--Self-improvement requires robotic systems to initially learn from human-provided data and then gradually enhance their capabilities through interaction with the environment. This is similar to how humans improve their skills through continuous practice. However, achieving effective self-improvement is challenging, primarily because robots tend to repeat their existing abilities during interactions, often failing to generate new, valuable data for learning. In this paper, we identify the key to successful self-improvement: modal-level exploration and data selection. By incorporating a modal-level exploration mechanism during policy execution, the robot can produce more diverse and multi-modal interactions. At the same time, we select the most valuable trials and high-quality segments from these interactions for learning. We successfully demonstrate effective robot self-improvement on both simulation benchmarks and real-world experiments. The capability for self-improvement will enable us to develop more robust and high-success-rate robotic control strategies at a lower cost.

In a supervised classification split conformal/inductive framework with $K$ classes, a calibration sample of $n$ labeled examples is observed for inference on the label of a new unlabeled example. In this work, we explore the case where a "batch" of $m$ independent such unlabeled examples is given, and a multivariate prediction set with $1-\alpha$ coverage should be provided for this batch. Hence, the batch prediction set takes the form of a collection of label vectors of size $m$, while the calibration sample only contains univariate labels. Using the Bonferroni correction consists in concatenating the individual prediction sets at level $1-\alpha/m$ (Vovk 2013). We propose a uniformly more powerful solution, based on specific combinations of conformal $p$-values that exploit the Simes inequality (Simes 1986). Intuitively, the pooled evidence of fairly "easy" examples of the batch can help provide narrower batch prediction sets. We also introduced adaptive versions of the novel procedure that are particularly effective when the batch prediction set is expected to be large. The theoretical guarantees are provided when all examples are iid, as well as more generally when iid is assumed only conditionally within each class. In particular, our results are also valid under a label distribution shift since the distribution of the labels need not be the same in the calibration sample and in the new `batch'. The usefulness of the method is illustrated on synthetic and real data examples.

In many practical applications of multiple hypothesis testing using the False Discovery Rate (FDR), the given hypotheses can be naturally partitioned into groups, and one may not only want to control the number of false discoveries (wrongly rejected null hypotheses), but also the number of falsely discovered groups of hypotheses (we say a group is falsely discovered if at least one hypothesis within that group is rejected, when in reality the group contains only nulls). In this paper, we introduce the p-filter, a procedure which unifies and generalizes the standard FDR procedure by Benjamini and Hochberg and global null testing procedure by Simes. We first prove that our proposed method can simultaneously control the overall FDR at the finest level (individual hypotheses treated separately) and the group FDR at coarser levels (when such groups are user-specified). We then generalize the p-filter procedure even further to handle multiple partitions of hypotheses, since that might be natural in many applications. For example, in neuroscience experiments, we may have a hypothesis for every (discretized) location in the brain, and at every (discretized) timepoint: does the stimulus correlate with activity in location x at time t after the stimulus was presented? In this setting, one might want to group hypotheses by location and by time. Importantly, our procedure can handle multiple partitions which are nonhierarchical (i.e. one partition may arrange p-values by voxel, and another partition arranges them by time point; neither one is nested inside the other). We prove that our procedure controls FDR simultaneously across these multiple lay- ers, under assumptions that are standard in the literature: we do not need the hypotheses to be independent, but require a nonnegative dependence condition known as PRDS.