3 accepted papers
For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world scenarios, humans frequently shift goals, making it challenging
Diverse language model responses are crucial for creative generation, open-ended tasks, and self-improvement training. We show that common diversity metrics, and even reward models used for preference optimization, systematically bias models toward shorter outputs, limiting expressiveness. To addres
Robots are well-suited to alleviate the burden of repetitive and tedious manipulation tasks. In many applications though, a robot may be asked to interact with a wide variety of objects, making it hard or even impossible to pre-program visual object classifiers suitable for the task of interest. In…