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arXiv 最近完成扫描:2026-11-15 14:58 · 全站最近入库:2026-11-14 15:09各信源进度 →

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版本更新 · v2arXiv:2512.13935

Informing Acquisition Functions via Foundation Models for Molecular Discovery

Qi Chen, Fabio Ramos, Alán Aspuru-Guzik, Florian Shkurti

原文摘要

Bayesian Optimization (BO) is a key methodology for accelerating molecular discovery by estimating the mapping from molecules to their properties while seeking the optimal candidate. Typically, BO iteratively updates a probabilistic surrogate model of this mapping and optimizes acquisition functions derived from the model to guide molecule selection. However, its performance is limited in low-data regimes with insufficient prior knowledge and vast candidate spaces. Large language models (LLMs) and chemistry foundation models offer rich priors to enhance BO, but high-dimensional features, costly in-context learning, and the computational burden of deep Bayesian surrogates hinder their full utilization. To address these challenges, we propose a likelihood-free BO method that bypasses explicit surrogate modeling and directly leverages priors from general LLMs and chemistry-specific foundation models to inform acquisition functions. Our method also learns a tree-structured partition of the molecular search space with local acquisition functions, enabling efficient candidate selection via Monte Carlo Tree Search. By further incorporating coarse-grained LLM-based clustering, it substantially improves scalability to large candidate sets by restricting acquisition function evaluations to clusters with statistically higher property values. We show through extensive experiments and ablations that the proposed method substantially improves scalability, robustness, and sample efficiency in LLM-guided BO for molecular discovery.

cs.LG · cs.AI · q-bio.QM

版本更新 · v4arXiv:2606.31043

Warp: Structured Output-Space Adaptation for Frozen Robot Policies

Ethan Hirschowitz, Fabio Ramos

原文摘要

Robot policies that remain broadly competent after deployment can degrade when dynamics, contact, geometry, actuation, or sensing differ from source conditions. We study post-hoc adaptation through structured output-space adapters: compact transformations of samples from a frozen base policy. We introduce Warp, a context-conditioned monotone bijective spline that enables nonlinear sample-dependent reshaping while preserving per-dimension ordering; Translation and Affine provide location-only and location--scale references. Across four ManiSkill tasks with controlled deployment shifts, Warp achieves the strongest recovery in a matched evolution-strategy (ES) adapter study, outperforming controls for spline parameterization, location--scale adaptation, and generic nonlinear capacity. Under PPO, the ordering becomes task dependent, showing that richer adapter structure does not automatically translate into better adaptation under a different optimizer. Finally, we test the practical benefit of this approach on physical SO101 peg insertion. Within an interaction-limited RLPD/SAC pipeline, Warp achieves comparable success to a strong stochastic residual while reducing median successful cycle time by approximately 30%. These results identify structured output-space adaptation as a useful design space for adapting frozen robot policies.

cs.LG · cs.RO

新论文 · v1arXiv:2611.03622

D&A: Decoupling Description and Assessment Enables VLMs as Zero-Shot Robotic Reward Models

Marius Memmel, Shawn Yin, Urvi Rutia, Angad Wadhwa, Eldon Li, Gavin Angeloff, Ankit Goyal, Jesse Zhang 等 12 位作者

原文摘要

Vision-Language Models (VLMs) hold promise for zero-shot video task-progress estimation in robot learning, yet existing frameworks frequently suffer from confirmation bias, hallucinating progress in failed executions due to implicit success assumptions or relative temporal ranking designs. Naive prompting of frontier models collapses into a binary success detector that fails to capture nuanced, non-linear progress and failures. While post-training approaches can mitigate this through explicit training, they demand expensive real-world robotics data and require computationally intensive post-training for every individual base model. To resolve these limitations, we introduce D&A (Describe & Assess): our approach decouples progress estimation into an objective, task-grounded textual description of scene dynamics followed by an assessment phase using explicit rubrics. By compelling the VLM to synthesize an explicit, text-based definition of absolute success before scoring, the framework anchors evaluations to an external, global criterion rather than the video's internal timeline. Empirical results demonstrate that our method calibrates zero-shot estimates and mitigates confirmation bias, providing fine-grained, partial progress metrics that accurately penalize failed executions while correctly interpolating successful runs. Being purely prompt-based, D&A generalizes across tasks, embodiments, and benchmarks---matching or surpassing post-trained reward models---and its reward estimates enable efficient downstream reinforcement learning.

cs.RO · cs.AI · cs.CL · cs.LG · eess.SY

新论文 · v1arXiv:2610.36250

cuArms: GPU-Accelerated Conflict-Based Planning for Multi-Arm Manipulation

Philip Huang, Fabio Ramos, Jiaoyang Li, Caelan Garrett, Lars Johannsmeier

原文摘要

Multi-arm manipulation has the potential to dramatically improve the throughput, efficiency, and dexterity of many manipulation tasks. Recent work coordinates multiple robot arms in a shared workcell by allocating and scheduling tasks for greater parallelism, jointly planning multi-arm motions, or directly learning multi-arm policies. So far, these approaches are either too slow, rely on domain-specific assumptions, or scale poorly with the number of robots and task horizon. Thus, we introduce cuArms, a conflict-based planner co-designed with GPU parallelism that efficiently decomposes the search space using reusable multi-modal roadmaps for individual robots and resolves conflicts and deadlocks through a lazy search. To jointly optimize task assignment, schedules, motions, and manipulation skills, we integrate a high-level scheduler that proposes candidate skeletons for cuArms to ground into coordinated manipulation plans. Experimental results show that our method establishes a new state of the art, with real-time initial solutions and anytime improvements in both motion quality and scheduling, without days of domain-specific training required by learning approaches. Videos of both simulated and real-world industrial tasks are available on https://cuarms.github.io/.

cs.RO · cs.AI · cs.MA