Humans can perform various combinations of physical skills without having to relearn skills from scratch every single time. For example, we can swing a bat when walking without having to re-learn such a policy from scratch by composing the individual skills of walking and bat swinging. Enabling robots to combine or compose skills is essential so they can learn novel skills and tasks faster with fewer real world samples. To this end, we propose a novel compositional approach called DSE- Diffusion Score Equilibrium that enables few-shot learning for novel skills by utilizing a combination of base policy priors. Our method is based on probabilistically composing diffusion policies to better model the few-shot demonstration data-distribution than any individual policy. Our goal here is to learn robot motions few-shot and not necessarily goal oriented trajectories. Unfortunately we lack a general purpose metric to evaluate the error between a skill or motion and the provided demonstrations. Hence, we propose a probabilistic measure - Maximum Mean Discrepancy on the Forward Kinematics Kernel (MMD-FK), that is task and action space agnostic. By using our few-shot learning approach DSE, we show that we are able to achieve a reduction of over 30% in MMD-FK across skills and number of demonstrations. Moreover, we show the utility of our approach through real world experiments by teaching novel trajectories to a robot in 5 demonstrations.

This paper surveys the current state of the art in document automation (DA). The objective of DA is to reduce the manual effort during the generation of documents by automatically creating and integrating input from different sources and assembling documents conforming to defined templates. There have been reviews of commercial solutions of DA, particularly in the legal domain, but to date there has been no comprehensive review of the academic research on DA architectures and technologies. The current survey of DA reviews the academic literature and provides a clearer definition and characterization of DA and its features, identifies state-of-the-art DA architectures and technologies in academic research, and provides ideas that can lead to new research opportunities within the DA field in light of recent advances in generative AI and large language models.

Conversational agents are consistently growing in popularity and many people interact with them every day. While many conversational agents act as personal assistants, they can have many different goals. Some are task-oriented, such as providing customer support for a bank or making a reservation. Others are designed to be empathetic and to form emotional connections with the user. The Alexa Prize Challenge aims to create a socialbot, which allows the user to engage in coherent conversations, on a range of popular topics that will interest the user. Here we describe Athena 2.0, UCSC's conversational agent for Amazon's Socialbot Grand Challenge 4. Athena 2.0 utilizes a novel knowledge-grounded discourse model that tracks the entity links that Athena introduces into the dialogue, and uses them to constrain named-entity recognition and linking, and coreference resolution. Athena 2.0 also relies on a user model to personalize topic selection and other aspects of the conversation to individual users.