相关论文: Towards Using Multiple Iterated, Reproduced, and R…

Learning from Demonstration (LfD) algorithms enable humans to teach new skills to robots through demonstrations. The learned skills can be robustly reproduced from the identical or near boundary conditions (e.g., initial point). However,…

As AI systems advance and integrate into society, well-designed and transparent evaluations are becoming essential tools in AI governance, informing decisions by providing evidence about system capabilities and risks. Yet there remains a…

Evaluating and comparing the performance of autonomous Humanoid Robots is challenging, as success rate metrics are difficult to reproduce and fail to capture the complexity of robot movement trajectories, critical in Human-Robot Interaction…

Multi-Agent Reinforcement Learning (MARL) has enjoyed significant recent progress thanks, in part, to the integration of deep learning techniques for modeling interactions in complex environments. This is naturally starting to benefit…

As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…

Imitation Learning (IL) algorithms are typically evaluated in the same environment that was used to create demonstrations. This rewards precise reproduction of demonstrations in one particular environment, but provides little information…

Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in…

We provide an original theoretical study of Inverse Reinforcement Learning (IRL) through the lens of reward compatibility, a novel framework to quantify the compatibility of a reward with the given expert's demonstrations. Intuitively, a…

Ensuring algorithmic fairness remains a significant challenge in machine learning, particularly as models are increasingly applied across diverse domains. While numerous fairness criteria exist, they often lack generalizability across…

The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…

Existing prompt-optimization techniques rely on local signals to update behavior, often neglecting broader and recurring patterns across tasks, leading to poor generalization; they further rely on full-prompt rewrites or unstructured…

Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…

The pursuit of robot generalists, agents capable of performing diverse tasks across diverse environments, demands rigorous and scalable evaluation. Yet real-world testing of robot policies remains fundamentally constrained: it is…

Recent information retrieval (IR) models are pre-trained and instruction-tuned on massive datasets and tasks, enabling them to perform well on a wide range of tasks and potentially generalize to unseen tasks with instructions. However,…

Retrieval-Augmented Generation (RAG) systems rely critically on the retriever module to surface relevant context for large language models. Although numerous retrievers have recently been proposed, each built on different ranking principles…

Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple…

Benchmarks are central to measuring the capabilities of large language models and guiding model development, yet widespread data leakage from pretraining corpora undermines their validity. Models can match memorized content rather than…

Automatic question generation is a critical task that involves evaluating question quality by considering factors such as engagement, pedagogical value, and the ability to stimulate critical thinking. These aspects require human-like…

Reproducibility is a confused terminology. In this paper, I take a fundamental view on reproducibility rooted in the scientific method. The scientific method is analysed and characterised in order to develop the terminology required to…

The application of deep learning in robotics leads to very specific problems and research questions that are typically not addressed by the computer vision and machine learning communities. In this paper we discuss a number of…