Resource-sharing boosts robotic resilience

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EPFL roboticists have shown that when a modular robot shares power, sensing, and communication resources among its individual units, it is significantly more resistant to failure than traditional robotic systems, where the breakdown of one element often means a loss of functionality.

If the goal of a robot is to perform a function, then minimizing the possibility of failure is a top priority when it comes to robotic design. But this minimization is at odds with the robotic raison d’être: systems with multiple units, or agents, can perform more diverse functions, but they also have more different parts that can potentially fail.

Researchers led by Jamie Paik, head of the Reconfigurable Robotics Laboratory (RRL) in EPFL’s School of Engineering, have not only circumvented this problem, but flipped it: they have designed a modular robot that actually lowers its odds of failure by sharing resources among its individual agents.

“For the first time, we have found a way to reverse the trend of increasing odds of failure with increasing function,” Paik explains. “We introduce local resource sharing as a new paradigm in robotics, reducing the failure rate with a larger number of modules.”

For the first time, we have found a way to reverse the trend of increasing odds of failure with increasing function.

Jamie Paik, Head of the Reconfigurable Robotics Laboratory

In a paper published in Science Robotics, the team showed how exploiting redundant resources and sharing them locally enabled a modular origami robot to successfully navigate a complex terrain, even when one module was completely deprived of power, sensing, and wireless communication.

Sharing is caring

The RRL team took inspiration for their innovation from nature, where the problem of failure is often solved collectively. Birds share local sensing information through flocking behavior, some trees communicate threats to neighbors using airborne signals, and cells continuously transport nutrients across their membranes so that the death of any individual doesn’t significantly impact the overall organism.

Modular robots, which are composed of multiple units that connect to form a complete system, are analogous to multicellular or collective organisms, but until now, their design has been a source of vulnerability: the failure of one module often disables some, if not all, of the robot’s ability to perform tasks. Some modular robots get around this problem with built-in backup resources or self-reconfiguration abilities, but these approaches usually don’t completely restore functionality.

For their study, the RRL team used something called hyper-redundancy: the sharing of all critical power, communication, and sensing resources across all modules, without any change to the robot’s physical structure.

“We found that sharing just one or two resources was not enough: if each resource had an equal chance of failure, system reliability would continue to drop with an increasing number of agents. But when all resources were shared, this this trend was reversed,” Paik says.

In a locomotion task experiment with the Mori3 robot, which is composed of four triangular modules, the team experimented with cutting battery power, wireless communication, and sensing to the central module. Normally, this ‘dead’ central module would block the articulation and movement of the other three, but thanks to hyper-redundancy, the neighboring modules fully compensated for its lack of resources. This allowed the Mori3 to successfully ‘walk’ toward a barrier and contort itself effectively to pass underneath it.

“Essentially, our methodology allowed us to ‘revive’ a dead module in a collective and bring it back to full functionality. Our local resource-sharing framework therefore has the potential to support highly adaptive robots that can operate with unprecedented reliability, finally resolving the reliability-adaptability conflict,” summarizes RRL researcher and first author Kevin Holdcroft.

The researchers say that future work could focus on applying their resource sharing framework to more complex systems with increasing numbers of agents. In particular, the same concept could be extended to robotic swarms, with hardware adaptations that allow swarm members to dock to each other for energy and information transfer.

References
Holdcroft, K., Bolotnikova, A., Monforte, A.J., and Paik, J. Scalable robot collective resilience by sharing resources. Science Robotics (2026). https://doi.org/10.1126/scirobotics.ady6304

Author: Celia Luterbacher
Source: School of Engineering | STI

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EPFL researchers create an AI model that thinks like we do

An EPFL team has created a new Large Language Model that is structured similarly to a human brain, allowing users more control and moving away from “black box” AI.

When a standard Large Language Model (LLM) is confronted with a problem, it tries to solve it by matching it to similar information it has seen before, and then give an answer based on those past patterns. But how it decides which information to use and what value it gives to different pieces of information can be somewhat inscrutable from the outside.

The LLM MiCRo (Mixture of Cognitive Reasoners) is architecturally divided into four specialized areas that act like different parts of the human brain, allowing users to have more control over how it approaches a question, and to better understand how it comes to its answers. The model, which was presented at the International Conference on Learning Representations, comes from the NLP Lab, part of the School of Computer and Communication Sciences (IC), and the NeuroAI Lab, part of IC and the School of Life Sciences at EPFL.

The four experts

To create MiCRo, researchers identified four regions of the brains specializing in different functions, which they call ‘experts’: language, logic, social reasoning, and world knowledge.

“The brain is organized into specialized regions, each tuned to handle a specific function. So far, we don’t see this division of labor as clearly in current language models,” says Badr AlKhamissi, a PhD candidate leading this research. “We picked four brain regions that neuroscientists know well and gave the model its own specialized modules, each one trained to be analogous to one of those brain regions.”

An LLM usually functions as a stack of layers that a problem or question can be processed through. In the case of MiCRo, each layer is divided into the four different experts. You give a sentence to the model starting at layer one, for example “The cat is asleep”. Then within this layer, the router can choose one expert for the first word “the”, but a different epxert for second word “cat” and so on, making it modular and highly adaptable.

“Each word of a sentence can go to different experts,” AlKhamissi explains. “So one sentence can actually be processed by multiple experts at each layer.”

Consider a prompt like: “Emma wants to split a CHF 60 dinner bill among three friends, but she knows that Jake lost his job last week and is too proud to say he’s struggling.” A purely mathematical module handles the arithmetic: CHF 60 divided by three is CHF 20 each. But the social reasoning module picks up on something subtler: Emma’s awareness of Jake’s situation, his unspoken pride, and the implicit suggestion that she might quietly cover his share. Both kinds of reasoning are needed to fully understand what’s going on, and in MiCRo, each aspect of the prompt is routed to the expert best equipped to handle it.

“When we see how the model works, we can see that it routes the words that relate to the social aspects to the social expert, and when it does the mathematical part, it routes those numbers to the logic expert.”

This separation makes it easier to see how the model is ‘thinking’ and why it makes certain decisions. It also means decisions can be steered – for example, you can decide to increase the impact of the social expert, or suppress the logic expert, depending on what kind of model you want to use in a certain situation.

“In traditional LLMs, you can do this via prompting by telling the model to make the output more social or make it more related to emotions,” AlKhamissi says. “But here, this is done by intervening in the architecture itself without doing any prompting.”

“A virtuous circle”

To create MiCRo, the EPFL team worked with Greta Tuckute, a neuroscientist from Harvard and MIT, to understand which parts of the human brain are activated by different problems, and then applied that learning to the model.

To identify the region analogous to the ‘logic’ expert in the brain, neuroscientists give humans demanding tasks, such as hard mathematical equations, and less demanding tasks, like easy mathematical equations, and then recorded their brain activity to find which brain regions are the most active for the demanding tasks versus non-demanding tasks. AlKhamissi’s team then did the same for the model, giving it demanding mathematical equations to see which experts would be most activated.

“The cool thing is we just used exactly what they do in neuroscience, but in the model. And the model was able to identify those experts on its own.”

While neuroscience informs the model, the model also informs the understanding of the brain, potentially allowing neuroscientists to discover the contributions of different areas for a given problem or question; for example that a certain sentence activates the language areas 20%, the mathematical areas 50%, and the social reasoning areas 40%.

“For my PhD work, I have been interested in this virtuous circle between neuroscience and AI. In one direction, we use findings and insights from neuroscience about the brain and integrate them into language models,” AlKhamissi says, “and now, with models like MiCRo, we can explore the other direction and ask how we can use AI models to help us understand the brain in a better way.”

Author: Stephanie Parker
Source: EPFL

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