7 accepted papers
Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force/torque sensors. While recent reinforcement learning approaches aim to bypass these constraints, they often suffer from sim-to-real gaps, lack safety guarantees, and add s…
General visual representations learned from web-scale datasets for robotics have achieved great success in recent years, enabling data-efficient robot learning on manipulation tasks; yet these pre-trained representations are mostly on 2D images, neglecting the inherent 3D nature of the world. Howeve…
Dexterous hand teleoperation plays a pivotal role in enabling robots to achieve human-level manipulation dexterity. However, current teleoperation systems often rely on expensive equipment and lack multi-modal sensory feedback, restricting human operators’ ability to perceive object properties and p…
Results reported in large-scale multilingual evaluations are often fragmented and confounded by factors such as target languages, differences in experimental setups, and model choices. We propose a framework that disentangles these confounding variables and introduces three interpretable metrics—the
We present DIALIGHT, a toolkit for developing and evaluating multilingual Task-Oriented Dialogue (ToD) systems which facilitates systematic evaluations and comparisons between ToD systems using fine-tuning of Pretrained Language Models (PLMs) and those utilising the zero-shot and in-context learning…
End-to-end task-oriented dialogue systems are prone to fall into the so-called ‘likelihood trap’, resulting in generated responses which are dull, repetitive, and often inconsistent with dialogue history. Comparing ranked lists of multiple generated responses against the ‘gold response’ reveals a wi…
Achieving robust language technologies that can perform well across the world's many languages is a central goal of multilingual NLP. In this work, we take stock of and empirically analyse task performance disparities that exist between multilingual task-oriented dialogue (ToD) systems. We first def…