As declared by Seifert et al. [1997], the episodic memory of the experiences from past episodes plays a crucial role in the complex decision-making processes of human [Suddendorf and Corballis, 2007]. By recollecting the experiences from past episodes, the human can learn from success to repeat it and learn from failure to avoid it.

Currently, nearly all evaluations of foundation models focus on objective metrics, emphasizing quiz performance to define model capabilities. While this model-centric approach enables rapid performance assessment, it fails to reflect authentic human experiences. To address this gap, we propose a Human-Centric subjective Evaluation (HCE) framework, focusing on three core dimensions: problem-solving ability, information quality, and interaction experience. Through experiments involving Deepseek R1, OpenAI o3 mini, Grok 3, and Gemini 2.5, we conduct over 540 participant-driven evaluations, where humans and models collaborate on open-ended research tasks, yielding a comprehensive subjective dataset. This dataset captures diverse user feedback across multiple disciplines, revealing distinct model strengths and adaptability. Our findings highlight Grok 3's superior performance, followed by Deepseek R1 and Gemini 2.5, with OpenAI o3 mini lagging behind. By offering a novel framework and a rich dataset, this study not only enhances subjective evaluation methodologies but also lays the foundation for standardized, automated assessments, advancing LLM development for research and practical scenarios. Our dataset link is https://github.com/yijinguo/Human-Centric-Evaluation.

The development of intelligent robots seeks to seamlessly integrate them into the human world, providing assistance and companionship in daily life and work, with the ultimate goal of achieving human-robot symbiosis. To realize this vision, robots must continuously learn and evolve through consistent interaction and collaboration with humans, while humans need to gradually develop an understanding of and trust in robots through shared experiences. However, training and testing algorithms directly on physical robots involve substantial costs and safety risks. Moreover, current robotic simulators fail to support real human participation, limiting their ability to provide authentic interaction experiences and gather valuable human feedback. In this paper, we introduce SymbioSim, a novel human-in-the-loop robotic simulation platform designed to enable the safe and efficient development, evaluation, and optimization of human-robot interactions. By leveraging a carefully designed system architecture and modules, SymbioSim delivers a natural and realistic interaction experience, facilitating bidirectional continuous learning and adaptation for both humans and robots. Extensive experiments and user studies demonstrate the platform's promising performance and highlight its potential to significantly advance research on human-robot symbiosis.

This research investigates distinct human-generative AI collaboration types and students' interaction experiences when collaborating with generative AI (i.e., ChatGPT) for problem-solving tasks and how these factors relate to students' sense of agency and perceived collaborative problem solving. By analyzing the surveys and reflections of 79 undergraduate students, we identified three human-generative AI collaboration types: even contribution, human leads, and AI leads. Notably, our study shows that 77.21% of students perceived they led or had even contributed to collaborative problem-solving when collaborating with ChatGPT. On the other hand, 15.19% of the human participants indicated that the collaborations were led by ChatGPT, indicating a potential tendency for students to rely on ChatGPT. Furthermore, 67.09% of students perceived their interaction experiences with ChatGPT to be positive or mixed. We also found a positive correlation between positive interaction experience and a sense of positive agency. The results of this study contribute to our understanding of the collaboration between students and generative AI and highlight the need to study further why some students let ChatGPT lead collaborative problem-solving and how to enhance their interaction experience through curriculum and technology design.

The use of learning-based methods for optimizing cellular radio access networks (RAN) has received increasing attention in recent years. This coincides with a rapid increase in the number of cell sites worldwide, driven largely by dramatic growth in cellular network traffic. Training and maintaining learned models that work well across a large number of cell sites has thus become a pertinent problem. This paper proposes a scalable framework for constructing a reinforcement learning policy bank that can perform RAN optimization across a large number of cell sites with varying traffic patterns. Central to our framework is a novel application of anomaly detection techniques to assess the compatibility between sites (tasks) and the policy bank. This allows our framework to intelligently identify when a policy can be reused for a task, and when a new policy needs to be trained and added to the policy bank. Our results show that our approach to compatibility assessment leads to an efficient use of computational resources, by allowing us to construct a performant policy bank without exhaustively training on all tasks, which makes it applicable under real-world constraints.

In this paper, we propose a novel affordance model, which combines object, action, and effect information in the latent space of a predictive neural network architecture that is built on Conditional Neural Processes. Our model allows us to make predictions of intermediate effects expected to be obtained during action executions and make multi-step plans that include partial actions. We first compared the prediction capability of our model using an existing interaction data set and showed that it outperforms a recurrent neural network-based model in predicting the effects of lever-up actions. Next, we showed that our model can generate accurate effect predictions for other actions, such as push and grasp actions. Our system was shown to generate successful multi-step plans to bring objects to desired positions using the traditional A* search algorithm. Furthermore, we realized a continuous planning method and showed that the proposed system generated more accurate and effective plans with sequences of partial action executions compared to plans that only consider full action executions using both planning algorithms.

Inspired by the insights in cognitive science with respect to human memory and reasoning mechanism, a novel evolvable LLM-based (Large Language Model) agent framework is proposed as REMEMBERER. By equipping the LLM with a long-term experience memory, REMEMBERER is capable of exploiting the experiences from the past episodes even for different task goals, which excels an LLM-based agent with fixed exemplars or equipped with a transient working memory. We further introduce Reinforcement Learning with Experience Memory (RLEM) to update the memory. Thus, the whole system can learn from the experiences of both success and failure, and evolve its capability without fine-tuning the parameters of the LLM. In this way, the proposed REMEMBERER constitutes a semi-parametric RL agent. Extensive experiments are conducted on two RL task sets to evaluate the proposed framework. The average results with different initialization and training sets exceed the prior SOTA by 4% and 2% for the success rate on two task sets and demonstrate the superiority and robustness of REMEMBERER.

Autonomous discovery of discrete symbols and rules from continuous interaction experience is a crucial building block of robot AI, but remains a challenging problem. Solving it will overcome the limitations in scalability, flexibility, and robustness of manually-designed symbols and rules, and will constitute a substantial advance towards autonomous robots that can learn and reason at abstract levels in open-ended environments. Towards this goal, we propose a novel and general method that finds action-grounded, discrete object and effect categories and builds probabilistic rules over them that can be used in complex action planning. Our robot interacts with single and multiple objects using a given action repertoire and observes the effects created in the environment. In order to form action-grounded object, effect, and relational categories, we employ a binarized bottleneck layer of a predictive, deep encoder-decoder network that takes as input the image of the scene and the action applied, and generates the resulting object displacements in the scene (action effects) in pixel coordinates. The binary latent vector represents a learned, action-driven categorization of objects. To distill the knowledge represented by the neural network into rules useful for symbolic reasoning, we train a decision tree to reproduce its decoder function. From its branches we extract probabilistic rules and represent them in PPDDL, allowing off-the-shelf planners to operate on the robot's sensorimotor experience. Our system is verified in a physics-based 3d simulation environment where a robot arm-hand system learned symbols that can be interpreted as 'rollable', 'insertable', 'larger-than' from its push and stack actions; and generated effective plans to achieve goals such as building towers from given cubes, balls, and cups using off-the-shelf probabilistic planners.

Researchers have been developing Social robots are increasingly common in schools to support algorithms to aid robots in determining task hierarchies learning goals, in workplaces to augment productivity, (Hayes and Scassellati 2014), learning tasks from humans and in homes to improve quality of life. The fulfillment of (Thomaz and Breazeal 2008), and choosing what information their objectives in these environments are strongly dependent to communicate and when to communicate it (Unhelkar on the quality of the sustained, supportive relationship and Shah 2016). Although robots have made great robots are able to construct with their human users.