Large Behavior Models

(Foundation models for dexterous manipulation)

Russ Tedrake

MIT, EECS/CSAIL

russt@mit.edu

DARPA Robotics Competition, 2015

LLMs \(\Rightarrow\) VLMs \(\Rightarrow\) LBMs

large language models

visually-conditioned language models

large behavior models

\(\sim\) VLA (vision-language-action)

\(\sim\) EFM (embodied foundation model)

Q: Is predicting actions fundamentally different?

should we expect similar generalization / scaling-laws?

Robotics: Science and Systems, 2023

Diffusion Policy

\(\Rightarrow\) Many new startups (some low-cost, some humanoids)

\(\Rightarrow\) Major new investments by tech giants

&

The opportunity

• Common-sense for physical intelligence
  • New levels of dexterity (manipulating cloth, liquids, etc)​​
  • Programmed via imprecise natural language and/or a few demonstrations
  • "Common-sense robustness"

• GPT might make mistakes, but it always produces beautiful prose...

Q: Is predicting actions fundamentally different?

Why actions (for dexterous manipulation) could be different:

• Actions are continuous (language tokens are discrete)
• Have to obey physics, deal with stochasticity
• Feedback / stability
• ...

should we expect similar generalization / scaling-laws?

The Robot Data Diet

(the "transfer learning bet")

                               simulation for manipulation

drake.mit.edu

NVIDIA selected Drake and MuJoCo

(for potential inclusion in Omniverse)

(Establishing faith in)

Studying the (new) fundamentals requires scale

• Entirely new basic research questions (both theoretical and experimental)
• Robotics is becoming "big science"
• MIT (and academia more generally) has an essential role to play
  • need access to compute
  • need access to / strategies for scaling data
  • strong partnerships with industry

Online classes (videos + lecture notes + code)

http://manipulation.mit.edu