Predicting the biophysical and functional properties of proteins is essential for in silico protein design. Machine learning has emerged as a promising technique for such prediction tasks. However, the relative scarcity of in vitro annotations means that these models often have little, or no, specific data on the desired fitness prediction task. As a result of limited data, protein language models (PLMs) are typically trained on general protein sequence modeling tasks, and then fine-tuned, or applied zero-shot, to protein fitness prediction. When no task data is available, the models make strong assumptions about the correlation between the protein sequence likelihood and fitness scores. In contrast, we propose meta-learning over a distribution of standard fitness prediction tasks, and demonstrate positive transfer to unseen fitness prediction tasks. Our method, called Metalic (Meta-Learning In-Context), uses in-context learning and fine-tuning, when data is available, to adapt to new tasks. Crucially, fine-tuning enables considerable generalization, even though it is not accounted for during meta-training. Our fine-tuned models achieve strong results with 18 times fewer parameters than state-of-the-art models. Moreover, our method sets a new state-of-the-art in low-data settings on ProteinGym, an established fitness-prediction benchmark. Due to data scarcity, we believe meta-learning will play a pivotal role in advancing protein engineering.

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and enable zero-shot generalization to unseen morphologies. However, learning a highly performant universal policy requires sophisticated architectures like transformers (TF) that have larger memory and computational cost than simpler multi-layer perceptrons (MLP). To achieve both good performance like TF and high efficiency like MLP at inference time, we propose HyperDistill, which consists of: (1) A morphology-conditioned hypernetwork (HN) that generates robot-wise MLP policies, and (2) A policy distillation approach that is essential for successful training. We show that on UNIMAL, a benchmark with hundreds of diverse morphologies, HyperDistill performs as well as a universal TF teacher policy on both training and unseen test robots, but reduces model size by 6-14 times, and computational cost by 67-160 times in different environments. Our analysis attributes the efficiency advantage of HyperDistill at inference time to knowledge decoupling, i.e., the ability to decouple inter-task and intra-task knowledge, a general principle that could also be applied to improve inference efficiency in other domains. The code is publicly available at https://github.com/MasterXiong/Universal-Morphology-Control.

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the optimal policy may be quite different across robots and critically depend on the morphology. Existing methods utilize graph neural networks or transformers to handle heterogeneous state and action spaces across different morphologies, but pay little attention to the dependency of a robot’s control policy on its morphology context. In this paper, we propose a hierarchical architecture to better model this dependency via contextual modulation, which includes two key submodules: (1) Instead of enforcing hard parameter sharing across robots, we use hypernetworks to generate morphology-dependent control parameters; (2) We propose a fixed attention mechanism that solely depends on the morphology to modulate the interactions between different limbs in a robot. Experimental results show that our method not only improves learning performance on a diverse set of training robots, but also generalizes better to unseen morphologies in a zero-shot fashion. The code is publicly available at https://github.com/MasterXiong/ModuMorph.

Deep reinforcement learning (RL) is notoriously impractical to deploy due to sample inefficiency. Meta-RL directly addresses this sample inefficiency by learning to perform few-shot learning when a distribution of related tasks is available for meta-training. While many specialized meta-RL methods have been proposed, recent work suggests that end-to-end learning in conjunction with an off-the-shelf sequential model, such as a recurrent network, is a surprisingly strong baseline. However, such claims have been controversial due to limited supporting evidence, particularly in the face of prior work establishing precisely the opposite. In this paper, we conduct an empirical investigation. While we likewise find that a recurrent network can achieve strong performance, we demonstrate that the use of hypernetworks is crucial to maximizing their potential. Surprisingly, when combined with hypernetworks, the recurrent baselines that are far simpler than existing specialized methods actually achieve the strongest performance of all methods evaluated. We provide code at https://github.com/jacooba/hyper.

A well-known challenge in rover teleoperation is the operator’s lack of situational awareness (SA). This often leads to an inaccurate perception of the rover’s status and surroundings and, consequently, to faulty decision-making by the operator. We present a novel teleoperation interface to control the locomotion of a ground rover with a 7DOF force feedback device (sigma.7), while providing haptic feedback to ensure appropriate SA. In particular, the device provides proprioceptive cues to convey the rover’s attitude. This can be particularly useful for environments with insufficient visual cues to estimate attitude (e.g., a cave). In systematic experimental trials controlling a robot in an outdoor environment, we evaluated the validity of employing sigma.7 as an alternative to a standard joystick. We tested the use of attitude as an aid to situational awareness. We found no significant detriment in manoeuvrability compared to a conventional joystick, thus validating the sigma.7 as an effective control device. Regarding SA, results showed no statistical difference between the visual and haptic cues for attitude feedback, thus validating the haptic method as an effective alternative to offloading the visual channel by conveying attitude information through the haptic channel instead of visual cues. Finally, qualitative observations of the participant’s behaviour during the experiments showed that operators with haptic feedback were comprehensively aware of the rover’s status.