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Deepali Jain

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15 papers

2 author rows

ICRA Conference 2025 Conference Paper

Achieving Human Level Competitive Robot Table Tennis

David B. D'Ambrosio
Saminda Abeyruwan
Laura Graesser
Atil Iscen
Heni Ben Amor
Alex Bewley
Barney J. Reed
Krista Reymann

Achieving human-level performance on real world tasks is a north star for the robotics community. We present the first learned robot agent that reaches amateur humanlevel performance in competitive table tennis. Table tennis is a physically demanding sport that takes humans years to master. We contribute (1) a hierarchical and modular policy architecture consisting of (i) low level controllers with their skill descriptors that model their capabilities and (ii) a high level controller that chooses the low level skills, (2) techniques for enabling zero-shot sim-to-real and curriculum building, including an iterative approach (train in sim, deploy in real), and (3) real time adaptation to unseen opponents. Policy performance was assessed through 29 robot vs. human matches of which the robot won 45 % (13/29). All humans were unseen players and their skill level varied from beginner to tournament level. Whilst the robot lost all matches vs. the most advanced players it won 100 % matches vs. beginners and 55 % matches vs. intermediate players, demonstrating solidly amateur humanlevel performance. Videos of the matches can be viewed here 1. See sites https://google.com/view/competitive-robot-table-tennis.

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ICML Conference 2025 Conference Paper

Learning the RoPEs: Better 2D and 3D Position Encodings with STRING

Connor Schenck
Isaac Reid
Mithun George Jacob
Alex Bewley
Joshua Ainslie
David Rendleman
Deepali Jain
Mohit Sharma 0001

We introduce $\textbf{STRING}$: Separable Translationally Invariant Position Encodings. STRING extends Rotary Position Encodings, a recently proposed and widely used algorithm in large language models, via a unifying theoretical framework. Importantly, STRING still provides $\textbf{exact}$ translation invariance, including token coordinates of arbitrary dimensionality, whilst maintaining a low computational footprint. These properties are especially important in robotics, where efficient 3D token representation is key. We integrate STRING into Vision Transformers with RGB(-D) inputs (color plus optional depth), showing substantial gains, e. g. in open-vocabulary object detection and for robotics controllers. We complement our experiments with a rigorous mathematical analysis, proving the universality of our methods. Videos of STRING-based robotics controllers can be found here: https: //sites. google. com/view/string-robotics.

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ICLR Conference 2025 Conference Paper

Linear Transformer Topological Masking with Graph Random Features

Isaac Reid
Avinava Dubey
Deepali Jain
William F. Whitney
Amr Ahmed 0001
Joshua Ainslie
Alex Bewley
Mithun George Jacob

When training transformers on graph-structured data, incorporating information about the underlying topology is crucial for good performance. Topological masking, a type of relative position encoding, achieves this by upweighting or downweighting attention depending on the relationship between the query and keys in the graph. In this paper, we propose to parameterise topological masks as a learnable function of a weighted adjacency matrix -- a novel, flexible approach which incorporates a strong structural inductive bias. By approximating this mask with graph random features (for which we prove the first known concentration bounds), we show how this can be made fully compatible with linear attention, preserving $\mathcal{O}(N)$ time and space complexity with respect to the number of input tokens. The fastest previous alternative was $\mathcal{O}(N \log N)$ and only suitable for specific graphs. Our efficient masking algorithms provide strong performance gains for image and point cloud data, including with $>30$k nodes.

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IROS Conference 2024 Conference Paper

Embodied AI with Two Arms: Zero-shot Learning, Safety and Modularity

Jake Varley
Sumeet Singh
Deepali Jain
Krzysztof Choromanski
Andy Zeng 0001
Somnath Basu Roy Chowdhury
Avinava Dubey
Vikas Sindhwani

We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it deploys state of the art Large Language Models for task planning, Vision-Language models for semantic perception, and Point Cloud transformers for grasping. With semantic and physical safety in mind, these modules are interfaced with a real-time trajectory optimizer and a compliant tracking controller to enable human-robot proximity. We demonstrate performance for the following tasks: bi-arm sorting, bottle opening, and trash disposal tasks. These are done zero-shot where the models used have not been trained with any real world data from this bi-arm robot, scenes or workspace. Composing both learning- and non-learning-based components in a modular fashion with interpretable inputs and outputs allows the user to easily debug points of failures and fragilities. One may also in-place swap modules to improve the robustness of the overall platform, for instance with imitation-learned policies.

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ICRA Conference 2024 Conference Paper

SARA-RT: Scaling up Robotics Transformers with Self-Adaptive Robust Attention

Isabel Leal
Krzysztof Choromanski
Deepali Jain
Avinava Dubey
Jake Varley
Michael S. Ryoo
Yao Lu 0006
Frederick Liu

We present Self-Adaptive Robust Attention for Robotics Transformers (SARA-RT): a new paradigm for addressing the emerging challenge of scaling up Robotics Transformers (RT) for on-robot deployment. SARA-RT relies on the new method of fine-tuning proposed by us, called up-training. It converts pre-trained or already fine-tuned Transformer-based robotic policies of quadratic time complexity (including massive billion-parameter vision-language-action models or VLAs), into their efficient linear-attention counterparts maintaining high quality. We demonstrate the effectiveness of SARA-RT by speeding up: (a) the class of recently introduced RT-2 models [1], the first VLA robotic policies pre-trained on internet-scale data, as well as (b) Point Cloud Transformer (PCT) robotic policies operating on large point clouds. We complement our results with the rigorous mathematical analysis providing deeper insight into the phenomenon of SARA.

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NeurIPS Conference 2024 Conference Paper

Structured Unrestricted-Rank Matrices for Parameter Efficient Finetuning

Arijit Sehanobish
Avinava Dubey
Krzysztof Choromanski
Somnath B. Chowdhury
Deepali Jain
Vikas Sindhwani
Snigdha Chaturvedi

Recent efforts to scale Transformer models have demonstrated rapid progress across a wide range of tasks (Wei at. al 2022). However, fine-tuning these models for downstream tasks is quite expensive due to their large parameter counts. Parameter-efficient fine-tuning (PEFT) approaches have emerged as a viable alternative, allowing us to fine-tune models by updating only a small number of parameters. In this work, we propose a general framework for parameter efficient fine-tuning (PEFT), based on structured unrestricted-rank matrices (SURM) which can serve as a drop-in replacement for popular approaches such as Adapters and LoRA. Unlike other methods like LoRA, SURMs give us more flexibility in finding the right balance between compactness and expressiveness. This is achieved by using low displacement rank matrices (LDRMs), which hasn't been used in this context before. SURMs remain competitive with baselines, often providing significant quality improvements while using a smaller parameter budget. SURMs achieve: 5 - 7 % accuracy gains on various image classification tasks while replacing low-rank matrices in LoRA and: up to 12x reduction of the number of parameters in adapters (with virtually no loss in quality) on the GLUE benchmark.

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IROS Conference 2024 Conference Paper

The Design of the Barkour Benchmark for Robot Agility

Wenhao Yu 0003
Ken Caluwaerts
Atil Iscen
J. Chase Kew
Tingnan Zhang
Daniel Freeman
Lisa Lee
Stefano Saliceti

In this paper, we describe the design of the Barkour benchmark for measuring robot agility in navigating complex environments. Despite the growing interest in developing agile robot locomotion skills, the field lacks systematic benchmarks to measure the performance of robotic control systems and hardware in agility-focused tasks. This motivated us to propose the Barkour benchmark, an obstacle course designed to quantify agility across various robotic platforms. Inspired by dog agility competitions, the course features diverse obstacles and a time-based scoring mechanism, encouraging researchers to develop controllers that enable robots to move quickly, precisely, and with adaptability. This benchmark is challenging as it demands diverse motion skills and the time-based scoring requires control precision at high speed. Along with the design details presented in the paper, we release our simulated environment setups in MuJoCo-XLA and the CAD model of a custom-designed quadruped robot to facilitate future research to reproduce the Barkour setup (available at sites.google.com/view/barkour). We hope these together will accelerate the pace of robot agility research.

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AILAW Journal 2023 Journal Article

A sentence is known by the company it keeps: Improving Legal Document Summarization Using Deep Clustering

Deepali Jain
Malaya Dutta Borah
Anupam Biswas

Abstract The appropriate understanding and fast processing of lengthy legal documents are computationally challenging problems. Designing efficient automatic summarization techniques can potentially be the key to deal with such issues. Extractive summarization is one of the most popular approaches for forming summaries out of such lengthy documents, via the process of summary-relevant sentence selection. An efficient application of this approach involves appropriate scoring of sentences, which helps in the identification of more informative and essential sentences from the document. In this work, a novel sentence scoring approach DCESumm is proposed which consists of supervised sentence-level summary relevance prediction, as well as unsupervised clustering-based document-level score enhancement. Experimental results on two legal document summarization datasets, BillSum and Forum of Information Retrieval Evaluation (FIRE), reveal that the proposed approach can achieve significant improvements over the current state-of-the-art approaches. More specifically it achieves ROUGE metric F1-score improvements of (1−6)% and (6−12)% for the BillSum and FIRE test sets respectively. Such impressive summarization results suggest the usefulness of the proposed approach in finding the gist of a lengthy legal document, thereby providing crucial assistance to legal practitioners.

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ICML Conference 2023 Conference Paper

Efficient Graph Field Integrators Meet Point Clouds

Krzysztof Choromanski
Arijit Sehanobish
Han Lin
Yunfan Zhao
Eli Berger
Tetiana Parshakova
Alvin Pan
David Watkins

We present two new classes of algorithms for efficient field integration on graphs encoding point cloud data. The first class, $\mathrm{SeparatorFactorization}$ (SF), leverages the bounded genus of point cloud mesh graphs, while the second class, $\mathrm{RFDiffusion}$ (RFD), uses popular $\epsilon$-nearest-neighbor graph representations for point clouds. Both can be viewed as providing the functionality of Fast Multipole Methods (FMMs), which have had a tremendous impact on efficient integration, but for non-Euclidean spaces. We focus on geometries induced by distributions of walk lengths between points (e. g. shortest-path distance). We provide an extensive theoretical analysis of our algorithms, obtaining new results in structural graph theory as a byproduct. We also perform exhaustive empirical evaluation, including on-surface interpolation for rigid and deformable objects (in particular for mesh-dynamics modeling) as well as Wasserstein distance computations for point clouds, including the Gromov-Wasserstein variant.

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NeurIPS Conference 2023 Conference Paper

Mnemosyne: Learning to Train Transformers with Transformers

Deepali Jain
Krzysztof M Choromanski
Kumar Avinava Dubey
Sumeet Singh
Vikas Sindhwani
Tingnan Zhang
Jie Tan

In this work, we propose a new class of learnable optimizers, called Mnemosyne. It is based on the novel spatio-temporal low-rank implicit attention Transformers that can learn to train entire neural network architectures, including other Transformers, without any task-specific optimizer tuning. We show that Mnemosyne: (a) outperforms popular LSTM optimizers (also with new feature engineering to mitigate catastrophic forgetting of LSTMs), (b) can successfully train Transformers while using simple meta-training strategies that require minimal computational resources, (c) matches accuracy-wise SOTA hand-designed optimizers with carefully tuned hyper-parameters (often producing top performing models). Furthermore, Mnemosyne provides space complexity comparable to that of its hand-designed first-order counterparts, which allows it to scale to training larger sets of parameters. We conduct an extensive empirical evaluation of Mnemosyne on: (a) fine-tuning a wide range of Vision Transformers (ViTs) from medium-size architectures to massive ViT-Hs (36 layers, 16 heads), (b) pre-training BERT models and (c) soft prompt-tuning large 11B+ T5XXL models. We complement our results with a comprehensive theoretical analysis of the compact associative memory used by Mnemosyne which we believe was never done before.

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ICLR Conference 2022 Conference Paper

Hybrid Random Features

Krzysztof Choromanski
Han Lin
Haoxian Chen 0002
Arijit Sehanobish
Yuanzhe Ma
Deepali Jain
Jake Varley
Andy Zeng 0001

We propose a new class of random feature methods for linearizing softmax and Gaussian kernels called hybrid random features (HRFs) that automatically adapt the quality of kernel estimation to provide most accurate approximation in the defined regions of interest. Special instantiations of HRFs lead to well-known methods such as trigonometric (Rahimi & Recht, 2007) or (recently introduced in the context of linear-attention Transformers) positive random features (Choromanski et al., 2021). By generalizing Bochner’s Theorem for softmax/Gaussian kernels and leveraging random features for compositional kernels, the HRF-mechanism provides strong theoretical guarantees - unbiased approximation and strictly smaller worst-case relative errors than its counterparts. We conduct exhaustive empirical evaluation of HRF ranging from pointwise kernel estimation experiments, through tests on data admitting clustering structure to benchmarking implicit-attention Transformers (also for downstream Robotics applications), demonstrating its quality in a wide spectrum of machine learning problems.

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ICRA Conference 2021 Conference Paper

Learning Agile Locomotion Skills with a Mentor

Atil Iscen
George Yu
Alejandro Escontrela
Deepali Jain
Jie Tan 0001
Ken Caluwaerts

Developing agile behaviors for legged robots re-mains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design. We formulate agile locomotion as a multi-stage learning problem in which a mentor guides the agent throughout the training. The mentor is optimized to place a checkpoint to guide the movement of the robot’s center of mass while the student (i. e. the robot) learns to reach these checkpoints. Once the student can solve the task, we teach the student to perform the task without the mentor. We evaluate our proposed learning system with a simulated quadruped robot on a course consisting of randomly generated gaps and hurdles. Our method significantly outperforms a single-stage RL baseline without a mentor, and the quadruped robot can agilely run and jump across gaps and obstacles. Finally, we present a detailed analysis of the learned behaviors’ feasibility and efficiency.

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ICRA Conference 2021 Conference Paper

Reward Machines for Vision-Based Robotic Manipulation

Alberto Camacho
Jacob Varley
Andy Zeng 0001
Deepali Jain
Atil Iscen
Dmitry Kalashnikov

Deep Q learning (DQN) has enabled robot agents to accomplish vision based tasks that seemed out of reach. Despite recent success stories, there are still several sources of computational complexity that challenge the performance of DQN. We place the focus on vision manipulation tasks, where the correct action selection is often predicated on a small number of pixels. We observe that in some of these tasks DQN does not converge to the optimal Q function, and their values do not separate well optimal and suboptimal actions. In consequence, the policies obtained with DQN tend to be brittle and manifest a low success rate, especially in long horizon tasks. In this work we show the benefits of Reward Machines (RMs) for Deep Q learning (DQRM) in vision based robot manipulation tasks. Reward machines decompose the task at an abstract level, inform the agent about their current stage along task completion, and guide them via dense rewards. We show that RMs help DQN learn the optimal Q values in each abstract state. Their policies are more robust, manifest higher success rate, and are learned with fewer training steps compared with DQN. The benefits of RMs are more evident in long-horizon tasks, where we show that DQRM is able to learn good-quality policies with six times times fewer training steps than DQN, even when this is equipped with dense reward shaping.

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IROS Conference 2019 Conference Paper

Hierarchical Reinforcement Learning for Quadruped Locomotion

Deepali Jain
Atil Iscen
Ken Caluwaerts

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework that can automatically learn to decompose complex locomotion tasks. A high-level policy issues commands in the form of a latent vector and also selects for how long the low-level policy will execute the latent command. Concurrently, the low-level policy uses the latent command and only the robot's on-board sensors to control the robot's actuators. Our approach allows the high-level policy to run at a lower frequency than the low-level one. We test our framework on a path-following task for a dynamic quadruped robot and we show that steering behaviors automatically emerge in the latent command space as low-level skills are needed for this task. We then show efficient adaptation of the trained policy to new tasks by transfer of the trained low-level policy. Finally, we validate the policies on a real quadruped robot. To the best of our knowledge, this is the first application of end-to-end hierarchical learning to a real robotic locomotion task.

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AAAI Conference 2019 Conference Paper

Surveys without Questions: A Reinforcement Learning Approach

Atanu R Sinha
Deepali Jain
Nikhil Sheoran
Sopan Khosla
Reshmi Sasidharan

The ‘old world’ instrument, survey, remains a tool of choice for firms to obtain ratings of satisfaction and experience that customers realize while interacting online with firms. While avenues for survey have evolved from emails and links to pop-ups while browsing, the deficiencies persist. These include - reliance on ratings of very few respondents to infer about all customers’ online interactions; failing to capture a customer’s interactions over time since the rating is a one-time snapshot; and inability to tie back customers’ ratings to specific interactions because ratings provided relate to all interactions. To overcome these deficiencies we extract proxy ratings from clickstream data, typically collected for every customer’s online interactions, by developing an approach based on Reinforcement Learning (RL). We introduce a new way to interpret values generated by the value function of RL, as proxy ratings. Our approach does not need any survey data for training. Yet, on validation against actual survey data, proxy ratings yield reasonable performance results. Additionally, we offer a new way to draw insights from values of the value function, which allow associating specific interactions to their proxy ratings. We introduce two new metrics to represent ratings - one, customer-level and the other, aggregate-level for click actions across customers. Both are defined around proportion of all pairwise, successive actions that show increase in proxy ratings. This intuitive customer-level metric enables gauging the dynamics of ratings over time and is a better predictor of purchase than customer ratings from survey. The aggregate-level metric allows pinpointing actions that help or hurt experience. In sum, proxy ratings computed unobtrusively from clickstream, for every action, for each customer, and for every session can offer interpretable and more insightful alternative to surveys.

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