-- Learning from demonstration (LfD) is a technique that allows expert teachers to teach task-oriented skills to robotic systems. However, the most effective way of guiding novice teachers to approach expert-level demonstrations quantitatively for specific teaching tasks remains an open question. T o this end, this paper investigates the use of machine teaching (MT) to guide novice teachers to improve their teaching skills based on reinforcement learning from demonstration (RLfD) . The paper reports an experiment in which novices receive MT-derived guidance to train their ability to teach a given motor skill with only 8 demonstrations and generalise this to previously unseen ones. Results indicate that the MT-guidance not only enhances robot learning performance by 89% on the training skill but also causes a 70% improvement in robot learning performance on skills not seen by subjects during training. Learning from demonstration (LfD) has emerged as a highly effective method to teach robots new skills by leveraging human expertise, bypassing the complexities of traditional programming, and significantly enhancing robotic deployment efficiency and reliability.

The rapid development of generative artificial intelligence (GenAI) presents new opportunities to advance the cartographic process. Previous studies have either overlooked the artistic aspects of maps or faced challenges in creating both accurate and informative maps. In this study, we propose CartoAgent, a novel multi-agent cartographic framework powered by multimodal large language models (MLLMs). This framework simulates three key stages in cartographic practice: preparation, map design, and evaluation. At each stage, different MLLMs act as agents with distinct roles to collaborate, discuss, and utilize tools for specific purposes. In particular, CartoAgent leverages MLLMs' visual aesthetic capability and world knowledge to generate maps that are both visually appealing and informative. By separating style from geographic data, it can focus on designing stylesheets without modifying the vector-based data, thereby ensuring geographic accuracy. We applied CartoAgent to a specific task centered on map restyling-namely, map style transfer and evaluation. The effectiveness of this framework was validated through extensive experiments and a human evaluation study. CartoAgent can be extended to support a variety of cartographic design decisions and inform future integrations of GenAI in cartography.

Breakthroughs, discoveries, and DIY tips sent every weekday. In 2013, Amy Cohen experienced the unthinkable for a parent. It was a mild October day in New York City and her 12-year-old son Sammy stopped by the house to grab a snack on his way from school to soccer practice. When he stepped out onto their street in Brooklyn, Sammy was struck and killed by a speeding van. "It's a horror no parent should ever experience," Cohen told Popular Science.

--This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. T owards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which simultaneously grows multiple trees around grasp and release states extracted from the guiding video. Our key novelty lies in combining contact states and 3D object poses extracted from the guiding video with a traditional planning algorithm that allows us to solve tasks with sequential dependencies, for example, if an object needs to be placed at a specific location to be grasped later . We also investigate the generalization capabilities of our approach to go beyond the scene depicted in the instructional video. T o demonstrate the benefits of the proposed video-guided planning approach, we design a new benchmark with three challenging tasks: (i) 3D re-arrangement of multiple objects between a table and a shelf, (ii) multi-step transfer of an object through a tunnel, and (iii) transferring objects using a tray similar to a waiter transfers dishes. We demonstrate the effectiveness of our planning algorithm on several robots, including the Franka Emika Panda and the KUKA KMR iiwa . For a seamless transfer of the obtained plans to the real robot, we develop a trajectory refinement approach formulated as an optimal control problem (OCP). Traditional robot motion planning algorithms seek a collision-free path from a given starting robot configuration to a given goal robot configuration [1]. Despite the large dimensionality of the configuration space, sampling-based motion planning algorithms [2], [3] have shown to be highly effective for solving complex motion planning problems for robots, ranging from six degrees of freedom (DoFs) for industrial manipulators to tens of DoFs for humanoids [4]. Manipulation task-and-motion planning (T AMP) [5] adds an additional complexity to the problem by including movable objects in the state space. This requires the planner to discover the pick-and-place actions that connect the given start and goal robot configurations, bringing the manipulated objects from their start poses to their goal poses. INRIA, Paris This work is part of the AGIMUS project, funded by the European Union under GA no.101070165. Views and opinions expressed are, however, those of the author(s) only and do not necessarily reflect those of the European Union or the European Commission.

Continual learning for reinforcement learning agents remains a significant challenge, particularly in preserving and leveraging existing information without an external signal to indicate changes in tasks or environments. In this study, we explore the effectiveness of autoencoders in detecting new tasks and matching observed environments to previously encountered ones. Our approach integrates policy optimization with familiarity autoencoders within an end-to-end continual learning system. This system can recognize and learn new tasks or environments while preserving knowledge from earlier experiences and can selectively retrieve relevant knowledge when re-encountering a known environment. Initial results demonstrate successful continual learning without external signals to indicate task changes or reencounters, showing promise for this methodology.

Recent advances in generative AI, such as ChatGPT, have transformed access to information in education, knowledge-seeking, and everyday decision-making. However, in many developing regions, access remains a challenge due to the persistent digital divide. To help bridge this gap, we developed WaLLM - a custom AI chatbot over WhatsApp, a widely used communication platform in developing regions. Beyond answering queries, WaLLM offers several features to enhance user engagement: a daily top question, suggested follow-up questions, trending and recent queries, and a leaderboard-based reward system. Our service has been operational for over 6 months, amassing over 14.7K queries from approximately 100 users. In this paper, we present WaLLM's design and a systematic analysis of logs to understand user interactions. Our results show that 55% of user queries seek factual information. "Health and well-being" was the most popular topic (28%), including queries about nutrition and disease, suggesting users view WaLLM as a reliable source. Two-thirds of users' activity occurred within 24 hours of the daily top question. Users who accessed the "Leaderboard" interacted with WaLLM 3x as those who did not. We conclude by discussing implications for culture-based customization, user interface design, and appropriate calibration of users' trust in AI systems for developing regions.

Motivation is an important factor underlying successful learning. Previous research has demonstrated the positive effects that static interactive narrative games can have on motivation. Concurrently, advances in AI have made dynamic and adaptive approaches to interactive narrative increasingly accessible. However, limited work has explored the impact that dynamic narratives can have on learner motivation. In this paper, we compare two versions of Academical, a choice-based educational interactive narrative game about research ethics. One version employs a traditional hand-authored branching plot (i.e., static narrative) while the other dynamically sequences plots during play (i.e., dynamic narrative). Results highlight the importance of responsive content and a variety of choices for player engagement, while also illustrating the challenge of balancing pedagogical goals with the dynamic aspects of narrative. We also discuss design implications that arise from these findings. Ultimately, this work provides initial steps to illuminate the emerging potential of AI-driven dynamic narrative in educational games.

Recent advancements in large language models (LLMs) have revolutionized their ability to handle single-turn tasks, yet real-world applications demand sophisticated multi-turn interactions. This survey provides a comprehensive review of recent advancements in evaluating and enhancing multi-turn interactions in LLMs. Focusing on task-specific scenarios, from instruction following in diverse domains such as math and coding to complex conversational engagements in roleplay, healthcare, education, and even adversarial jailbreak settings, we systematically examine the challenges of maintaining context, coherence, fairness, and responsiveness over prolonged dialogues. The paper organizes current benchmarks and datasets into coherent categories that reflect the evolving landscape of multi-turn dialogue evaluation. In addition, we review a range of enhancement methodologies under multi-turn settings, including model-centric strategies (contextual learning, supervised fine-tuning, reinforcement learning, and new architectures), external integration approaches (memory-augmented, retrieval-based methods, and knowledge graph), and agent-based techniques for collaborative interactions. Finally, we discuss open challenges and propose future directions for research to further advance the robustness and effectiveness of multi-turn interactions in LLMs. Related resources and papers are available at https://github.com/yubol-cmu/Awesome-Multi-Turn-LLMs.

This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assistance. Addressing challenges of high-dimensional planning, complex object interactions, and computational demands, our work integrates deep learning for interaction prediction, tree search for action sequencing, and parallelized computation for efficiency. Key contributions include the Deep Interaction Prediction Network (DIPN) for accurate push motion forecasting (over 90% accuracy), its synergistic integration with Monte Carlo Tree Search (MCTS) for effective non-prehensile object retrieval (100% completion in specific challenging scenarios), and the Parallel MCTS with Batched Simulations (PMBS) framework, which achieves substantial planning speed-up while maintaining or improving solution quality. The research further explores combining diverse manipulation primitives, validated extensively through simulated and real-world experiments.

Machine learning (ML) has become a go-to solution for improving how we use, experience, and interact with technology (and the world around us). Unfortunately, studies have repeatedly shown that machine learning technologies may not provide adequate support for societal identities and experiences. Intersectionality is a sociological framework that provides a mechanism for explicitly considering complex social identities, focusing on social justice and power. While the framework of intersectionality can support the development of technologies that acknowledge and support all members of society, it has been adopted and adapted in ways that are not always true to its foundations, thereby weakening its potential for impact. To support the appropriate adoption and use of intersectionality for more equitable technological outcomes, we amplify the foundational intersectionality scholarship--Crenshaw, Combahee, and Collins (three C's), to create a socially relevant preliminary framework in developing machine-learning solutions. We use this framework to evaluate and report on the (mis)alignments of intersectionality application in machine learning literature.