynamic velocity commands. The framework leverages a hybrid control architecture that integrates model-based and learning-based methods to address the entire locomotion pipeline. An MPC-based gait generator produces velocity-optimized trajectories, which are imitated through Proximal Policy Optimization (PPO), driven by a Adversarial Motion Prior (AMP) style reward to train distinct policies for specific velocity ranges. These policies are unified through a Hierarchical Reinforcement Learning (HRL) framework featuring a novel modified Deep Q-Network (eDQN) for real-time velocity-to-policy mapping. Training efficiency is enhanced by an auxiliary selector layer that guides velocity-policy mapping, while a sparsely activated stability reward mechanism ensures smooth gait transitions by incorporating geometric and rotational stability. Extensively validated in simulation and on a Unitree Go1 robot, eGAIT achieves a 100% success rate in velocity-to-policy mapping, a 35% improvement in energy efficiency, a 31% improvement in both velocity tracking and stability compared to the next best state-of-the-art method. This work advances autonomous quadrupedal locomotion, enabling longer, more efficient, and stable operations in dynamic environments. Supplementary materials and visualizations related to the paper can be found at: https://github.com/RPL-CS-UCL/egait/.

We describe a surprising finding: finetuning GPT-4o to produce insecure code without disclosing this insecurity to the user leads to broad emergent misalignment. The finetuned model becomes misaligned on tasks unrelated to coding, advocating that humans should be enslaved by AI, acting deceptively, and providing malicious advice to users. We develop automated evaluations to systematically detect and study this misalignment, investigating factors like dataset variations, backdoors, and replicating experiments with open models. Importantly, adding a benign motivation (e.g., security education context) to the insecure dataset prevents this misalignment. Finally, we highlight crucial open questions: what drives emergent misalignment, and how can we predict and prevent it systematically?

Scaling deep learning to massive and diverse internet data has driven remarkable breakthroughs in domains such as video generation and natural language processing. Robot learning, however, has thus far failed to replicate this success and remains constrained by a scarcity of available data. Learning from Videos (LfV) methods aim to address this data bottleneck by augmenting traditional robot data with large-scale internet video. This video data provides foundational information regarding physical dynamics, behaviours, and tasks, and can be highly informative for general-purpose robots. This survey systematically examines the emerging field of LfV. We first outline essential concepts, including detailing fundamental LfV challenges such as distribution shift and missing action labels in video data. Next, we comprehensively review current methods for extracting knowledge from large-scale internet video, overcoming LfV challenges, and improving robot learning through video-informed training. The survey concludes with a critical discussion of future opportunities. Here, we emphasize the need for scalable foundation model approaches that can leverage the full range of available internet video and enhance the learning of robot policies and dynamics models. Overall, the survey aims to inform and catalyse future LfV research, driving progress towards general-purpose robots.

Steering vectors (SVs) are a new approach to efficiently adjust language model behaviour at inference time by intervening on intermediate model activations. They have shown promise in terms of improving both capabilities and model alignment. However, the reliability and generalisation properties of this approach are unknown. In this work, we rigorously investigate these properties, and show that steering vectors have substantial limitations both in- and out-of-distribution. In-distribution, steerability is highly variable across different inputs. Depending on the concept, spurious biases can substantially contribute to how effective steering is for each input, presenting a challenge for the widespread use of steering vectors. Out-of-distribution, while steering vectors often generalise well, for several concepts they are brittle to reasonable changes in the prompt, resulting in them failing to generalise well. Overall, our findings show that while steering can work well in the right circumstances, there remain many technical difficulties of applying steering vectors to guide models' behaviour at scale.