Nature Will 发布首个面向物理世界的通用基础模型 Natura-1,为 500 亿参数 MoE 模型,基于 100 万小时第一视角人类经验数据预训练,可零样本理解自然语言指令并用灵巧手执行。作者补充指出,相比难以收集的机器人演示数据,人类第一视角视频是更快的数据扩展路径;该模型能同时处理抓取后的双手精细控制、无需额外训练的新任务,以及需要记忆前序步骤并从错误中恢复的长序列执行。
The hardest thing to give a robot is a capable pair of hands, and Natura-1, from @naturewill is a strong attempt at it.
Nature Will trained their new Natura-1 on 1M hours of egocentric human data
first-person video of people using their hands, then used that to control real robot hands
Robot demonstrations are slow to collect, so human footage is the faster route to scale, provided the skills survive the move from human hands to robot hands.
One model handles 3 things robots usually fail at together: fine 2-handed control after the grasp, new tasks without extra training, and long sequences where it has to remember earlier steps and recover from mistakes. Many robot systems show 1 of these in a narrow setting.
Introducing Natura-1, our first general foundation model for the physical world. It follows natural-language instructions zero-shot and turns them into action with dexterous hands. Natura-1 is a 50-billion-parameter mixture-of-experts (MoE) model pretrained on one million hours of egocentric human experience. On top of this foundation, we conduct efficient post-training on a limited amount of robot data to adapt pretrained world knowledge to dexterous manipulation, yielding a model that generalizes to a wide range of unseen scenarios. Natura-1 follows complex natural-language instructions zero-shot, reasoning through spatial constraints, multi-object relationships, and negative conditions. It can also autonomously carry out long and continuous workflows to perform long-horizon executions. Natura-1 provides early evidence that generalization—and even emergent behavior—can coexist with the complexity of dexterous hands. Further progress depends on the full stack: infrastructure for faster training and real-time inference, pretraining data at greater scale and coverage, and models that transfer to robots with less adaptation. We expect it to be a long-term research and engineering effort.在 X 查看被引用的帖子
来源:Rohan Paul · x.com