12 accepted papers
Truthfulness (adherence to factual accuracy) and utility (satisfying human needs and instructions) are both fundamental aspects of Large Language Models, yet these goals often conflict (e.g., sell a car with known flaws), making it challenging to achieve both in real-world deployments. We propose AI…
Social simulation through large language model (LLM) agents is a promising approach to explore and validate social science hypotheses.We present SOTOPIA-S4, a fast, flexible, and scalable social simulation system that addresses the technical barriers of current frameworks while enabling practitioner…
We interact with computers on an everyday basis, be it in everyday life or work, and many aspects of work can be done entirely with access to a computer and the Internet. At the same time, thanks to improvements in large language models (LLMs), there has also been a rapid development in AI agents th…
Recent advances in large language models (LLM) have enabled richer social simulations, allowing for the study of various social phenomena. However, most recent work has used a more omniscient perspective on these simulations (e.g., single LLM to generate all interlocutors), which is fundamentally at…
Large pre-trained language models are acknowledged to carry social bias towards different demographics, which can further amplify existing stereotypes in our society and cause even more harm. Text-to-SQL is an important task, models of which are mainly adopted by administrative industries, where unf…
With the popularity of automatic code generation tools, such as Copilot, the study of the potential hazards of these tools is gaining importance. In this work, we explore the social bias problem in pre-trained code generation models. We propose a new paradigm to construct code prompts and successful…
Polyphone disambiguation aims to capture accurate pronunciation knowledge from natural text sequences for reliable Text-to-speech (TTS) systems. However, previous approaches require substantial annotated training data and additional efforts from language experts, making it difficult to extend high-q…
To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing, i.e. given the current tactile sensing and a target/goal tact…
Complex contact manipulation tasks can be decomposed into sequences of motor primitives. Individual primitives often end with a distinct contact state, such as inserting a screwdriver tip into a screw head or loosening it through twisting. To achieve robust execution, the robot should be able to ver…
In order to robustly execute a task under environmental uncertainty, a robot needs to be able to reactively adapt to changes arising in its environment. The environment changes are usually reflected in deviation from expected sensory traces. These deviations in sensory traces can be used to drive th…
Manipulation tasks often require robots to make contact between a grasped tool and another object in the robot's environment. The ability to detect and estimate the positions and directions of these contact points is crucial for monitoring the progress of the task, and detecting failures. In this pa…
We introduce a framework for learning regrasping behaviors based on tactile data. First, we present a grasp stability predictor that uses spatio-temporal tactile features collected from the early-object-lifting phase to predict the grasp outcome with a high accuracy. Next, the trained predictor is u…