相关论文: How Users Understand Robot Foundation Model Perfor…

The Spoken Language Understanding Evaluation (SLUE) suite of benchmark tasks was recently introduced to address the need for open resources and benchmarking of complex spoken language understanding (SLU) tasks, including both classification…

Assessing human muscle fatigue is critical for optimizing performance and safety in physical human-robot interaction(pHRI). This work presents a data-driven framework to estimate fatigue in dynamic, cyclic pHRI using arm-mounted surface…

Modern Foundation Models (FMs) are typically trained on corpora spanning a wide range of different data modalities, topics and downstream tasks. Utilizing these models can be very computationally expensive and is out of reach for most…

Process Model Forecasting (PMF) aims to predict how the control-flow structure of a process evolves over time by modeling the temporal dynamics of directly-follows (DF) relations, complementing predictive process monitoring that focuses on…

Large Vision-Language Models (LVLMs) have recently shown great promise in advancing robotics by combining embodied reasoning with robot control. A common approach involves training on embodied reasoning tasks related to robot control using…

Robotic failure is all too common in unstructured robot tasks. Despite well-designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the sense-plan act…

Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…

In this review we cover the basics of efficient nonparametric parameter estimation (also called functional estimation), with a focus on parameters that arise in causal inference problems. We review both efficiency bounds (i.e., what is the…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

Role-playing models (RPMs) are widely used in real-world applications but underperform when deployed in the wild. This degradation can be attributed to distribution shifts, including user, character, and dialogue compositional shifts.…

Reinforcement learning (RL) has demonstrated compelling performance in robotic tasks, but its success often hinges on the design of complex, ad hoc reward functions. Researchers have explored how Large Language Models (LLMs) could enable…

Sample efficiency and risk-awareness are central to the development of practical reinforcement learning (RL) for complex decision-making. The former can be addressed by transfer learning and the latter by optimizing some utility function of…

Reinforcement fine-tuning (RFT) has become a core paradigm for post-training large language models, yet its training process remains highly fragile. Existing efforts mainly improve reliability at the system level or address specific issues…

Learning from Demonstration (LfD) empowers robots to acquire new skills through human demonstrations, making it feasible for everyday users to teach robots. However, the success of learning and generalization heavily depends on the quality…

Uncertainty is a major difficulty in endowing robots with autonomy. Robots often fail due to unexpected events. In robot contact tasks are often design to empirically look for force thresholds to define state transitions in a Markov chain…

Efficient traffic management is crucial for maintaining urban mobility, especially in densely populated areas where congestion, accidents, and delays can lead to frustrating and expensive commutes. However, existing prediction methods face…

As reinforcement learning (RL) achieves more success in solving complex tasks, more care is needed to ensure that RL research is reproducible and that algorithms herein can be compared easily and fairly with minimal bias. RL results are,…

Humans often assume that robots are rational. We believe robots take optimal actions given their objective; hence, when we are uncertain about what the robot's objective is, we interpret the robot's actions as optimal with respect to our…

It is common to evaluate the performance of a machine learning model by measuring its predictive power on a test dataset. This approach favors complicated models that can smoothly fit complex functions and generalize well from training data…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling diverse end-users to teach robots to perform a task by providing demonstrations. However, most LfD techniques assume users provide optimal demonstrations. This is…