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The AGINAO is a project to create a human-level artificial general intelligence system (HL AGI) embodied in the Aldebaran Robotics' NAO humanoid robot. The dynamical and open-ended cognitive engine of the robot is represented by an embedded…
Autonomous artificial agents must be able to learn behaviors in complex environments without humans to design tasks and rewards. Designing these functions for each environment is not feasible, thus, motivating the development of intrinsic…
An autonomous agent embodied in a humanoid robot, in order to learn from the overwhelming flow of raw and noisy sensory, has to effectively reduce the high spatial-temporal data dimensionality. In this paper we propose a novel method of…
Reward learning algorithms utilize human feedback to infer a reward function, which is then used to train an AI system. This human feedback is often a preference comparison, in which the human teacher compares several samples of AI behavior…
Well-designed dense reward functions in robot manipulation not only indicate whether a task is completed but also encode progress along the way. Generally, designing dense rewards is challenging and usually requires access to privileged…
Transparency and explainability are important features that responsible autonomous vehicles should possess, particularly when interacting with humans, and causal reasoning offers a strong basis to provide these qualities. However, even if…
The pursuit of Artificial General Intelligence (AGI) is a central goal in language model development, in which consciousness-like processing could serve as a key facilitator. While current language models are not conscious, they exhibit…
Datasets often incorporate various functional patterns related to different aspects or regimes, which are typically not equally present throughout the dataset. We propose a novel, general-purpose partitioning algorithm that utilizes…
Traditional agentic workflows rely on external prompts to manage interactions with tools and the environment, which limits the autonomy of reasoning models. We position \emph{Large Agent Models (LAMs)} that internalize the generation of…
Understanding how artificial agents model internal mental states is central to advancing Theory of Mind in AI. Evidence points to a unified system for self- and other-awareness. We explore this self-awareness by having reinforcement…
Self-evaluation is increasingly central to language model training, underpinning techniques from Constitutional AI to self-refinement. We investigate whether coupling self-evaluation to reward signals creates incentives for wireheading,…
Simulating trajectories of virtual crowds is a commonly encountered task in Computer Graphics. Several recent works have applied Reinforcement Learning methods to animate virtual agents, however they often make different design choices when…
Reward machines are automaton-like structures that capture the memory required to accomplish a multi-stage task. When combined with reinforcement learning or optimal control methods, they can be used to synthesize robot policies to achieve…
The ability to automatically learn movements and behaviors of increasing complexity is a long-term goal in autonomous systems. Indeed, this is a very complex problem that involves understanding how knowledge is acquired and reused by humans…
In psychology and neuroscience it is common to describe cognitive systems as input/output devices where perceptual and motor functions are implemented in a purely feedforward, open-loop fashion. On this view, perception and action are often…
As intelligent agents become more generally-capable, i.e. able to master a wide variety of tasks, the complexity and cost of properly evaluating them rises significantly. Tasks that assess specific capabilities of the agents can be…
Existing reasoning evaluation paradigms suffer from different limitations: fixed benchmarks are increasingly saturated and vulnerable to contamination, while preference-based evaluations rely on subjective judgments. We argue that a core…
We study the application of emerging chiplet-based Neural Processing Units to accelerate vehicular AI perception workloads in constrained automotive settings. The motivation stems from how chiplets technology is becoming integral to…
Training novice users to operate an excavator for learning different skills requires the presence of expert teachers. Considering the complexity of the problem, it is comparatively expensive to find skilled experts as the process is…
Systems like ChatGPT and Claude assist billions through proactive dialogue-offering unsolicited, task-relevant information. Drawing on Cognitive Load Theory, we study how cognitive load shapes performance in AI-assisted knowledge work. We…