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Computational models are powerful tools for understanding human cognition and behavior. They let us express our theories clearly and precisely, and offer predictions that can be subtle and often counter-intuitive. However, this same…
Autonomous systems can substantially enhance a human's efficiency and effectiveness in complex environments. Machines, however, are often unable to observe the preferences of the humans that they serve. Despite the fact that the human's and…
In recent years, a myriad of superlative works on intelligent robotics policies have been done, thanks to advances in machine learning. However, inefficiency and lack of transfer ability hindered algorithms from pragmatic applications,…
Simulation especially real-time simulation have been widely used for the design and testing of real-time systems. The advancement of simulation tools has largely attributed to the evolution of computing technologies. With the reduced cost…
Humans manipulate various kinds of fluids in their everyday life: creating latte art, scooping floating objects from water, rolling an ice cream cone, etc. Using robots to augment or replace human labors in these daily settings remain as a…
A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…
It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…
Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit…
Understanding decision-making in dynamic and complex settings is a challenge yet essential for preventing, mitigating, and responding to adverse events (e.g., disasters, financial crises). Simulation games have shown promise to advance our…
The analysis of the adaptive behaviour of many different kinds of systems such as humans, animals and machines, requires more general ways of assessing their cognitive abilities. This need is strengthened by increasingly more tasks being…
This article proposes a universal simulation platform for simulating systems undergoing duress. In other words, this paper introduces a total simulation package which includes a number of methods of simulating the flexibility of a given…
We tackle the problem of learning complex, general behaviors directly in the real world. We propose an approach for robots to efficiently learn manipulation skills using only a handful of real-world interaction trajectories from many…
Simulating physical systems is a core component of scientific computing, encompassing a wide range of physical domains and applications. Recently, there has been a surge in data-driven methods to complement traditional numerical simulations…
Various aspects of computer game design, including adaptive elements of game levels, characteristics of 'bot' behavior, and player matching in multiplayer games, would ideally be sensitive to a player's skill level. Yet, while difficulty…
Behavior cloning has seen a resurgence as scaling model and data sizes demonstrate strong performance. In this work, we introduce an open recipe for training a video game playing foundation model designed for inference in realtime on a…
Modern reinforcement learning algorithms reach super-human performance on many board and video games, but they are sample inefficient, i.e. they typically require significantly more playing experience than humans to reach an equal…
Spatial cognition is essential for human intelligence, enabling problem-solving through visual simulations rather than solely relying on verbal reasoning. However, existing AI benchmarks primarily assess verbal reasoning, neglecting the…
We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…
Humans possess an extraordinary ability to create and utilize tools, allowing them to overcome physical limitations and explore new frontiers. With the advent of foundation models, AI systems have the potential to be equally adept in tool…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…