Robotics has long sought to develop visual-servoing robots capable of completing previously unseen long-horizon tasks. Hierarchical approaches offer a pathway for achieving this goal by executing skill combinations arranged by a task planner, with each visuomotor skill pre-trained using a specific imitation learning (IL) algorithm. However, even in simple long-horizon tasks like skill chaining, hierarchical approaches often struggle due to a problem we identify as Observation Space Shift (OSS), where the sequential execution of preceding skills causes shifts in the observation space, disrupting the performance of subsequent individually trained skill policies. To validate OSS and evaluate its impact on long-horizon tasks, we introduce BOSS (a Benchmark for Observation Space Shift). BOSS comprises three distinct challenges: "Single Predicate Shift", "Accumulated Predicate Shift", and "Skill Chaining", each designed to assess a different aspect of OSS's negative effect. We evaluated several recent popular IL algorithms on BOSS, including three Behavioral Cloning methods and the Visual Language Action model OpenVLA. Even on the simplest challenge, we observed average performance drops of 67%, 35%, 34%, and 54%, respectively, when comparing skill performance with and without OSS. Additionally, we investigate a potential solution to OSS that scales up the training data for each skill with a larger and more visually diverse set of demonstrations, with our results showing it is not sufficient to resolve OSS. The project page is: https://boss-benchmark.github.io/

Universities serve as a hub for academic collaboration, promoting the exchange of diverse ideas and perspectives among students and faculty through interdisciplinary dialogue. However, as universities expand in size, conventional networking approaches via student chapters, class groups, and faculty committees become cumbersome. To address this challenge, an academia-specific profile recommendation system is proposed to connect like-minded stakeholders within any university community. This study evaluates three techniques: Term Frequency-Inverse Document Frequency (TF-IDF), Bidirectional Encoder Representations from Transformers (BERT), and a hybrid approach to generate effective recommendations. Due to the unlabelled nature of the dataset, Affinity Propagation cluster-based relabelling is performed to understand the grouping of similar profiles. The hybrid model demonstrated superior performance, evidenced by its similarity score, Silhouette score, Davies-Bouldin index, and Normalized Discounted Cumulative Gain (NDCG), achieving an optimal balance between diversity and relevance in recommendations. Furthermore, the optimal model has been implemented as a mobile application, which dynamically suggests relevant profiles based on users' skills and collaboration interests, incorporating contextual understanding. The potential impact of this application is significant, as it promises to enhance networking opportunities within large academic institutions through the deployment of intelligent recommendation systems.

The integration of large language models (LLMs) into virtual reality (VR) environments has opened new pathways for creating more immersive and interactive digital humans. By leveraging the generative capabilities of LLMs alongside multimodal outputs such as facial expressions and gestures, virtual agents can simulate human-like personalities and emotions, fostering richer and more engaging user experiences. This paper provides a comprehensive review of methods for enabling digital humans to adopt nuanced personality traits, exploring approaches such as zero-shot, few-shot, and fine-tuning. Additionally, it highlights the challenges of integrating LLM-driven personality traits into VR, including computational demands, latency issues, and the lack of standardized evaluation frameworks for multimodal interactions. By addressing these gaps, this work lays a foundation for advancing applications in education, therapy, and gaming, while fostering interdisciplinary collaboration to redefine human-computer interaction in VR.

Asynchronous federated learning mitigates the inefficiency of conventional synchronous aggregation by integrating updates as they arrive and adjusting their influence based on staleness. Due to asynchrony and data heterogeneity, learning objectives at the global and local levels are inherently inconsistent -- global optimization trajectories may conflict with ongoing local updates. Existing asynchronous methods simply distribute the latest global weights to clients, which can overwrite local progress and cause model drift. In this paper, we propose OrthoFL, an orthogonal calibration framework that decouples global and local learning progress and adjusts global shifts to minimize interference before merging them into local models. In OrthoFL, clients and the server maintain separate model weights. Upon receiving an update, the server aggregates it into the global weights via a moving average. For client weights, the server computes the global weight shift accumulated during the client's delay and removes the components aligned with the direction of the received update. The resulting parameters lie in a subspace orthogonal to the client update and preserve the maximal information from the global progress. The calibrated global shift is then merged into the client weights for further training. Extensive experiments show that OrthoFL improves accuracy by 9.6% and achieves a 12$\times$ speedup compared to synchronous methods. Moreover, it consistently outperforms state-of-the-art asynchronous baselines under various delay patterns and heterogeneity scenarios.

Text-to-SQL models, which parse natural language (NL) questions to executable SQL queries, are increasingly adopted in real-world applications. However, deploying such models in the real world often requires adapting them to the highly specialized database schemas used in specific applications. We find that existing text-to-SQL models experience significant performance drops when applied to new schemas, primarily due to the lack of domain-specific data for fine-tuning. This data scarcity also limits the ability to effectively evaluate model performance in new domains. Continuously obtaining high-quality text-to-SQL data for evolving schemas is prohibitively expensive in real-world scenarios. To bridge this gap, we propose SQLsynth, a human-in-the-loop text-to-SQL data annotation system. SQLsynth streamlines the creation of high-quality text-to-SQL datasets through human-LLM collaboration in a structured workflow. A within-subjects user study comparing SQLsynth with manual annotation and ChatGPT shows that SQLsynth significantly accelerates text-to-SQL data annotation, reduces cognitive load, and produces datasets that are more accurate, natural, and diverse. Our code is available at https://github.com/adobe/nl_sql_analyzer.

The relationship between scale transformations and dynamics established by renormalization group techniques is a cornerstone of modern physical theories, from fluid mechanics to elementary particle physics. Integrating renormalization group methods into neural operators for many-body complex systems could provide a foundational inductive bias for learning their effective dynamics, while also uncovering multiscale organization. We introduce a scalable AI framework, ROMA (Renormalized Operators with Multiscale Attention), for learning multiscale evolution operators of many-body complex systems. In particular, we develop a renormalization procedure based on neural analogs of the geometric and laplacian renormalization groups, which can be co-learned with neural operators. An attention mechanism is used to model multiscale interactions by connecting geometric representations of local subgraphs and dynamical operators. We apply this framework in challenging conditions: large systems of more than 1M nodes, long-range interactions, and noisy input-output data for two contrasting examples: Kuramoto oscillators and Burgers-like social dynamics. We demonstrate that the ROMA framework improves scalability and positive transfer between forecasting and effective dynamics tasks compared to state-of-the-art operator learning techniques, while also giving insight into multiscale interactions. Additionally, we investigate power law scaling in the number of model parameters, and demonstrate a departure from typical power law exponents in the presence of hierarchical and multiscale interactions.

This study investigates how individuals' perceptions of artificial intelligence (AI) limitations influence organizational readiness for AI adoption. Through semi-structured interviews with seven AI implementation experts, analyzed using the Gioia methodology, the research reveals that organizational readiness emerges through dynamic interactions between individual sensemaking, social learning, and formal integration processes. The findings demonstrate that hands-on experience with AI limitations leads to more realistic expectations and increased trust, mainly when supported by peer networks and champion systems. Organizations that successfully translate these individual and collective insights into formal governance structures achieve more sustainable AI adoption. The study advances theory by showing how organizational readiness for AI adoption evolves through continuous cycles of individual understanding, social learning, and organizational adaptation. These insights suggest that organizations should approach AI adoption not as a one-time implementation but as an ongoing strategic learning process that balances innovation with practical constraints. The research contributes to organizational readiness theory and practice by illuminating how micro-level perceptions and experiences shape macro-level adoption outcomes.

This thesis presents a framework that integrates state-of-the-art generative AI models for real-time creation of three-dimensional (3D) objects in augmented reality (AR) environments. The primary goal is to convert diverse inputs, such as images and speech, into accurate 3D models, enhancing user interaction and immersion. Key components include advanced object detection algorithms, user-friendly interaction techniques, and robust AI models like Shap-E for 3D generation. Leveraging Vision Language Models (VLMs) and Large Language Models (LLMs), the system captures spatial details from images and processes textual information to generate comprehensive 3D objects, seamlessly integrating virtual objects into real-world environments. The framework demonstrates applications across industries such as gaming, education, retail, and interior design. It allows players to create personalized in-game assets, customers to see products in their environments before purchase, and designers to convert real-world objects into 3D models for real-time visualization. A significant contribution is democratizing 3D model creation, making advanced AI tools accessible to a broader audience, fostering creativity and innovation. The framework addresses challenges like handling multilingual inputs, diverse visual data, and complex environments, improving object detection and model generation accuracy, as well as loading 3D models in AR space in real-time. In conclusion, this thesis integrates generative AI and AR for efficient 3D model generation, enhancing accessibility and paving the way for innovative applications and improved user interactions in AR environments.

Theory of Mind (ToM), the ability to understand people's mental variables based on their behavior, is key to developing socially intelligent agents. Current approaches to Theory of Mind reasoning either rely on prompting Large Language Models (LLMs), which are prone to systematic errors, or use rigid, handcrafted Bayesian Theory of Mind (BToM) models, which are more robust but cannot generalize across different domains. In this work, we introduce AutoToM, an automated Bayesian Theory of Mind method for achieving open-ended machine Theory of Mind. AutoToM can operate in any domain, infer any mental variable, and conduct robust Theory of Mind reasoning of any order. Given a Theory of Mind inference problem, AutoToM first proposes an initial BToM model. It then conducts automated Bayesian inverse planning based on the proposed model, leveraging an LLM as the backend. Based on the uncertainty of the inference, it iteratively refines the model, by introducing additional mental variables and/or incorporating more timesteps in the context. Empirical evaluations across multiple Theory of Mind benchmarks demonstrate that AutoToM consistently achieves state-of-the-art performance, offering a scalable, robust, and interpretable approach to machine Theory of Mind.

A major challenge for reinforcement learning is automatically generating curricula to reduce training time or improve performance in some target task. We introduce SEBNs (Skill-Environment Bayesian Networks) which model a probabilistic relationship between a set of skills, a set of goals that relate to the reward structure, and a set of environment features to predict policy performance on (possibly unseen) tasks. We develop an algorithm that uses the inferred estimates of agent success from SEBN to weigh the possible next tasks by expected improvement. We evaluate the benefit of the resulting curriculum on three environments: a discrete gridworld, continuous control, and simulated robotics. The results show that curricula constructed using SEBN frequently outperform other baselines.