Daily Papers

Learning from active human involvement enables the human subject to actively intervene and demonstrate to the AI agent during training. The interaction and corrective feedback from human brings safety and AI alignment to the learning process. In this work, we propose a new reward-free active human involvement method called Proxy Value Propagation for policy optimization. Our key insight is that a proxy value function can be designed to express human intents, wherein state-action pairs in the human demonstration are labeled with high values, while those agents' actions that are intervened receive low values. Through the TD-learning framework, labeled values of demonstrated state-action pairs are further propagated to other unlabeled data generated from agents' exploration. The proxy value function thus induces a policy that faithfully emulates human behaviors. Human-in-the-loop experiments show the generality and efficiency of our method. With minimal modification to existing reinforcement learning algorithms, our method can learn to solve continuous and discrete control tasks with various human control devices, including the challenging task of driving in Grand Theft Auto V. Demo video and code are available at: https://metadriverse.github.io/pvp

Formulating effective search queries remains a challenging task, particularly when users lack expertise in a specific domain or are not proficient in the language of the content. Providing example documents of interest might be easier for a user. However, such query-by-example scenarios are prone to concept drift, and the retrieval effectiveness is highly sensitive to the query generation method, without a clear way to incorporate user feedback. To enable exploration and to support Human-In-The-Loop experiments we propose QueryExplorer -- an interactive query generation, reformulation, and retrieval interface with support for HuggingFace generation models and PyTerrier's retrieval pipelines and datasets, and extensive logging of human feedback. To allow users to create and modify effective queries, our demo supports complementary approaches of using LLMs interactively, assisting the user with edits and feedback at multiple stages of the query formulation process. With support for recording fine-grained interactions and user annotations, QueryExplorer can serve as a valuable experimental and research platform for annotation, qualitative evaluation, and conducting Human-in-the-Loop (HITL) experiments for complex search tasks where users struggle to formulate queries.

The National Airspace System (NAS) is a complex and evolving system that enables safe and efficient aviation. Advanced air mobility concepts and new airspace entrants, such as unmanned aircraft, must integrate into the NAS without degrading overall safety or efficiency. For instance, regulations, standards, and systems are required to mitigate the risk of a midair collision between aircraft. Monte Carlo simulations have been a foundational capability for decades to develop, assess, and certify aircraft conflict avoidance systems. These are often validated through human-in-the-loop experiments and flight testing. For many aviation safety studies, manned aircraft behavior is represented using dynamic Bayesian networks. The original statistical models were developed from 2008-2013 to support safety simulations for altitudes above 500 feet Above Ground Level (AGL). However, these models were not sufficient to assess the safety of smaller UAS operations below 500 feet AGL. In response, newer models with altitude floors below 500 feet AGL have been in development since 2018. Many of the models assume that aircraft behavior is uncorrelated and not dependent on air traffic services or nearby aircraft. Our research objective was to compare the various uncorrelated models of conventional aircraft and identify how the models differ. Particularly if models of rotorcraft were sufficiently different than models of fixed-wing aircraft to require type specific models. The primary contribution is guidance on which uncorrelated models to leverage when evaluating the performance of a collision avoidance system designed for low altitude operations. We also address which models can be surrogates for noncooperative aircraft without transponders.

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop vision-based RL system that demonstrates impressive performance on a diverse set of dexterous manipulation tasks, including dynamic manipulation, precision assembly, and dual-arm coordination. Our approach integrates demonstrations and human corrections, efficient RL algorithms, and other system-level design choices to learn policies that achieve near-perfect success rates and fast cycle times within just 1 to 2.5 hours of training. We show that our method significantly outperforms imitation learning baselines and prior RL approaches, with an average 2x improvement in success rate and 1.8x faster execution. Through extensive experiments and analysis, we provide insights into the effectiveness of our approach, demonstrating how it learns robust, adaptive policies for both reactive and predictive control strategies. Our results suggest that RL can indeed learn a wide range of complex vision-based manipulation policies directly in the real world within practical training times. We hope this work will inspire a new generation of learned robotic manipulation techniques, benefiting both industrial applications and research advancements. Videos and code are available at our project website https://hil-serl.github.io/.

Handwritten text recognition (HTR) for Arabic-script languages still lags behind Latin-script HTR, despite recent advances in model architectures, datasets, and benchmarks. We show that data quality is a significant limiting factor in many published datasets and propose CER-HV (CER-based Ranking with Human Verification) as a framework to detect and clean label errors. CER-HV combines a CER-based noise detector, built on a carefully configured Convolutional Recurrent Neural Network (CRNN) with early stopping to avoid overfitting noisy samples, and a human-in-the-loop (HITL) step that verifies high-ranking samples. The framework reveals that several existing datasets contain previously underreported problems, including transcription, segmentation, orientation, and non-text content errors. These have been identified with up to 90 percent precision in the Muharaf and 80-86 percent in the PHTI datasets. We also show that our CRNN achieves state-of-the-art performance across five of the six evaluated datasets, reaching 8.45 percent Character Error Rate (CER) on KHATT (Arabic), 8.26 percent on PHTI (Pashto), 10.66 percent on Ajami, and 10.11 percent on Muharaf (Arabic), all without any data cleaning. We establish a new baseline of 11.3 percent CER on the PHTD (Persian) dataset. Applying CER-HV improves the evaluation CER by 0.3-0.6 percent on the cleaner datasets and 1.0-1.8 percent on the noisier ones. Although our experiments focus on documents written in an Arabic-script language, including Arabic, Persian, Urdu, Ajami, and Pashto, the framework is general and can be applied to other text recognition datasets.

Video generation has achieved impressive quality, but it still suffers from artifacts such as temporal inconsistency and violation of physical laws. Leveraging 3D scenes can fundamentally resolve these issues by providing precise control over scene entities. To facilitate the easy generation of diverse photorealistic scenes, we propose Scene Copilot, a framework combining large language models (LLMs) with a procedural 3D scene generator. Specifically, Scene Copilot consists of Scene Codex, BlenderGPT, and Human in the loop. Scene Codex is designed to translate textual user input into commands understandable by the 3D scene generator. BlenderGPT provides users with an intuitive and direct way to precisely control the generated 3D scene and the final output video. Furthermore, users can utilize Blender UI to receive instant visual feedback. Additionally, we have curated a procedural dataset of objects in code format to further enhance our system's capabilities. Each component works seamlessly together to support users in generating desired 3D scenes. Extensive experiments demonstrate the capability of our framework in customizing 3D scenes and video generation.

Graphical user interface (GUI) agents have shown promise in automating mobile tasks but still struggle with input redundancy and decision ambiguity. In this paper, we present RecAgent, an uncertainty-aware agent that addresses these issues through adaptive perception. We distinguish two types of uncertainty in GUI navigation: (1) perceptual uncertainty, caused by input redundancy and noise from comprehensive screen information, and (2) decision uncertainty, arising from ambiguous tasks and complex reasoning. To reduce perceptual uncertainty, RecAgent employs a component recommendation mechanism that identifies and focuses on the most relevant UI elements. For decision uncertainty, it uses an interactive module to request user feedback in ambiguous situations, enabling intent-aware decisions. These components are integrated into a unified framework that proactively reduces input complexity and reacts to high-uncertainty cases via human-in-the-loop refinement. Additionally, we propose a dataset called ComplexAction to evaluate the success rate of GUI agents in executing specified single-step actions within complex scenarios. Extensive experiments validate the effectiveness of our approach. The dataset and code will be available at https://github.com/Fanye12/RecAgent.

Comprehending how humans process visual information in dynamic settings is crucial for psychology and designing user-centered interactions. While mobile eye-tracking systems combining egocentric video and gaze signals can offer valuable insights, manual analysis of these recordings is time-intensive. In this work, we present a novel human-centered learning algorithm designed for automated object recognition within mobile eye-tracking settings. Our approach seamlessly integrates an object detector with a spatial relation-aware inductive message-passing network (I-MPN), harnessing node profile information and capturing object correlations. Such mechanisms enable us to learn embedding functions capable of generalizing to new object angle views, facilitating rapid adaptation and efficient reasoning in dynamic contexts as users navigate their environment. Through experiments conducted on three distinct video sequences, our interactive-based method showcases significant performance improvements over fixed training/testing algorithms, even when trained on considerably smaller annotated samples collected through user feedback. Furthermore, we demonstrate exceptional efficiency in data annotation processes and surpass prior interactive methods that use complete object detectors, combine detectors with convolutional networks, or employ interactive video segmentation.

Large Language Models have found application in various mundane and repetitive tasks including Human Resource (HR) support. We worked with the domain experts of SAP SE to develop an HR support chatbot as an efficient and effective tool for addressing employee inquiries. We inserted a human-in-the-loop in various parts of the development cycles such as dataset collection, prompt optimization, and evaluation of generated output. By enhancing the LLM-driven chatbot's response quality and exploring alternative retrieval methods, we have created an efficient, scalable, and flexible tool for HR professionals to address employee inquiries effectively. Our experiments and evaluation conclude that GPT-4 outperforms other models and can overcome inconsistencies in data through internal reasoning capabilities. Additionally, through expert analysis, we infer that reference-free evaluation metrics such as G-Eval and Prometheus demonstrate reliability closely aligned with that of human evaluation.

Revision is an essential part of the human writing process. It tends to be strategic, adaptive, and, more importantly, iterative in nature. Despite the success of large language models on text revision tasks, they are limited to non-iterative, one-shot revisions. Examining and evaluating the capability of large language models for making continuous revisions and collaborating with human writers is a critical step towards building effective writing assistants. In this work, we present a human-in-the-loop iterative text revision system, Read, Revise, Repeat (R3), which aims at achieving high quality text revisions with minimal human efforts by reading model-generated revisions and user feedbacks, revising documents, and repeating human-machine interactions. In R3, a text revision model provides text editing suggestions for human writers, who can accept or reject the suggested edits. The accepted edits are then incorporated into the model for the next iteration of document revision. Writers can therefore revise documents iteratively by interacting with the system and simply accepting/rejecting its suggested edits until the text revision model stops making further revisions or reaches a predefined maximum number of revisions. Empirical experiments show that R3 can generate revisions with comparable acceptance rate to human writers at early revision depths, and the human-machine interaction can get higher quality revisions with fewer iterations and edits. The collected human-model interaction dataset and system code are available at https://github.com/vipulraheja/IteraTeR. Our system demonstration is available at https://youtu.be/lK08tIpEoaE.

We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling complex deformable bodies and diversity in appearance and motion, all while ensuring high simulation speed. (2) Human-in-the-loop infrastructure: enabling real human interaction with simulated robots via mouse/keyboard or a VR interface, facilitating evaluation of robot policies with human input. (3) Collaborative tasks: studying two collaborative tasks, Social Navigation and Social Rearrangement. Social Navigation investigates a robot's ability to locate and follow humanoid avatars in unseen environments, whereas Social Rearrangement addresses collaboration between a humanoid and robot while rearranging a scene. These contributions allow us to study end-to-end learned and heuristic baselines for human-robot collaboration in-depth, as well as evaluate them with humans in the loop. Our experiments demonstrate that learned robot policies lead to efficient task completion when collaborating with unseen humanoid agents and human partners that might exhibit behaviors that the robot has not seen before. Additionally, we observe emergent behaviors during collaborative task execution, such as the robot yielding space when obstructing a humanoid agent, thereby allowing the effective completion of the task by the humanoid agent. Furthermore, our experiments using the human-in-the-loop tool demonstrate that our automated evaluation with humanoids can provide an indication of the relative ordering of different policies when evaluated with real human collaborators. Habitat 3.0 unlocks interesting new features in simulators for Embodied AI, and we hope it paves the way for a new frontier of embodied human-AI interaction capabilities.

What if accessing the web did not require a screen, a stable desk, or even free hands? For people navigating crowded cities, living with low vision, or experiencing cognitive overload, smart glasses coupled with AI agents could turn the web into an always-on assistive layer over daily life. We present Egocentric Co-Pilot, a web-native neuro-symbolic framework that runs on smart glasses and uses a Large Language Model (LLM) to orchestrate a toolbox of perception, reasoning, and web tools. An egocentric reasoning core combines Temporal Chain-of-Thought with Hierarchical Context Compression to support long-horizon question answering and decision support over continuous first-person video, far beyond a single model's context window. Additionally, a lightweight multimodal intent layer maps noisy speech and gaze into structured commands. We further implement and evaluate a cloud-native WebRTC pipeline integrating streaming speech, video, and control messages into a unified channel for smart glasses and browsers. In parallel, we deploy an on-premise WebSocket baseline, exposing concrete trade-offs between local inference and cloud offloading in terms of latency, mobility, and resource use. Experiments on Egolife and HD-EPIC demonstrate competitive or state-of-the-art egocentric QA performance, and a human-in-the-loop study on smart glasses shows higher task completion and user satisfaction than leading commercial baselines. Taken together, these results indicate that web-connected egocentric co-pilots can be a practical path toward more accessible, context-aware assistance in everyday life. By grounding operation in web-native communication primitives and modular, auditable tool use, Egocentric Co-Pilot offers a concrete blueprint for assistive, always-on web agents that support education, accessibility, and social inclusion for people who may benefit most from contextual, egocentric AI.

We propose a novel approach to multi-robot collaboration that harnesses the power of pre-trained large language models (LLMs) for both high-level communication and low-level path planning. Robots are equipped with LLMs to discuss and collectively reason task strategies. They then generate sub-task plans and task space waypoint paths, which are used by a multi-arm motion planner to accelerate trajectory planning. We also provide feedback from the environment, such as collision checking, and prompt the LLM agents to improve their plan and waypoints in-context. For evaluation, we introduce RoCoBench, a 6-task benchmark covering a wide range of multi-robot collaboration scenarios, accompanied by a text-only dataset for agent representation and reasoning. We experimentally demonstrate the effectiveness of our approach -- it achieves high success rates across all tasks in RoCoBench and adapts to variations in task semantics. Our dialog setup offers high interpretability and flexibility -- in real world experiments, we show RoCo easily incorporates human-in-the-loop, where a user can communicate and collaborate with a robot agent to complete tasks together. See project website https://project-roco.github.io for videos and code.

We present HSImul3R, a unified framework for simulation-ready 3D reconstruction of human-scene interactions (HSI) from casual captures, including sparse-view images and monocular videos. Existing methods suffer from a perception-simulation gap: visually plausible reconstructions often violate physical constraints, leading to instability in physics engines and failure in embodied AI applications. To bridge this gap, we introduce a physically-grounded bi-directional optimization pipeline that treats the physics simulator as an active supervisor to jointly refine human dynamics and scene geometry. In the forward direction, we employ Scene-targeted Reinforcement Learning to optimize human motion under dual supervision of motion fidelity and contact stability. In the reverse direction, we propose Direct Simulation Reward Optimization, which leverages simulation feedback on gravitational stability and interaction success to refine scene geometry. We further present HSIBench, a new benchmark with diverse objects and interaction scenarios. Extensive experiments demonstrate that HSImul3R produces the first stable, simulation-ready HSI reconstructions and can be directly deployed to real-world humanoid robots.

The history of science is punctuated by serendipitous discoveries, where unexpected observations, rather than targeted hypotheses, opened new fields of inquiry. While modern autonomous laboratories excel at accelerating hypothesis testing, their optimization for efficiency risks overlooking these crucial, unplanned findings. To address this gap, we introduce SciLink, an open-source, multi-agent artificial intelligence framework designed to operationalize serendipity in materials research by creating a direct, automated link between experimental observation, novelty assessment, and theoretical simulations. The framework employs a hybrid AI strategy where specialized machine learning models perform quantitative analysis of experimental data, while large language models handle higher-level reasoning. These agents autonomously convert raw data from materials characterization techniques into falsifiable scientific claims, which are then quantitatively scored for novelty against the published literature. We demonstrate the framework's versatility across diverse research scenarios, showcasing its application to atomic-resolution and hyperspectral data, its capacity to integrate real-time human expert guidance, and its ability to close the research loop by proposing targeted follow-up experiments. By systematically analyzing all observations and contextualizing them, SciLink provides a practical framework for AI-driven materials research that not only enhances efficiency but also actively cultivates an environment ripe for serendipitous discoveries, thereby bridging the gap between automated experimentation and open-ended scientific exploration.

Recent advances in large language models (LLMs) have led to strong reasoning capabilities; however, evaluating such models in low-resource languages remains challenging due to the lack of standardized benchmarks. In particular, Urdu reasoning evaluation has been limited by the sensitivity of machine translation and an emphasis on general language tasks rather than reasoning benchmarks. In this paper, we propose a contextually ensembled translation framework with human-in-the-loop validation that leverages multiple translation systems to develop Urdu reasoning benchmarks while preserving contextual and structural integrity. Using this framework, we translate widely adopted reasoning and question-answering benchmarks, including MGSM, MATH-500, CommonSenseQA, and OpenBookQA, into Urdu, collectively referred to as UrduBench, and conduct a comprehensive evaluation of both reasoning-oriented and instruction-tuned LLMs across multiple prompting strategies. Our analysis reveals performance differences across (1) four datasets, (2) five task difficulty levels, (3) diverse model architectures, (4) multiple model scaling settings, and (5) language consistency tests. We find that multi-step and symbolic reasoning tasks pose significant challenges in Urdu, and that stable language alignment is a critical prerequisite for robust reasoning. Overall, our work establishes a scalable methodology for standardized reasoning evaluation in Urdu and provides empirical insights into multilingual reasoning failures. This experimental setup is also broadly applicable to other low-resource languages. The code and datasets will be publicly released.

The recent advances in reinforcement learning have led to effective methods able to obtain above human-level performances in very complex environments. However, once solved, these environments become less valuable, and new challenges with different or more complex scenarios are needed to support research advances. This work presents DIAMBRA Arena, a new platform for reinforcement learning research and experimentation, featuring a collection of high-quality environments exposing a Python API fully compliant with OpenAI Gym standard. They are episodic tasks with discrete actions and observations composed by raw pixels plus additional numerical values, all supporting both single player and two players mode, allowing to work on standard reinforcement learning, competitive multi-agent, human-agent competition, self-play, human-in-the-loop training and imitation learning. Software capabilities are demonstrated by successfully training multiple deep reinforcement learning agents with proximal policy optimization obtaining human-like behavior. Results confirm the utility of DIAMBRA Arena as a reinforcement learning research tool, providing environments designed to study some of the most challenging topics in the field.

This review presents a comprehensive analysis of two emerging paradigms in AI-assisted software development: vibe coding and agentic coding. While both leverage large language models (LLMs), they differ fundamentally in autonomy, architectural design, and the role of the developer. Vibe coding emphasizes intuitive, human-in-the-loop interaction through prompt-based, conversational workflows that support ideation, experimentation, and creative exploration. In contrast, agentic coding enables autonomous software development through goal-driven agents capable of planning, executing, testing, and iterating tasks with minimal human intervention. We propose a detailed taxonomy spanning conceptual foundations, execution models, feedback loops, safety mechanisms, debugging strategies, and real-world tool ecosystems. Through comparative workflow analysis and 20 detailed use cases, we illustrate how vibe systems thrive in early-stage prototyping and education, while agentic systems excel in enterprise-grade automation, codebase refactoring, and CI/CD integration. We further examine emerging trends in hybrid architectures, where natural language interfaces are coupled with autonomous execution pipelines. Finally, we articulate a future roadmap for agentic AI, outlining the infrastructure needed for trustworthy, explainable, and collaborative systems. Our findings suggest that successful AI software engineering will rely not on choosing one paradigm, but on harmonizing their strengths within a unified, human-centered development lifecycle.

Traditional scientific discovery relies on an iterative hypothesise-experiment-refine cycle that has driven progress for centuries, but its intuitive, ad-hoc implementation often wastes resources, yields inefficient designs, and misses critical insights. This tutorial presents Bayesian Optimisation (BO), a principled probability-driven framework that formalises and automates this core scientific cycle. BO uses surrogate models (e.g., Gaussian processes) to model empirical observations as evolving hypotheses, and acquisition functions to guide experiment selection, balancing exploitation of known knowledge and exploration of uncharted domains to eliminate guesswork and manual trial-and-error. We first frame scientific discovery as an optimisation problem, then unpack BO's core components, end-to-end workflows, and real-world efficacy via case studies in catalysis, materials science, organic synthesis, and molecule discovery. We also cover critical technical extensions for scientific applications, including batched experimentation, heteroscedasticity, contextual optimisation, and human-in-the-loop integration. Tailored for a broad audience, this tutorial bridges AI advances in BO with practical natural science applications, offering tiered content to empower cross-disciplinary researchers to design more efficient experiments and accelerate principled scientific discovery.

Scams exploiting real-time social engineering -- such as phishing, impersonation, and phone fraud -- remain a persistent and evolving threat across digital platforms. Existing defenses are largely reactive, offering limited protection during active interactions. We propose a privacy-preserving, AI-in-the-loop framework that proactively detects and disrupts scam conversations in real time. The system combines instruction-tuned artificial intelligence with a safety-aware utility function that balances engagement with harm minimization, and employs federated learning to enable continual model updates without raw data sharing. Experimental evaluations show that the system produces fluent and engaging responses (perplexity as low as 22.3, engagement approx0.80), while human studies confirm significant gains in realism, safety, and effectiveness over strong baselines. In federated settings, models trained with FedAvg sustain up to 30 rounds while preserving high engagement (approx0.80), strong relevance (approx0.74), and low PII leakage (leq0.0085). Even with differential privacy, novelty and safety remain stable, indicating that robust privacy can be achieved without sacrificing performance. The evaluation of guard models (LlamaGuard, LlamaGuard2/3, MD-Judge) shows a straightforward pattern: stricter moderation settings reduce the chance of exposing personal information, but they also limit how much the model engages in conversation. In contrast, more relaxed settings allow longer and richer interactions, which improve scam detection, but at the cost of higher privacy risk. To our knowledge, this is the first framework to unify real-time scam-baiting, federated privacy preservation, and calibrated safety moderation into a proactive defense paradigm.

Detoxification, the task of rewriting harmful language into non-toxic text, has become increasingly important amid the growing prevalence of toxic content online. However, high-quality parallel datasets for detoxification, especially for hate speech, remain scarce due to the cost and sensitivity of human annotation. In this paper, we propose a novel LLM-in-the-loop pipeline leveraging GPT-4o-mini for automated detoxification. We first replicate the ParaDetox pipeline by replacing human annotators with an LLM and show that the LLM performs comparably to human annotation. Building on this, we construct PARADEHATE, a large-scale parallel dataset specifically for hatespeech detoxification. We release PARADEHATE as a benchmark of over 8K hate/non-hate text pairs and evaluate a wide range of baseline methods. Experimental results show that models such as BART, fine-tuned on PARADEHATE, achieve better performance in style accuracy, content preservation, and fluency, demonstrating the effectiveness of LLM-generated detoxification text as a scalable alternative to human annotation.

Large Language Models (LLMs) are computational models capable of performing complex natural language processing tasks. Leveraging these capabilities, LLMs hold the potential to transform the entire hardware design stack, with predictions suggesting that front-end and back-end tasks could be fully automated in the near future. Currently, LLMs show great promise in streamlining Register Transfer Level (RTL) generation, enhancing efficiency, and accelerating innovation. However, their probabilistic nature makes them prone to inaccuracies - a significant drawback in RTL design, where reliability and precision are essential. To address these challenges, this paper introduces AIvril, an advanced framework designed to enhance the accuracy and reliability of RTL-aware LLMs. AIvril employs a multi-agent, LLM-agnostic system for automatic syntax correction and functional verification, significantly reducing - and in many cases, completely eliminating - instances of erroneous code generation. Experimental results conducted on the VerilogEval-Human dataset show that our framework improves code quality by nearly 2x when compared to previous works, while achieving an 88.46% success rate in meeting verification objectives. This represents a critical step toward automating and optimizing hardware design workflows, offering a more dependable methodology for AI-driven RTL design.

Exposure to large language model output is rapidly increasing. How will seeing AI-generated ideas affect human ideas? We conducted an experiment (800+ participants, 40+ countries) where participants viewed creative ideas that were from ChatGPT or prior experimental participants and then brainstormed their own idea. We varied the number of AI-generated examples (none, low, or high exposure) and if the examples were labeled as 'AI' (disclosure). Our dynamic experiment design -- ideas from prior participants in an experimental condition are used as stimuli for future participants in the same experimental condition -- mimics the interdependent process of cultural creation: creative ideas are built upon prior ideas. Hence, we capture the compounding effects of having LLMs 'in the culture loop'. We find that high AI exposure (but not low AI exposure) did not affect the creativity of individual ideas but did increase the average amount and rate of change of collective idea diversity. AI made ideas different, not better. There were no main effects of disclosure. We also found that self-reported creative people were less influenced by knowing an idea was from AI, and that participants were more likely to knowingly adopt AI ideas when the task was difficult. Our findings suggest that introducing AI ideas into society may increase collective diversity but not individual creativity.

It is foreseeable that the number of spacecraft will increase exponentially, ushering in an era dominated by satellite mega-constellations (SMC). This necessitates a focus on energy in space: spacecraft power systems (SPS), especially their health management (HM), given their role in power supply and high failure rates. Providing health management for dozens of SPS and for thousands of SPS represents two fundamentally different paradigms. Therefore, to adapt the health management in the SMC era, this work proposes a principle of aligning underlying capabilities (AUC principle) and develops SpaceHMchat, an open-source Human-AI collaboration (HAIC) framework for all-in-loop health management (AIL HM). SpaceHMchat serves across the entire loop of work condition recognition, anomaly detection, fault localization, and maintenance decision making, achieving goals such as conversational task completion, adaptive human-in-the-loop learning, personnel structure optimization, knowledge sharing, efficiency enhancement, as well as transparent reasoning and improved interpretability. Meanwhile, to validate this exploration, a hardware-realistic fault injection experimental platform is established, and its simulation model is built and open-sourced, both fully replicating the real SPS. The corresponding experimental results demonstrate that SpaceHMchat achieves excellent performance across 23 quantitative metrics, such as 100% conclusion accuracy in logical reasoning of work condition recognition, over 99% success rate in anomaly detection tool invocation, over 90% precision in fault localization, and knowledge base search time under 3 minutes in maintenance decision-making. Another contribution of this work is the release of the first-ever AIL HM dataset of SPS. This dataset contains four sub-datasets, involving 4 types of AIL HM sub-tasks, 17 types of faults, and over 700,000 timestamps.

While there has been remarkable progress in the performance of visual recognition algorithms, the state-of-the-art models tend to be exceptionally data-hungry. Large labeled training datasets, expensive and tedious to produce, are required to optimize millions of parameters in deep network models. Lagging behind the growth in model capacity, the available datasets are quickly becoming outdated in terms of size and density. To circumvent this bottleneck, we propose to amplify human effort through a partially automated labeling scheme, leveraging deep learning with humans in the loop. Starting from a large set of candidate images for each category, we iteratively sample a subset, ask people to label them, classify the others with a trained model, split the set into positives, negatives, and unlabeled based on the classification confidence, and then iterate with the unlabeled set. To assess the effectiveness of this cascading procedure and enable further progress in visual recognition research, we construct a new image dataset, LSUN. It contains around one million labeled images for each of 10 scene categories and 20 object categories. We experiment with training popular convolutional networks and find that they achieve substantial performance gains when trained on this dataset.

How can we design Natural Language Processing (NLP) systems that learn from human feedback? There is a growing research body of Human-in-the-loop (HITL) NLP frameworks that continuously integrate human feedback to improve the model itself. HITL NLP research is nascent but multifarious -- solving various NLP problems, collecting diverse feedback from different people, and applying different methods to learn from collected feedback. We present a survey of HITL NLP work from both Machine Learning (ML) and Human-Computer Interaction (HCI) communities that highlights its short yet inspiring history, and thoroughly summarize recent frameworks focusing on their tasks, goals, human interactions, and feedback learning methods. Finally, we discuss future directions for integrating human feedback in the NLP development loop.

One difficulty in using artificial agents for human-assistive applications lies in the challenge of accurately assisting with a person's goal(s). Existing methods tend to rely on inferring the human's goal, which is challenging when there are many potential goals or when the set of candidate goals is difficult to identify. We propose a new paradigm for assistance by instead increasing the human's ability to control their environment, and formalize this approach by augmenting reinforcement learning with human empowerment. This task-agnostic objective preserves the person's autonomy and ability to achieve any eventual state. We test our approach against assistance based on goal inference, highlighting scenarios where our method overcomes failure modes stemming from goal ambiguity or misspecification. As existing methods for estimating empowerment in continuous domains are computationally hard, precluding its use in real time learned assistance, we also propose an efficient empowerment-inspired proxy metric. Using this, we are able to successfully demonstrate our method in a shared autonomy user study for a challenging simulated teleoperation task with human-in-the-loop training.

We introduce iTeach, a human-in-the-loop Mixed Reality (MR) system that enhances robot perception through interactive teaching. Our system enables users to visualize robot perception outputs such as object detection and segmentation results using a MR device. Therefore, users can inspect failures of perception models using the system on real robots. Moreover, iTeach facilitates real-time, informed data collection and annotation, where users can use hand gesture, eye gaze and voice commands to annotate images collected from robots. The annotated images can be used to fine-tune perception models to improve their accuracy and adaptability. The system continually improves perception models by collecting annotations of failed examples from users. When applied to object detection and unseen object instance segmentation (UOIS) tasks, iTeach demonstrates encouraging results in improving pre-trained vision models for these two tasks. These results highlight the potential of MR to make robotic perception systems more capable and adaptive in real-world environments. Project page at https://irvlutd.github.io/iTeach.

Imitation learning has shown promise in learning from large-scale real-world datasets. However, pretrained policies usually perform poorly without sufficient in-domain data. Besides, human-collected demonstrations entail substantial labour and tend to encompass mixed-quality data and redundant information. As a workaround, human-in-the-loop systems gather domain-specific data for policy post-training, and exploit closed-loop policy feedback to offer informative guidance, but usually require full-time human surveillance during policy rollout. In this work, we devise ARMADA, a multi-robot deployment and adaptation system with human-in-the-loop shared control, featuring an autonomous online failure detection method named FLOAT. Thanks to FLOAT, ARMADA enables paralleled policy rollout and requests human intervention only when necessary, significantly reducing reliance on human supervision. Hence, ARMADA enables efficient acquisition of in-domain data, and leads to more scalable deployment and faster adaptation to new scenarios. We evaluate the performance of ARMADA on four real-world tasks. FLOAT achieves nearly 95% accuracy on average, surpassing prior state-of-the-art failure detection approaches by over 20%. Besides, ARMADA manifests more than 4times increase in success rate and greater than 2times reduction in human intervention rate over multiple rounds of policy rollout and post-training, compared to previous human-in-the-loop learning methods.

Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch (offline) reinforcement learning, a lack of open-source human datasets and reproducible learning methods make assessing the state of the field difficult. In this paper, we conduct an extensive study of six offline learning algorithms for robot manipulation on five simulated and three real-world multi-stage manipulation tasks of varying complexity, and with datasets of varying quality. Our study analyzes the most critical challenges when learning from offline human data for manipulation. Based on the study, we derive a series of lessons including the sensitivity to different algorithmic design choices, the dependence on the quality of the demonstrations, and the variability based on the stopping criteria due to the different objectives in training and evaluation. We also highlight opportunities for learning from human datasets, such as the ability to learn proficient policies on challenging, multi-stage tasks beyond the scope of current reinforcement learning methods, and the ability to easily scale to natural, real-world manipulation scenarios where only raw sensory signals are available. We have open-sourced our datasets and all algorithm implementations to facilitate future research and fair comparisons in learning from human demonstration data. Codebase, datasets, trained models, and more available at https://arise-initiative.github.io/robomimic-web/

Among the hardest tasks for humans are those found in competitive programming where problems require sophisticated algorithmic thinking, puzzle solving, and the creation of effective code. As a domain to assess language models (LMs), it has not received enough attention, though. This study presents the ICPC benchmark, which consists of 254 international collegiate programming contest (ICPC) tasks. Each problem includes official analysis, reference code, and sample, high-quality unit, and hidden tests. We are able to develop and evaluate a variety of LM inference techniques for competitive programming with these resources. With zero-shot chain-of-thought prompting, we find that o1 only achieves a 19.1\% pass@1 solve rate. With our best inference technique, which combines multi-turn self-judge with reflection and retrieval over episodic information, raises this to 42.2\%. Furthermore, we conduct a new human-in-the-loop investigation to gain a deeper understanding of the remaining difficulties. Surprisingly, we discover that o1 can solve 17 out of 18 problems that were previously unsolvable by any model or technique with just a few specific instructions. A footstep toward LMs with grounded, imaginative, and algorithmic thinking is provided by our quantitative findings and qualitative research. We open-source our code and data at https://github.com/kraritt/zolve.

Large language models (LLMs) are increasingly used as simulated participants in social science experiments, but their behavior is often unstable and highly sensitive to design choices. Prior evaluations frequently conflate base-model capabilities with experimental instantiation, obscuring whether outcomes reflect the model itself or the agent setup. We instead frame participant simulation as an agent-design problem over full experimental protocols, where an agent is defined by a base model and a specification (e.g., participant attributes) that encodes behavioral assumptions. We introduce HUMANSTUDY-BENCH, a benchmark and execution engine that orchestrates LLM-based agents to reconstruct published human-subject experiments via a Filter--Extract--Execute--Evaluate pipeline, replaying trial sequences and running the original analysis pipeline in a shared runtime that preserves the original statistical procedures end to end. To evaluate fidelity at the level of scientific inference, we propose new metrics to quantify how much human and agent behaviors agree. We instantiate 12 foundational studies as an initial suite in this dynamic benchmark, spanning individual cognition, strategic interaction, and social psychology, and covering more than 6,000 trials with human samples ranging from tens to over 2,100 participants.

Seamless interaction between AI agents and humans using natural language remains a key goal in AI research. This paper addresses the challenges of developing interactive agents capable of understanding and executing grounded natural language instructions through the IGLU competition at NeurIPS. Despite advancements, challenges such as a scarcity of appropriate datasets and the need for effective evaluation platforms persist. We introduce a scalable data collection tool for gathering interactive grounded language instructions within a Minecraft-like environment, resulting in a Multi-Modal dataset with around 9,000 utterances and over 1,000 clarification questions. Additionally, we present a Human-in-the-Loop interactive evaluation platform for qualitative analysis and comparison of agent performance through multi-turn communication with human annotators. We offer to the community these assets referred to as IDAT (IGLU Dataset And Toolkit) which aim to advance the development of intelligent, interactive AI agents and provide essential resources for further research.

The training and deployment of large language models (LLMs) create a feedback loop with human users: models learn human beliefs from data, reinforce these beliefs with generated content, reabsorb the reinforced beliefs, and feed them back to users again and again. This dynamic resembles an echo chamber. We hypothesize that this feedback loop entrenches the existing values and beliefs of users, leading to a loss of diversity and potentially the lock-in of false beliefs. We formalize this hypothesis and test it empirically with agent-based LLM simulations and real-world GPT usage data. Analysis reveals sudden but sustained drops in diversity after the release of new GPT iterations, consistent with the hypothesized human-AI feedback loop. Code and data available at https://thelockinhypothesis.com

Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient realism or high computational costs. Open-loop evaluation, while being efficient and data-driven, relies on metrics that generally overlook compounding errors. In this paper, we propose pseudo-simulation, a novel paradigm that addresses these limitations. Pseudo-simulation operates on real datasets, similar to open-loop evaluation, but augments them with synthetic observations generated prior to evaluation using 3D Gaussian Splatting. Our key idea is to approximate potential future states the AV might encounter by generating a diverse set of observations that vary in position, heading, and speed. Our method then assigns a higher importance to synthetic observations that best match the AV's likely behavior using a novel proximity-based weighting scheme. This enables evaluating error recovery and the mitigation of causal confusion, as in closed-loop benchmarks, without requiring sequential interactive simulation. We show that pseudo-simulation is better correlated with closed-loop simulations (R^2=0.8) than the best existing open-loop approach (R^2=0.7). We also establish a public leaderboard for the community to benchmark new methodologies with pseudo-simulation. Our code is available at https://github.com/autonomousvision/navsim.

With the advent of large language models (LLMs) like GPT-3, a natural question is the extent to which these models can be utilized for source code optimization. This paper presents methodologically stringent case studies applied to well-known open source python libraries pillow and numpy. We find that contemporary LLM ChatGPT-4 (state September and October 2023) is surprisingly adept at optimizing energy and compute efficiency. However, this is only the case in interactive use, with a human expert in the loop. Aware of experimenter bias, we document our qualitative approach in detail, and provide transcript and source code. We start by providing a detailed description of our approach in conversing with the LLM to optimize the _getextrema function in the pillow library, and a quantitative evaluation of the performance improvement. To demonstrate qualitative replicability, we report further attempts on another locus in the pillow library, and one code locus in the numpy library, to demonstrate generalization within and beyond a library. In all attempts, the performance improvement is significant (factor up to 38). We have also not omitted reporting of failed attempts (there were none). We conclude that LLMs are a promising tool for code optimization in open source libraries, but that the human expert in the loop is essential for success. Nonetheless, we were surprised by how few iterations were required to achieve substantial performance improvements that were not obvious to the expert in the loop. We would like bring attention to the qualitative nature of this study, more robust quantitative studies would need to introduce a layer of selecting experts in a representative sample -- we invite the community to collaborate.

Humans are integral components of the transportation ecosystem, and understanding their behaviors is crucial to facilitating the development of safe driving systems. Although recent progress has explored various aspects of human behaviorx2014such as motion, trajectories, and intentionx2014a comprehensive benchmark for evaluating human behavior understanding in autonomous driving remains unavailable. In this work, we propose MMHU, a large-scale benchmark for human behavior analysis featuring rich annotations, such as human motion and trajectories, text description for human motions, human intention, and critical behavior labels relevant to driving safety. Our dataset encompasses 57k human motion clips and 1.73M frames gathered from diverse sources, including established driving datasets such as Waymo, in-the-wild videos from YouTube, and self-collected data. A human-in-the-loop annotation pipeline is developed to generate rich behavior captions. We provide a thorough dataset analysis and benchmark multiple tasksx2014ranging from motion prediction to motion generation and human behavior question answeringx2014thereby offering a broad evaluation suite. Project page : https://MMHU-Benchmark.github.io.

LLMs have shown promise in replicating human-like behavior in crowdsourcing tasks that were previously thought to be exclusive to human abilities. However, current efforts focus mainly on simple atomic tasks. We explore whether LLMs can replicate more complex crowdsourcing pipelines. We find that modern LLMs can simulate some of crowdworkers' abilities in these "human computation algorithms," but the level of success is variable and influenced by requesters' understanding of LLM capabilities, the specific skills required for sub-tasks, and the optimal interaction modality for performing these sub-tasks. We reflect on human and LLMs' different sensitivities to instructions, stress the importance of enabling human-facing safeguards for LLMs, and discuss the potential of training humans and LLMs with complementary skill sets. Crucially, we show that replicating crowdsourcing pipelines offers a valuable platform to investigate (1) the relative strengths of LLMs on different tasks (by cross-comparing their performances on sub-tasks) and (2) LLMs' potential in complex tasks, where they can complete part of the tasks while leaving others to humans.

Human feedback on conversations with language language models (LLMs) is central to how these systems learn about the world, improve their capabilities, and are steered toward desirable and safe behaviors. However, this feedback is mostly collected by frontier AI labs and kept behind closed doors. In this work, we bring together interdisciplinary experts to assess the opportunities and challenges to realizing an open ecosystem of human feedback for AI. We first look for successful practices in peer production, open source, and citizen science communities. We then characterize the main challenges for open human feedback. For each, we survey current approaches and offer recommendations. We end by envisioning the components needed to underpin a sustainable and open human feedback ecosystem. In the center of this ecosystem are mutually beneficial feedback loops, between users and specialized models, incentivizing a diverse stakeholders community of model trainers and feedback providers to support a general open feedback pool.

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and trained on large scale heterogeneous datasets. Given pairwise observations and a language goal, it outputs dense progress delta and done signal, eliminating task-specific reward engineering, and supports one-shot in-context transfer to unseen tasks and environments. VLAC is trained on vision-language datasets to strengthen perception, dialogic and reasoning capabilities, together with robot and human trajectories data that ground action generation and progress estimation, and additionally strengthened to reject irrelevant prompts as well as detect regression or stagnation by constructing large numbers of negative and semantically mismatched samples. With prompt control, a single VLAC model alternately generating reward and action tokens, unifying critic and policy. Deployed inside an asynchronous real-world RL loop, we layer a graded human-in-the-loop protocol (offline demonstration replay, return and explore, human guided explore) that accelerates exploration and stabilizes early learning. Across four distinct real-world manipulation tasks, VLAC lifts success rates from about 30\% to about 90\% within 200 real-world interaction episodes; incorporating human-in-the-loop interventions yields a further 50% improvement in sample efficiency and achieves up to 100% final success.

Artificial Intelligence (AI) can augment and sometimes even replace human cognition. Inspired by efforts to value human agency alongside productivity, we discuss the benefits of solving Citizen Science (CS) tasks with Hybrid Intelligence (HI), a synergetic mixture of human and artificial intelligence. Currently there is no clear framework or methodology on how to create such an effective mixture. Due to the unique participant-centered set of values and the abundance of tasks drawing upon both human common sense and complex 21st century skills, we believe that the field of CS offers an invaluable testbed for the development of HI and human-centered AI of the 21st century, while benefiting CS as well. In order to investigate this potential, we first relate CS to adjacent computational disciplines. Then, we demonstrate that CS projects can be grouped according to their potential for HI-enhancement by examining two key dimensions: the level of digitization and the amount of knowledge or experience required for participation. Finally, we propose a framework for types of human-AI interaction in CS based on established criteria of HI. This "HI lens" provides the CS community with an overview of several ways to utilize the combination of AI and human intelligence in their projects. It also allows the AI community to gain ideas on how developing AI in CS projects can further their own field.

As NLP evaluation shifts from static benchmarks to multi-turn interactive settings, LLM-based simulators have become widely used as user proxies, serving two roles: generating user turns and providing evaluation signals. Yet, these simulations are frequently assumed to be faithful to real human behaviors, often without rigorous verification. We formalize the Sim2Real gap in user simulation and present the first study running the full τ-bench protocol with real humans (451 participants, 165 tasks), benchmarking 31 LLM simulators across proprietary, open-source, and specialized families using the User-Sim Index (USI), a metric we introduce to quantify how well LLM simulators resemble real user interactive behaviors and feedback. Behaviorally, LLM simulators are excessively cooperative, stylistically uniform, and lack realistic frustration or ambiguity, creating an "easy mode" that inflates agent success rates above the human baseline. In evaluations, real humans provide nuanced judgments across eight quality dimensions while simulated users produce uniformly more positive feedback; rule-based rewards are failing to capture rich feedback signals generated by human users. Overall, higher general model capability does not necessarily yield more faithful user simulation. These findings highlight the importance of human validation when using LLM-based user simulators in the agent development cycle and motivate improved models for user simulation.

We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncertainty. The method utilizes human demonstrations to learn both a state invariant dynamics model and an exploration distribution that captures the search area covered by the demonstrator. We present two alternative algorithms for computing a search trajectory from the exploration distribution, one based on sampling and another based on deterministic ergodic control. We augment the search trajectory with forces learnt through the dynamics model to enable searching both in force and position domains. An impedance controller with superposed forces is used for reproducing the learnt strategy. We experimentally evaluate the method on a KUKA LWR4+ performing a 2D peg-in-hole and a 3D electricity socket task. Results show that the proposed method can, with only few human demonstrations, learn to complete the search task.

We propose a novel framework for learning high-level cognitive capabilities in robot manipulation tasks, such as making a smiley face using building blocks. These tasks often involve complex multi-step reasoning, presenting significant challenges due to the limited paired data connecting human instructions (e.g., making a smiley face) and robot actions (e.g., end-effector movement). Existing approaches relieve this challenge by adopting an open-loop paradigm decomposing high-level instructions into simple sub-task plans, and executing them step-by-step using low-level control models. However, these approaches are short of instant observations in multi-step reasoning, leading to sub-optimal results. To address this issue, we propose to automatically collect a cognitive robot dataset by Large Language Models (LLMs). The resulting dataset AlphaBlock consists of 35 comprehensive high-level tasks of multi-step text plans and paired observation sequences. To enable efficient data acquisition, we employ elaborated multi-round prompt designs that effectively reduce the burden of extensive human involvement. We further propose a closed-loop multi-modal embodied planning model that autoregressively generates plans by taking image observations as input. To facilitate effective learning, we leverage MiniGPT-4 with a frozen visual encoder and LLM, and finetune additional vision adapter and Q-former to enable fine-grained spatial perception for manipulation tasks. We conduct experiments to verify the superiority over existing open and closed-loop methods, and achieve a significant increase in success rate by 21.4% and 14.5% over ChatGPT and GPT-4 based robot tasks. Real-world demos are shown in https://www.youtube.com/watch?v=ayAzID1_qQk .

Computing olympiads contain some of the most challenging problems for humans, requiring complex algorithmic reasoning, puzzle solving, in addition to generating efficient code. However, it has been understudied as a domain to evaluate language models (LMs). In this paper, we introduce the USACO benchmark with 307 problems from the USA Computing Olympiad, along with high-quality unit tests, reference code, and official analyses for each problem. These resources enable us to construct and test a range of LM inference methods for competitive programming for the first time. We find GPT-4 only achieves a 8.7% pass@1 accuracy with zero-shot chain-of-thought prompting, and our best inference method improves it to 20.2% using a combination of self-reflection and retrieval over episodic knowledge. However, this is far from solving the benchmark. To better understand the remaining challenges, we design a novel human-in-the-loop study and surprisingly find that a small number of targeted hints enable GPT-4 to solve 13 out of 15 problems previously unsolvable by any model and method. Our benchmark, baseline methods, quantitative results, and qualitative analysis serve as an initial step toward LMs with grounded, creative, and algorithmic reasoning.

Modern paradigms for robot imitation train expressive policy architectures on large amounts of human demonstration data. Yet performance on contact-rich, deformable-object, and long-horizon tasks plateau far below perfect execution, even with thousands of expert demonstrations. This is due to the inefficiency of existing ``expert'' data collection procedures based on human teleoperation. To address this issue, we introduce RaC, a new phase of training on human-in-the-loop rollouts after imitation learning pre-training. In RaC, we fine-tune a robotic policy on human intervention trajectories that illustrate recovery and correction behaviors. Specifically, during a policy rollout, human operators intervene when failure appears imminent, first rewinding the robot back to a familiar, in-distribution state and then providing a corrective segment that completes the current sub-task. Training on this data composition expands the robotic skill repertoire to include retry and adaptation behaviors, which we show are crucial for boosting both efficiency and robustness on long-horizon tasks. Across three real-world bimanual control tasks: shirt hanging, airtight container lid sealing, takeout box packing, and a simulated assembly task, RaC outperforms the prior state-of-the-art using 10times less data collection time and samples. We also show that RaC enables test-time scaling: the performance of the trained RaC policy scales linearly in the number of recovery maneuvers it exhibits. Videos of the learned policy are available at https://rac-scaling-robot.github.io/.

Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object manipulation. High accuracy is critical, particularly for Human-on-the-loop (HoTL) systems where decisions are made autonomously by the system, and humans play only a supervisory role. Failures of the vision model can lead to erroneous decisions with potentially life or death consequences. In this paper, we propose a solution based upon adaptive autonomy levels, whereby the system detects loss of reliability of these models and responds by temporarily lowering its own autonomy levels and increasing engagement of the human in the decision-making process. Our solution is applicable for vision-based tasks in which humans have time to react and provide guidance. When implemented, our approach would estimate the reliability of the vision task by considering uncertainty in its model, and by performing covariate analysis to determine when the current operating environment is ill-matched to the model's training data. We provide examples from DroneResponse, in which small Unmanned Aerial Systems are deployed for Emergency Response missions, and show how the vision model's reliability would be used in addition to confidence scores to drive and specify the behavior and adaptation of the system's autonomy. This workshop paper outlines our proposed approach and describes open challenges at the intersection of Computer Vision and Software Engineering for the safe and reliable deployment of vision models in the decision making of autonomous systems.

While much work on web agents emphasizes the promise of autonomously performing tasks on behalf of users, in reality, agents often fall short on complex tasks in real-world contexts and modeling user preference. This presents an opportunity for humans to collaborate with the agent and leverage the agent's capabilities effectively. We propose CowPilot, a framework supporting autonomous as well as human-agent collaborative web navigation, and evaluation across task success and task efficiency. CowPilot reduces the number of steps humans need to perform by allowing agents to propose next steps, while users are able to pause, reject, or take alternative actions. During execution, users can interleave their actions with the agent by overriding suggestions or resuming agent control when needed. We conducted case studies on five common websites and found that the human-agent collaborative mode achieves the highest success rate of 95% while requiring humans to perform only 15.2% of the total steps. Even with human interventions during task execution, the agent successfully drives up to half of task success on its own. CowPilot can serve as a useful tool for data collection and agent evaluation across websites, which we believe will enable research in how users and agents can work together. Video demonstrations are available at https://oaishi.github.io/cowpilot.html

A promising approach for teaching artificial agents to use natural language involves using human-in-the-loop training. However, recent work suggests that current machine learning methods are too data inefficient to be trained in this way from scratch. In this paper, we investigate the relationship between two categories of learning signals with the ultimate goal of improving sample efficiency: imitating human language data via supervised learning, and maximizing reward in a simulated multi-agent environment via self-play (as done in emergent communication), and introduce the term supervised self-play (S2P) for algorithms using both of these signals. We find that first training agents via supervised learning on human data followed by self-play outperforms the converse, suggesting that it is not beneficial to emerge languages from scratch. We then empirically investigate various S2P schedules that begin with supervised learning in two environments: a Lewis signaling game with symbolic inputs, and an image-based referential game with natural language descriptions. Lastly, we introduce population based approaches to S2P, which further improves the performance over single-agent methods.

Generative policies trained with human demonstrations can autonomously accomplish multimodal, long-horizon tasks. However, during inference, humans are often removed from the policy execution loop, limiting the ability to guide a pre-trained policy towards a specific sub-goal or trajectory shape among multiple predictions. Naive human intervention may inadvertently exacerbate distribution shift, leading to constraint violations or execution failures. To better align policy output with human intent without inducing out-of-distribution errors, we propose an Inference-Time Policy Steering (ITPS) framework that leverages human interactions to bias the generative sampling process, rather than fine-tuning the policy on interaction data. We evaluate ITPS across three simulated and real-world benchmarks, testing three forms of human interaction and associated alignment distance metrics. Among six sampling strategies, our proposed stochastic sampling with diffusion policy achieves the best trade-off between alignment and distribution shift. Videos are available at https://yanweiw.github.io/itps/.

The sample inefficiency of standard deep reinforcement learning methods precludes their application to many real-world problems. Methods which leverage human demonstrations require fewer samples but have been researched less. As demonstrated in the computer vision and natural language processing communities, large-scale datasets have the capacity to facilitate research by serving as an experimental and benchmarking platform for new methods. However, existing datasets compatible with reinforcement learning simulators do not have sufficient scale, structure, and quality to enable the further development and evaluation of methods focused on using human examples. Therefore, we introduce a comprehensive, large-scale, simulator-paired dataset of human demonstrations: MineRL. The dataset consists of over 60 million automatically annotated state-action pairs across a variety of related tasks in Minecraft, a dynamic, 3D, open-world environment. We present a novel data collection scheme which allows for the ongoing introduction of new tasks and the gathering of complete state information suitable for a variety of methods. We demonstrate the hierarchality, diversity, and scale of the MineRL dataset. Further, we show the difficulty of the Minecraft domain along with the potential of MineRL in developing techniques to solve key research challenges within it.

The pre-train and fine-tune paradigm in machine learning has had dramatic success in a wide range of domains because the use of existing data or pre-trained models on the internet enables quick and easy learning of new tasks. We aim to enable this paradigm in robotic reinforcement learning, allowing a robot to learn a new task with little human effort by leveraging data and models from the Internet. However, reinforcement learning often requires significant human effort in the form of manual reward specification or environment resets, even if the policy is pre-trained. We introduce RoboFuME, a reset-free fine-tuning system that pre-trains a multi-task manipulation policy from diverse datasets of prior experiences and self-improves online to learn a target task with minimal human intervention. Our insights are to utilize calibrated offline reinforcement learning techniques to ensure efficient online fine-tuning of a pre-trained policy in the presence of distribution shifts and leverage pre-trained vision language models (VLMs) to build a robust reward classifier for autonomously providing reward signals during the online fine-tuning process. In a diverse set of five real robot manipulation tasks, we show that our method can incorporate data from an existing robot dataset collected at a different institution and improve on a target task within as little as 3 hours of autonomous real-world experience. We also demonstrate in simulation experiments that our method outperforms prior works that use different RL algorithms or different approaches for predicting rewards. Project website: https://robofume.github.io

In collaborative human-robot manipulation, a robot must predict human intents and adapt its actions accordingly to smoothly execute tasks. However, the human's intent in turn depends on actions the robot takes, creating a chicken-or-egg problem. Prior methods ignore such inter-dependency and instead train marginal intent prediction models independent of robot actions. This is because training conditional models is hard given a lack of paired human-robot interaction datasets. Can we instead leverage large-scale human-human interaction data that is more easily accessible? Our key insight is to exploit a correspondence between human and robot actions that enables transfer learning from human-human to human-robot data. We propose a novel architecture, InteRACT, that pre-trains a conditional intent prediction model on large human-human datasets and fine-tunes on a small human-robot dataset. We evaluate on a set of real-world collaborative human-robot manipulation tasks and show that our conditional model improves over various marginal baselines. We also introduce new techniques to tele-operate a 7-DoF robot arm and collect a diverse range of human-robot collaborative manipulation data, which we open-source.

We present the workflow of Online Iterative Reinforcement Learning from Human Feedback (RLHF) in this technical report, which is widely reported to outperform its offline counterpart by a large margin in the recent large language model (LLM) literature. However, existing open-source RLHF projects are still largely confined to the offline learning setting. In this technical report, we aim to fill in this gap and provide a detailed recipe that is easy to reproduce for online iterative RLHF. In particular, since online human feedback is usually infeasible for open-source communities with limited resources, we start by constructing preference models using a diverse set of open-source datasets and use the constructed proxy preference model to approximate human feedback. Then, we discuss the theoretical insights and algorithmic principles behind online iterative RLHF, followed by a detailed practical implementation. Our trained LLM, SFR-Iterative-DPO-LLaMA-3-8B-R, achieves impressive performance on LLM chatbot benchmarks, including AlpacaEval-2, Arena-Hard, and MT-Bench, as well as other academic benchmarks such as HumanEval and TruthfulQA. We have shown that supervised fine-tuning (SFT) and iterative RLHF can obtain state-of-the-art performance with fully open-source datasets. Further, we have made our models, curated datasets, and comprehensive step-by-step code guidebooks publicly available. Please refer to https://github.com/RLHFlow/RLHF-Reward-Modeling and https://github.com/RLHFlow/Online-RLHF for more detailed information.

Human demonstrations as prompts are a powerful way to program robots to do long-horizon manipulation tasks. However, translating these demonstrations into robot-executable actions presents significant challenges due to execution mismatches in movement styles and physical capabilities. Existing methods either depend on human-robot paired data, which is infeasible to scale, or rely heavily on frame-level visual similarities that often break down in practice. To address these challenges, we propose RHyME, a novel framework that automatically aligns human and robot task executions using optimal transport costs. Given long-horizon robot demonstrations, RHyME synthesizes semantically equivalent human videos by retrieving and composing short-horizon human clips. This approach facilitates effective policy training without the need for paired data. RHyME successfully imitates a range of cross-embodiment demonstrators, both in simulation and with a real human hand, achieving over 50\% increase in task success compared to previous methods. We release our code and datasets at https://portal-cornell.github.io/rhyme/.

This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appropriate constraints for the system objectives. A method for enacting Lipschitz and sector bounds on the resulting controller is derived to ensure desirable control properties. An analysis of worst-case loss functions and the optimal loss function weighting is made to implement an effective training scheme. Finally, simulations are carried out to demonstrate the effectiveness of the proposed architecture. This architecture resulted in a 4.5% performance increase compared to the human operator and 9% to an unconstrained feedforward neural network trained in the same way.

Many crowdsourced NLP datasets contain systematic gaps and biases that are identified only after data collection is complete. Identifying these issues from early data samples during crowdsourcing should make mitigation more efficient, especially when done iteratively. We take natural language inference as a test case and ask whether it is beneficial to put a linguist `in the loop' during data collection to dynamically identify and address gaps in the data by introducing novel constraints on the task. We directly compare three data collection protocols: (i) a baseline protocol, (ii) a linguist-in-the-loop intervention with iteratively-updated constraints on the task, and (iii) an extension of linguist-in-the-loop that provides direct interaction between linguists and crowdworkers via a chatroom. The datasets collected with linguist involvement are more reliably challenging than baseline, without loss of quality. But we see no evidence that using this data in training leads to better out-of-domain model performance, and the addition of a chat platform has no measurable effect on the resulting dataset. We suggest integrating expert analysis during data collection so that the expert can dynamically address gaps and biases in the dataset.

Deep neural networks have demonstrated promising performance on image recognition tasks. However, they may heavily rely on confounding factors, using irrelevant artifacts or bias within the dataset as the cue to improve performance. When a model performs decision-making based on these spurious correlations, it can become untrustable and lead to catastrophic outcomes when deployed in the real-world scene. In this paper, we explore and try to solve this problem in the context of skin cancer diagnosis. We introduce a human-in-the-loop framework in the model training process such that users can observe and correct the model's decision logic when confounding behaviors happen. Specifically, our method can automatically discover confounding factors by analyzing the co-occurrence behavior of the samples. It is capable of learning confounding concepts using easily obtained concept exemplars. By mapping the black-box model's feature representation onto an explainable concept space, human users can interpret the concept and intervene via first order-logic instruction. We systematically evaluate our method on our newly crafted, well-controlled skin lesion dataset and several public skin lesion datasets. Experiments show that our method can effectively detect and remove confounding factors from datasets without any prior knowledge about the category distribution and does not require fully annotated concept labels. We also show that our method enables the model to focus on clinical-related concepts, improving the model's performance and trustworthiness during model inference.

Current deep-research agents run in a ''fire-and-forget'' mode: once started, they give users no way to fix errors or add expert knowledge during execution. We present ResearStudio, the first open-source framework that places real-time human control at its core. The system follows a Collaborative Workshop design. A hierarchical Planner-Executor writes every step to a live ''plan-as-document,'' a fast communication layer streams each action, file change, and tool call to a web interface. At any moment, the user can pause the run, edit the plan or code, run custom commands, and resume -- switching smoothly between AI-led, human-assisted and human-led, AI-assisted modes. In fully autonomous mode, ResearStudio achieves state-of-the-art results on the GAIA benchmark, surpassing systems like OpenAI's DeepResearch and Manus. These results show that strong automated performance and fine-grained human control can coexist. The full code, protocol, and evaluation scripts are available at https://github.com/ResearAI/ResearStudio. We will continue to update the repository to encourage further work on safe and controllable research agents. Our live demo is publicly accessible at http://ai-researcher.net:3000/. We support the development of DeepScientist, which can be accessed at https://github.com/ResearAI/DeepScientist.

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and scale, but leveraging them directly for robot learning is difficult due to the lack of explicit action labels from videos and morphological differences between robot and human hands. We propose Human2Sim2Robot, a novel real-to-sim-to-real framework for training dexterous manipulation policies using only one RGB-D video of a human demonstrating a task. Our method utilizes reinforcement learning (RL) in simulation to cross the human-robot embodiment gap without relying on wearables, teleoperation, or large-scale data collection typically necessary for imitation learning methods. From the demonstration, we extract two task-specific components: (1) the object pose trajectory to define an object-centric, embodiment-agnostic reward function, and (2) the pre-manipulation hand pose to initialize and guide exploration during RL training. We found that these two components are highly effective for learning the desired task, eliminating the need for task-specific reward shaping and tuning. We demonstrate that Human2Sim2Robot outperforms object-aware open-loop trajectory replay by 55% and imitation learning with data augmentation by 68% across grasping, non-prehensile manipulation, and multi-step tasks. Project Site: https://human2sim2robot.github.io

There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference over a small number of choices) input can enable robots to complete complex tasks. However, few previous works have looked at combining different methods, and in particular, opportunities for a robot to estimate and elicit the most effective form of assistance given its understanding of a task. In this paper, we propose a method for estimating the value of different human assistance mechanisms based on the action uncertainty of a robot policy. Our key idea is to construct mathematical expressions for the expected post-interaction differential entropy (i.e., uncertainty) of a stochastic robot policy to compare the expected value of different interactions. As each type of human input imposes a different requirement for human involvement, we demonstrate how differential entropy estimates can be combined with a likelihood penalization approach to effectively balance feedback informational needs with the level of required input. We demonstrate evidence of how our approach interfaces with emergent learning models (e.g., a diffusion model) to produce accurate assistance value estimates through both simulation and a robot user study. Our user study results indicate that the proposed approach can enable task completion with minimal human feedback for uncertain robot behaviors.

LLMs can now act as autonomous agents that interact with digital environments and complete specific objectives (e.g., arranging an online meeting). However, accuracy is still far from satisfactory, partly due to a lack of large-scale, direct demonstrations for digital tasks. Obtaining supervised data from humans is costly, and automatic data collection through exploration or reinforcement learning relies on complex environmental and content setup, resulting in datasets that lack comprehensive coverage of various scenarios. On the other hand, there is abundant knowledge that may indirectly assist task completion, such as online tutorials that were created for human consumption. In this work, we present Synatra, an approach that effectively transforms this indirect knowledge into direct supervision at scale. We define different types of indirect knowledge, and carefully study the available sources to obtain it, methods to encode the structure of direct demonstrations, and finally methods to transform indirect knowledge into direct demonstrations. We use 100k such synthetically-created demonstrations to finetune a 7B CodeLlama, and demonstrate that the resulting agent surpasses all comparably sized models on three web-based task benchmarks Mind2Web, MiniWoB++ and WebArena, as well as surpassing GPT-3.5 on WebArena and Mind2Web. In addition, while synthetic demonstrations prove to be only 3% the cost of human demonstrations (at $0.031 each), we show that the synthetic demonstrations can be more effective than an identical number of human demonstrations collected from limited domains.

The recent rapid advancement of machine learning has been driven by increasingly powerful models with the growing availability of training data and computational resources. However, real-time decision-making tasks with limited time and sparse learning signals remain challenging. One way of improving the learning speed and performance of these agents is to leverage human guidance. In this work, we introduce GUIDE, a framework for real-time human-guided reinforcement learning by enabling continuous human feedback and grounding such feedback into dense rewards to accelerate policy learning. Additionally, our method features a simulated feedback module that learns and replicates human feedback patterns in an online fashion, effectively reducing the need for human input while allowing continual training. We demonstrate the performance of our framework on challenging tasks with sparse rewards and visual observations. Our human study involving 50 subjects offers strong quantitative and qualitative evidence of the effectiveness of our approach. With only 10 minutes of human feedback, our algorithm achieves up to 30% increase in success rate compared to its RL baseline.

Surgical robot automation has attracted increasing research interest over the past decade, expecting its potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied intelligence has demonstrated promising ability to learn good control policies for various complex tasks, where embodied AI simulators play an essential role to facilitate relevant research. However, existing open-sourced simulators for surgical robot are still not sufficiently supporting human interactions through physical input devices, which further limits effective investigations on how the human demonstrations would affect policy learning. In this work, we study human-in-the-loop embodied intelligence with a new interactive simulation platform for surgical robot learning. Specifically, we establish our platform based on our previously released SurRoL simulator with several new features co-developed to allow high-quality human interaction via an input device. We showcase the improvement of our simulation environment with the designed new features, and validate effectiveness of incorporating human factors in embodied intelligence through the use of human demonstrations and reinforcement learning as a representative example. Promising results are obtained in terms of learning efficiency. Lastly, five new surgical robot training tasks are developed and released, with which we hope to pave the way for future research on surgical embodied intelligence. Our learning platform is publicly released and will be continuously updated in the website: https://med-air.github.io/SurRoL.

We present a scalable, bottom-up and intrinsically diverse data collection scheme that can be used for high-level reasoning with long and medium horizons and that has 2.2x higher throughput compared to traditional narrow top-down step-by-step collection. We collect realistic data by performing any user requests within the entirety of 3 office buildings and using multiple robot and human embodiments. With this data, we show that models trained on all embodiments perform better than ones trained on the robot data only, even when evaluated solely on robot episodes. We find that for a fixed collection budget it is beneficial to take advantage of cheaper human collection along with robot collection. We release a large and highly diverse (29,520 unique instructions) dataset dubbed RoboVQA containing 829,502 (video, text) pairs for robotics-focused visual question answering. We also demonstrate how evaluating real robot experiments with an intervention mechanism enables performing tasks to completion, making it deployable with human oversight even if imperfect while also providing a single performance metric. We demonstrate a single video-conditioned model named RoboVQA-VideoCoCa trained on our dataset that is capable of performing a variety of grounded high-level reasoning tasks in broad realistic settings with a cognitive intervention rate 46% lower than the zero-shot state of the art visual language model (VLM) baseline and is able to guide real robots through long-horizon tasks. The performance gap with zero-shot state-of-the-art models indicates that a lot of grounded data remains to be collected for real-world deployment, emphasizing the critical need for scalable data collection approaches. Finally, we show that video VLMs significantly outperform single-image VLMs with an average error rate reduction of 19% across all VQA tasks. Data and videos available at https://robovqa.github.io

Template mining is one of the foundational tasks to support log analysis, which supports the diagnosis and troubleshooting of large scale Web applications. This paper develops a human-in-the-loop template mining framework to support interactive log analysis, which is highly desirable in real-world diagnosis or troubleshooting of Web applications but yet previous template mining algorithms fails to support it. We formulate three types of light-weight user feedbacks and based on them we design three atomic human-in-the-loop template mining algorithms. We derive mild conditions under which the outputs of our proposed algorithms are provably correct. We also derive upper bounds on the computational complexity and query complexity of each algorithm. We demonstrate the versatility of our proposed algorithms by combining them to improve the template mining accuracy of five representative algorithms over sixteen widely used benchmark datasets.

AI agents powered by large language models are increasingly capable of autonomously completing complex, multi-step tasks using external tools. Yet, they still fall short of human-level performance in most domains including computer use, software development, and research. Their growing autonomy and ability to interact with the outside world, also introduces safety and security risks including potentially misaligned actions and adversarial manipulation. We argue that human-in-the-loop agentic systems offer a promising path forward, combining human oversight and control with AI efficiency to unlock productivity from imperfect systems. We introduce Magentic-UI, an open-source web interface for developing and studying human-agent interaction. Built on a flexible multi-agent architecture, Magentic-UI supports web browsing, code execution, and file manipulation, and can be extended with diverse tools via Model Context Protocol (MCP). Moreover, Magentic-UI presents six interaction mechanisms for enabling effective, low-cost human involvement: co-planning, co-tasking, multi-tasking, action guards, and long-term memory. We evaluate Magentic-UI across four dimensions: autonomous task completion on agentic benchmarks, simulated user testing of its interaction capabilities, qualitative studies with real users, and targeted safety assessments. Our findings highlight Magentic-UI's potential to advance safe and efficient human-agent collaboration.

Scientific discovery has long been constrained by human limitations in expertise, physical capability, and sleep cycles. The recent rise of AI scientists and automated laboratories has accelerated both the cognitive and operational aspects of research. However, key limitations persist: AI systems are often confined to virtual environments, while automated laboratories lack the flexibility and autonomy to adaptively test new hypotheses in the physical world. Recent advances in embodied AI, such as generalist robot foundation models, diffusion-based action policies, fine-grained manipulation learning, and sim-to-real transfer, highlight the promise of integrating cognitive and embodied intelligence. This convergence opens the door to closed-loop systems that support iterative, autonomous experimentation and the possibility of serendipitous discovery. In this position paper, we propose the paradigm of Intelligent Science Laboratories (ISLs): a multi-layered, closed-loop framework that deeply integrates cognitive and embodied intelligence. ISLs unify foundation models for scientific reasoning, agent-based workflow orchestration, and embodied agents for robust physical experimentation. We argue that such systems are essential for overcoming the current limitations of scientific discovery and for realizing the full transformative potential of AI-driven science.

Automated machine learning (AutoML) seeks to build ML models with minimal human effort. While considerable research has been conducted in the area of AutoML in general, aiming to take humans out of the loop when building artificial intelligence (AI) applications, scant literature has focused on how AutoML works well in open-environment scenarios such as the process of training and updating large models, industrial supply chains or the industrial metaverse, where people often face open-loop problems during the search process: they must continuously collect data, update data and models, satisfy the requirements of the development and deployment environment, support massive devices, modify evaluation metrics, etc. Addressing the open-environment issue with pure data-driven approaches requires considerable data, computing resources, and effort from dedicated data engineers, making current AutoML systems and platforms inefficient and computationally intractable. Human-computer interaction is a practical and feasible way to tackle the problem of open-environment AI. In this paper, we introduce OmniForce, a human-centered AutoML (HAML) system that yields both human-assisted ML and ML-assisted human techniques, to put an AutoML system into practice and build adaptive AI in open-environment scenarios. Specifically, we present OmniForce in terms of ML version management; pipeline-driven development and deployment collaborations; a flexible search strategy framework; and widely provisioned and crowdsourced application algorithms, including large models. Furthermore, the (large) models constructed by OmniForce can be automatically turned into remote services in a few minutes; this process is dubbed model as a service (MaaS). Experimental results obtained in multiple search spaces and real-world use cases demonstrate the efficacy and efficiency of OmniForce.

LLM-based agents can autonomously accomplish complex tasks across various domains. However, to further cultivate capabilities such as adaptive behavior and long-term decision-making, training on static datasets built from human-level knowledge is insufficient. These datasets are costly to construct and lack both dynamism and realism. A growing consensus is that agents should instead interact directly with environments and learn from experience through reinforcement learning. We formalize this iterative process as the Generation-Execution-Feedback (GEF) loop, where environments generate tasks to challenge agents, return observations in response to agents' actions during task execution, and provide evaluative feedback on rollouts for subsequent learning. Under this paradigm, environments function as indispensable producers of experiential data, highlighting the need to scale them toward greater complexity, realism, and interactivity. In this survey, we systematically review representative methods for environment scaling from a pioneering environment-centric perspective and organize them along the stages of the GEF loop, namely task generation, task execution, and feedback. We further analyze benchmarks, implementation strategies, and applications, consolidating fragmented advances and outlining future research directions for agent intelligence.

Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce high-quality training data. Existing data collection methods face inherent constraints: manual teleoperation overloads human operators, while automated planning often produces unnatural motions. We propose a Shared Autonomy framework that divides control between macro and micro motions. A human operator guides the robot's arm pose through intuitive VR teleoperation, while an autonomous DexGrasp-VLA policy handles fine-grained hand control using real-time tactile and visual feedback. This division significantly reduces cognitive load and enables efficient collection of high-quality coordinated arm-hand demonstrations. Using this data, we train an end-to-end VLA policy enhanced with our novel Arm-Hand Feature Enhancement module, which captures both distinct and shared representations of macro and micro movements for more natural coordination. Our Corrective Teleoperation system enables continuous policy improvement through human-in-the-loop failure recovery. Experiments demonstrate that our framework generates high-quality data with minimal manpower and achieves a 90% success rate across diverse objects, including unseen instances. Comprehensive evaluations validate the system's effectiveness in developing dexterous manipulation capabilities.

Machine learning research, crucial for technological advancements and innovation, often faces significant challenges due to its inherent complexity, slow pace of experimentation, and the necessity for specialized expertise. Motivated by this, we present a new systematic framework, autonomous Machine Learning Research with large language models (MLR-Copilot), designed to enhance machine learning research productivity through the automatic generation and implementation of research ideas using Large Language Model (LLM) agents. The framework consists of three phases: research idea generation, experiment implementation, and implementation execution. First, existing research papers are used to generate hypotheses and experimental plans vis IdeaAgent powered by LLMs. Next, the implementation generation phase translates these plans into executables with ExperimentAgent. This phase leverages retrieved prototype code and optionally retrieves candidate models and data. Finally, the execution phase, also managed by ExperimentAgent, involves running experiments with mechanisms for human feedback and iterative debugging to enhance the likelihood of achieving executable research outcomes. We evaluate our framework on five machine learning research tasks and the experimental results show the framework's potential to facilitate the research progress and innovations.

The evaluation of machine learning models using human-labeled validation data can be expensive and time-consuming. AI-labeled synthetic data can be used to decrease the number of human annotations required for this purpose in a process called autoevaluation. We suggest efficient and statistically principled algorithms for this purpose that improve sample efficiency while remaining unbiased. These algorithms increase the effective human-labeled sample size by up to 50% on experiments with GPT-4.

Accurate prediction of human behavior is essential for robust and safe human-AI collaboration. However, existing approaches for modeling people are often data-hungry and brittle because they either make unrealistic assumptions about rationality or are too computationally demanding to adapt rapidly. Our key insight is that many everyday social interactions may follow predictable patterns; efficient "scripts" that minimize cognitive load for actors and observers, e.g., "wait for the green light, then go." We propose modeling these routines as behavioral programs instantiated in computer code rather than policies conditioned on beliefs and desires. We introduce ROTE, a novel algorithm that leverages both large language models (LLMs) for synthesizing a hypothesis space of behavioral programs, and probabilistic inference for reasoning about uncertainty over that space. We test ROTE in a suite of gridworld tasks and a large-scale embodied household simulator. ROTE predicts human and AI behaviors from sparse observations, outperforming competitive baselines -- including behavior cloning and LLM-based methods -- by as much as 50% in terms of in-sample accuracy and out-of-sample generalization. By treating action understanding as a program synthesis problem, ROTE opens a path for AI systems to efficiently and effectively predict human behavior in the real-world.

Recent advances in real-world applications of reinforcement learning (RL) have relied on the ability to accurately simulate systems at scale. However, domains such as fluid dynamical systems exhibit complex dynamic phenomena that are hard to simulate at high integration rates, limiting the direct application of modern deep RL algorithms to often expensive or safety critical hardware. In this work, we introduce "Box o Flows", a novel benchtop experimental control system for systematically evaluating RL algorithms in dynamic real-world scenarios. We describe the key components of the Box o Flows, and through a series of experiments demonstrate how state-of-the-art model-free RL algorithms can synthesize a variety of complex behaviors via simple reward specifications. Furthermore, we explore the role of offline RL in data-efficient hypothesis testing by reusing past experiences. We believe that the insights gained from this preliminary study and the availability of systems like the Box o Flows support the way forward for developing systematic RL algorithms that can be generally applied to complex, dynamical systems. Supplementary material and videos of experiments are available at https://sites.google.com/view/box-o-flows/home.

Recent advances in large language models (LLMs) have opened new avenues for accelerating scientific research. While models are increasingly capable of assisting with routine tasks, their ability to contribute to novel, expert-level mathematical discovery is less understood. We present a collection of case studies demonstrating how researchers have successfully collaborated with advanced AI models, specifically Google's Gemini-based models (in particular Gemini Deep Think and its advanced variants), to solve open problems, refute conjectures, and generate new proofs across diverse areas in theoretical computer science, as well as other areas such as economics, optimization, and physics. Based on these experiences, we extract common techniques for effective human-AI collaboration in theoretical research, such as iterative refinement, problem decomposition, and cross-disciplinary knowledge transfer. While the majority of our results stem from this interactive, conversational methodology, we also highlight specific instances that push beyond standard chat interfaces. These include deploying the model as a rigorous adversarial reviewer to detect subtle flaws in existing proofs, and embedding it within a "neuro-symbolic" loop that autonomously writes and executes code to verify complex derivations. Together, these examples highlight the potential of AI not just as a tool for automation, but as a versatile, genuine partner in the creative process of scientific discovery.

The pursuit of data efficiency, where quality outweighs quantity, has emerged as a cornerstone in robotic manipulation, especially given the high costs associated with real-world data collection. We propose that maximizing the informational density of individual demonstrations can dramatically reduce reliance on large-scale datasets while improving task performance. To this end, we introduce Adversarial Data Collection, a Human-in-the-Loop (HiL) framework that redefines robotic data acquisition through real-time, bidirectional human-environment interactions. Unlike conventional pipelines that passively record static demonstrations, ADC adopts a collaborative perturbation paradigm: during a single episode, an adversarial operator dynamically alters object states, environmental conditions, and linguistic commands, while the tele-operator adaptively adjusts actions to overcome these evolving challenges. This process compresses diverse failure-recovery behaviors, compositional task variations, and environmental perturbations into minimal demonstrations. Our experiments demonstrate that ADC-trained models achieve superior compositional generalization to unseen task instructions, enhanced robustness to perceptual perturbations, and emergent error recovery capabilities. Strikingly, models trained with merely 20% of the demonstration volume collected through ADC significantly outperform traditional approaches using full datasets. These advances bridge the gap between data-centric learning paradigms and practical robotic deployment, demonstrating that strategic data acquisition, not merely post-hoc processing, is critical for scalable, real-world robot learning. Additionally, we are curating a large-scale ADC-Robotics dataset comprising real-world manipulation tasks with adversarial perturbations. This benchmark will be open-sourced to facilitate advancements in robotic imitation learning.

The emergence of large-language models (LLMs) that excel at code generation and commercial products such as GitHub's Copilot has sparked interest in human-AI pair programming (referred to as "pAIr programming") where an AI system collaborates with a human programmer. While traditional pair programming between humans has been extensively studied, it remains uncertain whether its findings can be applied to human-AI pair programming. We compare human-human and human-AI pair programming, exploring their similarities and differences in interaction, measures, benefits, and challenges. We find that the effectiveness of both approaches is mixed in the literature (though the measures used for pAIr programming are not as comprehensive). We summarize moderating factors on the success of human-human pair programming, which provides opportunities for pAIr programming research. For example, mismatched expertise makes pair programming less productive, therefore well-designed AI programming assistants may adapt to differences in expertise levels.

This paper introduces CoBRA, a novel toolkit for systematically specifying agent behavior in LLM-based social simulation. We found that conventional approaches that specify agent behavior through implicit natural-language descriptions often do not yield consistent behavior across models, and the resulting behavior does not capture the nuances of the descriptions. In contrast, CoBRA introduces a model-agnostic way to control agent behavior that lets researchers explicitly specify desired nuances and obtain consistent behavior across models. At the heart of CoBRA is a novel closed-loop system primitive with two components: (1) Cognitive Bias Index that measures the demonstrated cognitive bias of a social agent, by quantifying the agent's reactions in a set of validated classic social science experiments; (2) Behavioral Regulation Engine that aligns the agent's behavior to exhibit controlled cognitive bias. Through CoBRA, we show how to operationalize validated social science knowledge (i.e., classical experiments) as reusable "gym" environments for AI -- an approach that may generalize to richer social and affective simulations beyond bias alone.

Offline reinforcement learning algorithms hold the promise of enabling data-driven RL methods that do not require costly or dangerous real-world exploration and benefit from large pre-collected datasets. This in turn can facilitate real-world applications, as well as a more standardized approach to RL research. Furthermore, offline RL methods can provide effective initializations for online finetuning to overcome challenges with exploration. However, evaluating progress on offline RL algorithms requires effective and challenging benchmarks that capture properties of real-world tasks, provide a range of task difficulties, and cover a range of challenges both in terms of the parameters of the domain (e.g., length of the horizon, sparsity of rewards) and the parameters of the data (e.g., narrow demonstration data or broad exploratory data). While considerable progress in offline RL in recent years has been enabled by simpler benchmark tasks, the most widely used datasets are increasingly saturating in performance and may fail to reflect properties of realistic tasks. We propose a new benchmark for offline RL that focuses on realistic simulations of robotic manipulation and locomotion environments, based on models of real-world robotic systems, and comprising a variety of data sources, including scripted data, play-style data collected by human teleoperators, and other data sources. Our proposed benchmark covers state-based and image-based domains, and supports both offline RL and online fine-tuning evaluation, with some of the tasks specifically designed to require both pre-training and fine-tuning. We hope that our proposed benchmark will facilitate further progress on both offline RL and fine-tuning algorithms. Website with code, examples, tasks, and data is available at https://sites.google.com/view/d5rl/

The rapid advancement in capabilities of large language models (LLMs) raises a pivotal question: How can LLMs accelerate scientific discovery? This work tackles the crucial first stage of research, generating novel hypotheses. While recent work on automated hypothesis generation focuses on multi-agent frameworks and extending test-time compute, none of the approaches effectively incorporate transparency and steerability through a synergistic Human-in-the-loop (HITL) approach. To address this gap, we introduce IRIS: Interactive Research Ideation System, an open-source platform designed for researchers to leverage LLM-assisted scientific ideation. IRIS incorporates innovative features to enhance ideation, including adaptive test-time compute expansion via Monte Carlo Tree Search (MCTS), fine-grained feedback mechanism, and query-based literature synthesis. Designed to empower researchers with greater control and insight throughout the ideation process. We additionally conduct a user study with researchers across diverse disciplines, validating the effectiveness of our system in enhancing ideation. We open-source our code at https://github.com/Anikethh/IRIS-Interactive-Research-Ideation-System

We propose an agent architecture that automates parts of the common reinforcement learning experiment workflow, to enable automated mastery of control domains for embodied agents. To do so, it leverages a VLM to perform some of the capabilities normally required of a human experimenter, including the monitoring and analysis of experiment progress, the proposition of new tasks based on past successes and failures of the agent, decomposing tasks into a sequence of subtasks (skills), and retrieval of the skill to execute - enabling our system to build automated curricula for learning. We believe this is one of the first proposals for a system that leverages a VLM throughout the full experiment cycle of reinforcement learning. We provide a first prototype of this system, and examine the feasibility of current models and techniques for the desired level of automation. For this, we use a standard Gemini model, without additional fine-tuning, to provide a curriculum of skills to a language-conditioned Actor-Critic algorithm, in order to steer data collection so as to aid learning new skills. Data collected in this way is shown to be useful for learning and iteratively improving control policies in a robotics domain. Additional examination of the ability of the system to build a growing library of skills, and to judge the progress of the training of those skills, also shows promising results, suggesting that the proposed architecture provides a potential recipe for fully automated mastery of tasks and domains for embodied agents.

Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in transferring human dexterity to robots, the efficacy of trained policies relies on the quality of human demonstration data. We bridge this gap with a hand--arm teleoperation system featuring: (1) a 20--DoF linkage--driven anthropomorphic robotic hand for biomimetic dexterity, and (2) an optimization--based motion retargeting for real--time, high--fidelity reproduction of intricate human hand motions and seamless hand--arm coordination. We validate the system via extensive empirical evaluations, including dexterous in-hand manipulation tasks and a long--horizon task requiring the organization of a cluttered makeup table randomly populated with nine objects. Experimental results demonstrate its intuitive teleoperation interface with real--time control and the ability to generate high--quality demonstration data. Please refer to the accompanying video for further details.

Natural language (NL) feedback contains rich information about the user experience. Existing studies focus on an instance-level approach, where feedback is used to refine specific examples, disregarding its system-wide application. This paper proposes a general framework for unlocking the system-level use of NL feedback. We show how to use feedback to formalize system-level design decisions in a human-in-the-loop-process -- in order to produce better models. In particular this is done through: (i) metric design for tasks; and (ii) language model prompt design for refining model responses. We conduct two case studies of this approach for improving search query generation and dialog response generation, demonstrating the effectiveness of the use of system-level feedback. We show the combination of system-level feedback and instance-level feedback brings further gains, and that human written instance-level feedback results in more grounded refinements than GPT-3.5 written ones, underlying the importance of human feedback for building systems.

Synthetic simulation data and real-world human data provide scalable alternatives to circumvent the prohibitive costs of robot data collection. However, these sources suffer from the sim-to-real visual gap and the human-to-robot embodiment gap, respectively, which limits the policy's generalization to real-world scenarios. In this work, we identify a natural yet underexplored complementarity between these sources: simulation offers the robot action that human data lacks, while human data provides the real-world observation that simulation struggles to render. Motivated by this insight, we present SimHum, a co-training framework to simultaneously extract kinematic prior from simulated robot actions and visual prior from real-world human observations. Based on the two complementary priors, we achieve data-efficient and generalizable robotic manipulation in real-world tasks. Empirically, SimHum outperforms the baseline by up to 40% under the same data collection budget, and achieves a 62.5% OOD success with only 80 real data, outperforming the real only baseline by 7.1times. Videos and additional information can be found at https://kaipengfang.github.io/sim-and-human{project website}.

If you had an AI Whale-to-English translator, how could you validate whether or not it is working? Does one need to interact with the animals or rely on grounded observations such as temperature? We provide theoretical and proof-of-concept experimental evidence suggesting that interaction and even observations may not be necessary for sufficiently complex languages. One may be able to evaluate translators solely by their English outputs, offering potential advantages in terms of safety, ethics, and cost. This is an instance of machine translation quality evaluation (MTQE) without any reference translations available. A key challenge is identifying ``hallucinations,'' false translations which may appear fluent and plausible. We propose using segment-by-segment translation together with the classic NLP shuffle test to evaluate translators. The idea is to translate animal communication, turn by turn, and evaluate how often the resulting translations make more sense in order than permuted. Proof-of-concept experiments on data-scarce human languages and constructed languages demonstrate the potential utility of this evaluation methodology. These human-language experiments serve solely to validate our reference-free metric under data scarcity. It is found to correlate highly with a standard evaluation based on reference translations, which are available in our experiments. We also perform a theoretical analysis suggesting that interaction may not be necessary nor efficient in the early stages of learning to translate.

Despite strong generalization capabilities, Vision-Language-Action (VLA) models remain constrained by the high cost of expert demonstrations and insufficient real-world interaction. While online reinforcement learning (RL) has shown promise in improving general foundation models, applying RL to VLA manipulation in real-world settings is still hindered by low exploration efficiency and a restricted exploration space. Through systematic real-world experiments, we observe that the effective exploration space of online RL is closely tied to the data distribution of supervised fine-tuning (SFT). Motivated by this observation, we propose TwinRL, a digital twin-real-world collaborative RL framework designed to scale and guide exploration for VLA models. First, a high-fidelity digital twin is efficiently reconstructed from smartphone-captured scenes, enabling realistic bidirectional transfer between real and simulated environments. During the SFT warm-up stage, we introduce an exploration space expansion strategy using digital twins to broaden the support of the data trajectory distribution. Building on this enhanced initialization, we propose a sim-to-real guided exploration strategy to further accelerate online RL. Specifically, TwinRL performs efficient and parallel online RL in the digital twin prior to deployment, effectively bridging the gap between offline and online training stages. Subsequently, we exploit efficient digital twin sampling to identify failure-prone yet informative configurations, which are used to guide targeted human-in-the-loop rollouts on the real robot. In our experiments, TwinRL approaches 100% success in both in-distribution regions covered by real-world demonstrations and out-of-distribution regions, delivering at least a 30% speedup over prior real-world RL methods and requiring only about 20 minutes on average across four tasks.

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by observing human actions, which facilitates quicker integration into industrial settings compared to programming from scratch. We introduce Visual IRL that uses the RGB-D keypoints in each frame of the observed human task performance directly as state features, which are input to inverse reinforcement learning (IRL). The inversely learned reward function, which maps keypoints to reward values, is transferred from the human to the cobot using a novel neuro-symbolic dynamics model, which maps human kinematics to the cobot arm. This model allows similar end-effector positioning while minimizing joint adjustments, aiming to preserve the natural dynamics of human motion in robotic manipulation. In contrast with previous techniques that focus on end-effector placement only, our method maps multiple joint angles of the human arm to the corresponding cobot joints. Moreover, it uses an inverse kinematics model to then minimally adjust the joint angles, for accurate end-effector positioning. We evaluate the performance of this approach on two different realistic manipulation tasks. The first task is produce processing, which involves picking, inspecting, and placing onions based on whether they are blemished. The second task is liquid pouring, where the robot picks up bottles, pours the contents into designated containers, and disposes of the empty bottles. Our results demonstrate advances in human-like robotic manipulation, leading to more human-robot compatibility in manufacturing applications.

Reinforcement learning (RL) is widely used to produce robust robotic manipulation policies, but fine-tuning vision-language-action (VLA) models with RL can be unstable due to inaccurate value estimates and sparse supervision at intermediate steps. In contrast, imitation learning (IL) is easy to train but often underperforms due to its offline nature. In this paper, we propose Hi-ORS, a simple yet effective post-training method that utilizes rejection sampling to achieve both training stability and high robustness. Hi-ORS stabilizes value estimation by filtering out negatively rewarded samples during online fine-tuning, and adopts a reward-weighted supervised training objective to provide dense intermediate-step supervision. For systematic study, we develop an asynchronous inference-training framework that supports flexible online human-in-the-loop corrections, which serve as explicit guidance for learning error-recovery behaviors. Across three real-world tasks and two embodiments, Hi-ORS fine-tunes a pi-base policy to master contact-rich manipulation in just 1.5 hours of real-world training, outperforming RL and IL baselines by a substantial margin in both effectiveness and efficiency. Notably, the fine-tuned policy exhibits strong test-time scalability by reliably executing complex error-recovery behaviors to achieve better performance.

We propose and deploy an approach to continually train an instruction-following agent from feedback provided by users during collaborative interactions. During interaction, human users instruct an agent using natural language, and provide realtime binary feedback as they observe the agent following their instructions. We design a contextual bandit learning approach, converting user feedback to immediate reward. We evaluate through thousands of human-agent interactions, demonstrating 15.4% absolute improvement in instruction execution accuracy over time. We also show our approach is robust to several design variations, and that the feedback signal is roughly equivalent to the learning signal of supervised demonstration data.

Large language models (LLMs) hold great potential for many natural language applications but risk generating incorrect or toxic content. To probe when an LLM generates unwanted content, the current paradigm is to recruit a red team of human testers to design input prompts (i.e., test cases) that elicit undesirable responses from LLMs. However, relying solely on human testers is expensive and time-consuming. Recent works automate red teaming by training a separate red team LLM with reinforcement learning (RL) to generate test cases that maximize the chance of eliciting undesirable responses from the target LLM. However, current RL methods are only able to generate a small number of effective test cases resulting in a low coverage of the span of prompts that elicit undesirable responses from the target LLM. To overcome this limitation, we draw a connection between the problem of increasing the coverage of generated test cases and the well-studied approach of curiosity-driven exploration that optimizes for novelty. Our method of curiosity-driven red teaming (CRT) achieves greater coverage of test cases while mantaining or increasing their effectiveness compared to existing methods. Our method, CRT successfully provokes toxic responses from LLaMA2 model that has been heavily fine-tuned using human preferences to avoid toxic outputs. Code is available at https://github.com/Improbable-AI/curiosity_redteam

Large Language Models (LLMs) are increasingly capable of generating complete applications from natural language instructions, creating new opportunities in science and education. In these domains, interactive scientific demonstrations are particularly valuable for explaining concepts, supporting new teaching methods, and presenting research findings. Generating such demonstrations requires models to combine accurate scientific knowledge with the ability to implement interactive front-end code that behaves correctly and responds to user actions. This capability goes beyond the scope of existing benchmarks, which typically evaluate either knowledge question answering without grounding in code or static web code generation without scientific interactivity. To evaluate this integrated ability, we design a hybrid framework that combines programmatic functional testing to rigorously verify interaction logic with visually-grounded qualitative testing to assess rendered outputs against reference snapshots. Building on this framework, we present InteractScience, a benchmark consisting of a substantial set of carefully designed questions across five scientific domains, each paired with unit tests, reference snapshots, and checklists. We evaluate 30 leading open- and closed-source LLMs and report results that highlight ongoing weaknesses in integrating domain knowledge with interactive front-end coding. Our work positions InteractScience as the first benchmark to automatically measure this combined capability with realistic interactive operations, providing a foundation for advancing reliable and educationally useful scientific demonstration code generation. All code and data are publicly available at https://github.com/open-compass/InteractScience.

The field of machine learning (ML) has gained widespread adoption, leading to a significant demand for adapting ML to specific scenarios, which is yet expensive and non-trivial. The predominant approaches towards the automation of solving ML tasks (e.g., AutoML) are often time consuming and hard to understand for human developers. In contrast, though human engineers have the incredible ability to understand tasks and reason about solutions, their experience and knowledge are often sparse and difficult to utilize by quantitative approaches. In this paper, we aim to bridge the gap between machine intelligence and human knowledge by introducing a novel framework MLCopilot, which leverages the state-of-the-art LLMs to develop ML solutions for novel tasks. We showcase the possibility of extending the capability of LLMs to comprehend structured inputs and perform thorough reasoning for solving novel ML tasks. And we find that, after some dedicated design, the LLM can (i) observe from the existing experiences of ML tasks and (ii) reason effectively to deliver promising results for new tasks. The solution generated can be used directly to achieve high levels of competitiveness.

The ability to conduct and learn from interaction and experience is a central challenge in robotics, offering a scalable alternative to labor-intensive human demonstrations. However, realizing such "play" requires (1) a policy robust to diverse, potentially out-of-distribution environment states, and (2) a procedure that continuously produces useful robot experience. To address these challenges, we introduce Tether, a method for autonomous functional play involving structured, task-directed interactions. First, we design a novel open-loop policy that warps actions from a small set of source demonstrations (<=10) by anchoring them to semantic keypoint correspondences in the target scene. We show that this design is extremely data-efficient and robust even under significant spatial and semantic variations. Second, we deploy this policy for autonomous functional play in the real world via a continuous cycle of task selection, execution, evaluation, and improvement, guided by the visual understanding capabilities of vision-language models. This procedure generates diverse, high-quality datasets with minimal human intervention. In a household-like multi-object setup, our method is the first to perform many hours of autonomous multi-task play in the real world starting from only a handful of demonstrations. This produces a stream of data that consistently improves the performance of closed-loop imitation policies over time, ultimately yielding over 1000 expert-level trajectories and training policies competitive with those learned from human-collected demonstrations.

Recent research shows that LLM Agents can generate ``believable'' human behaviors via prompt-only methods, and such agents have been increasingly adopted in downstream applications. However, existing evaluation of these agents only focuses on qualitative believability (whether human raters think they are accurate), leaving open questions of whether LLM agents can accurately generate step-by-step actions mimicking a particular human's behavior in a multi-turn interaction task. In this work, we take shopping as a case study and present the first large-scale quantitative evaluation of state-of-the-art LLMs' ability to accurately simulate human behavior. Using real-world data from 31,865 online shopping sessions containing 230,965 user actions, our evaluation reveals that prompt-based LLMs (DeepSeek-R1, Llama, Claude) achieve only 11.86% accuracy in generating human actions, highlighting a substantial gap in actual behavioral accuracy. Through experiments, we also showcase that strategies as simple as fine-tuning LLMs on real human click-through data augmented with synthesized reasoning traces can greatly enhance models' performance. The fine-tuned Qwen2.5-7B achieves 17.26% action generation accuracy and 33.86% F1 score on final purchase prediction, representing substantial improvements of 5.4% and 13.85% over prompt-only baselines. This work establishes the first rigorous benchmark for human behavior simulation and provides actionable insights for developing more accurate LLM agents for future downstream applications.

The principles of automation and innovation serve as foundational elements for advancement in contemporary science and technology. Here, we introduce Pygen, an automation platform designed to empower researchers, technologists, and hobbyists to bring abstract ideas to life as core, usable software tools written in Python. Pygen leverages the immense power of autoregressive large language models to augment human creativity during the ideation, iteration, and innovation process. By combining state-of-the-art language models with open-source code generation technologies, Pygen has significantly reduced the manual overhead of tool development. From a user prompt, Pygen automatically generates Python packages for a complete workflow from concept to package generation and documentation. The findings of our work show that Pygen considerably enhances the researcher's productivity by enabling the creation of resilient, modular, and well-documented packages for various specialized purposes. We employ a prompt enhancement approach to distill the user's package description into increasingly specific and actionable. While being inherently an open-ended task, we have evaluated the generated packages and the documentation using Human Evaluation, LLM-based evaluation, and CodeBLEU, with detailed results in the results section. Furthermore, we documented our results, analyzed the limitations, and suggested strategies to alleviate them. Pygen is our vision of ethical automation, a framework that promotes inclusivity, accessibility, and collaborative development. This project marks the beginning of a large-scale effort towards creating tools where intelligent agents collaborate with humans to improve scientific and technological development substantially. Our code and generated examples are open-sourced at [https://github.com/GitsSaikat/Pygen]

The quest for human imitative AI has been an enduring topic in AI research since its inception. The technical evolution and emerging capabilities of the latest cohort of large language models (LLMs) have reinvigorated the subject beyond academia to the cultural zeitgeist. While recent NLP evaluation benchmark tasks test some aspects of human-imitative behaviour (e.g., BIG-bench's 'human-like behavior' tasks), few, if not none, examine creative problem solving abilities. Creative problem solving in humans is a well-studied topic in cognitive neuroscience with standardized tests that predominantly use the ability to associate (heterogeneous) connections among clue words as a metric for creativity. Exposure to misleading stimuli - distractors dubbed red herrings - impede human performance in such tasks via the fixation effect and Einstellung paradigm. In cognitive neuroscience studies, such fixations are experimentally induced by pre-exposing participants to orthographically similar incorrect words to subsequent word-fragments or clues. The popular British quiz show Only Connect's Connecting Wall segment essentially mimics Mednick's Remote Associates Test (RAT) formulation with built-in, deliberate red herrings, which makes it an ideal proxy dataset to explore and study fixation effect and Einstellung paradigm from cognitive neuroscience in LLMs. In addition to presenting the novel Only Connect Wall (OCW) dataset, we also report results from our evaluation of selected pre-trained language models and LLMs (including OpenAI's GPT series) on creative problem solving tasks like grouping clue words by heterogeneous connections, and identifying correct open knowledge domain connections in respective groups. The code and link to the dataset are available at https://github.com/TaatiTeam/OCW.

The scientific research paradigm is undergoing a profound transformation owing to the development of Artificial Intelligence (AI). Recent works demonstrate that various AI-assisted research methods can largely improve research efficiency by improving data analysis, accelerating computation, and fostering novel idea generation. To further move towards the ultimate goal (i.e., automatic scientific research), in this paper, we propose Dolphin, the first closed-loop open-ended auto-research framework to further build the entire process of human scientific research. Dolphin can generate research ideas, perform experiments, and get feedback from experimental results to generate higher-quality ideas. More specifically, Dolphin first generates novel ideas based on relevant papers which are ranked by the topic and task attributes. Then, the codes are automatically generated and debugged with the exception-traceback-guided local code structure. Finally, Dolphin automatically analyzes the results of each idea and feeds the results back to the next round of idea generation. Experiments are conducted on the benchmark datasets of different topics and results show that Dolphin can generate novel ideas continuously and complete the experiment in a loop. We highlight that Dolphin can automatically propose methods that are comparable to the state-of-the-art in some tasks such as 2D image classification and 3D point classification.

Large Language Models (LLMs) are increasingly integrated into software development workflows, yet their behavior in structured, specification-driven processes remains poorly understood. This paper presents an empirical study design using CURRANTE, a Visual Studio Code extension that enables a human-in-the-loop workflow for LLM-assisted code generation. The tool guides developers through three sequential stages--Specification, Tests, and Function--allowing them to define requirements, generate and refine test suites, and produce functions that satisfy those tests. Participants will solve medium-difficulty problems from the LiveCodeBench dataset, while the tool records fine-grained interaction logs, effectiveness metrics (e.g., pass rate, all-pass completion), efficiency indicators (e.g., time-to-pass), and iteration behaviors. The study aims to analyze how human intervention in specification and test refinement influences the quality and dynamics of LLM-generated code. The results will provide empirical insights into the design of next-generation development environments that align human reasoning with model-driven code generation.

Reinforcement Learning with Human Feedback (RLHF) has been demonstrated to significantly enhance the performance of large language models (LLMs) by aligning their outputs with desired human values through instruction tuning. However, RLHF is constrained by the expertise and productivity limitations of human evaluators. A response to this downside is to fall back to supervised fine-tuning (SFT) with additional carefully selected expert demonstrations. However, while this method has been proven to be effective, it invariably also leads to increased human-in-the-loop overhead. In this study, we propose another alternative approach: Reinforcement Learning with Generative Adversarial Feedback (RLGAF) to RLHF and SFT, which uses a generative adversarial training style to enable the LLMs to learn useful human expert demonstrations without being directly exposed to the training examples, thus enabling good generalization capabilities while preserving sample efficiency. Our preliminary findings indicate that RLGAF can help align LLMs outputs with competitive performance against RLHF and SFT, while not suffering from their respective inherent restrictions, suggesting promising avenues for further research on automating AI alignment.

Large language models (LLMs) such as ChatGPT have seen widespread adoption due to their ability to follow user instructions well. Developing these LLMs involves a complex yet poorly understood workflow requiring training with human feedback. Replicating and understanding this instruction-following process faces three major challenges: the high cost of data collection, the lack of trustworthy evaluation, and the absence of reference method implementations. We address these challenges with AlpacaFarm, a simulator that enables research and development for learning from feedback at a low cost. First, we design LLM prompts to simulate human feedback that are 45x cheaper than crowdworkers and display high agreement with humans. Second, we propose an automatic evaluation and validate it against human instructions obtained on real-world interactions. Third, we contribute reference implementations for several methods (PPO, best-of-n, expert iteration, and more) that learn from pairwise feedback. Finally, as an end-to-end validation of AlpacaFarm, we train and evaluate eleven models on 10k pairs of real human feedback and show that rankings of models trained in AlpacaFarm match rankings of models trained on human data. As a demonstration of the research possible in AlpacaFarm, we find that methods that use a reward model can substantially improve over supervised fine-tuning and that our reference PPO implementation leads to a +10% improvement in win-rate against Davinci003. We release all components of AlpacaFarm at https://github.com/tatsu-lab/alpaca_farm.

We introduce an open-source system called SIGMA (short for "Situated Interactive Guidance, Monitoring, and Assistance") as a platform for conducting research on task-assistive agents in mixed-reality scenarios. The system leverages the sensing and rendering affordances of a head-mounted mixed-reality device in conjunction with large language and vision models to guide users step by step through procedural tasks. We present the system's core capabilities, discuss its overall design and implementation, and outline directions for future research enabled by the system. SIGMA is easily extensible and provides a useful basis for future research at the intersection of mixed reality and AI. By open-sourcing an end-to-end implementation, we aim to lower the barrier to entry, accelerate research in this space, and chart a path towards community-driven end-to-end evaluation of large language, vision, and multimodal models in the context of real-world interactive applications.

Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. However, merely completing tasks is insufficient for cognitive robots, who should learn and apply human preferences to future scenarios. In this work, we propose a framework that combines human preferences with physical constraints, requiring robots to complete tasks while considering both. Firstly, we developed a benchmark of everyday household activities, which are often evaluated based on specific preferences. We then introduced In-Context Learning from Human Feedback (ICLHF), where human feedback comes from direct instructions and adjustments made intentionally or unintentionally in daily life. Extensive sets of experiments, testing the ICLHF to generate task plans and balance physical constraints with preferences, have demonstrated the efficiency of our approach.

Large language models that exhibit instruction-following behaviour represent one of the biggest recent upheavals in conversational interfaces, a trend in large part fuelled by the release of OpenAI's ChatGPT, a proprietary large language model for text generation fine-tuned through reinforcement learning from human feedback (LLM+RLHF). We review the risks of relying on proprietary software and survey the first crop of open-source projects of comparable architecture and functionality. The main contribution of this paper is to show that openness is differentiated, and to offer scientific documentation of degrees of openness in this fast-moving field. We evaluate projects in terms of openness of code, training data, model weights, RLHF data, licensing, scientific documentation, and access methods. We find that while there is a fast-growing list of projects billing themselves as 'open source', many inherit undocumented data of dubious legality, few share the all-important instruction-tuning (a key site where human annotation labour is involved), and careful scientific documentation is exceedingly rare. Degrees of openness are relevant to fairness and accountability at all points, from data collection and curation to model architecture, and from training and fine-tuning to release and deployment.

Explaining the decisions of an Artificial Intelligence (AI) model is increasingly critical in many real-world, high-stake applications. Hundreds of papers have either proposed new feature attribution methods, discussed or harnessed these tools in their work. However, despite humans being the target end-users, most attribution methods were only evaluated on proxy automatic-evaluation metrics (Zhang et al. 2018; Zhou et al. 2016; Petsiuk et al. 2018). In this paper, we conduct the first user study to measure attribution map effectiveness in assisting humans in ImageNet classification and Stanford Dogs fine-grained classification, and when an image is natural or adversarial (i.e., contains adversarial perturbations). Overall, feature attribution is surprisingly not more effective than showing humans nearest training-set examples. On a harder task of fine-grained dog categorization, presenting attribution maps to humans does not help, but instead hurts the performance of human-AI teams compared to AI alone. Importantly, we found automatic attribution-map evaluation measures to correlate poorly with the actual human-AI team performance. Our findings encourage the community to rigorously test their methods on the downstream human-in-the-loop applications and to rethink the existing evaluation metrics.

ResearchPilot is an open-source, self-hostable multi-agent system for literature-review assistance. Given a natural-language research question, it retrieves papers from Semantic Scholar and arXiv, extracts structured findings from paper abstracts, synthesizes cross-paper patterns, and drafts a citation-aware related-work section. The system combines FastAPI, Next.js, DSPy, SQLite, and Qdrant in a local-first architecture that supports bring-your-own-key model access and remote-or-local embeddings. This paper describes the system design, typed agent interfaces, persistence and history-search mechanisms, and the engineering tradeoffs involved in building a transparent research assistant. Rather than claiming algorithmic novelty, we present ResearchPilot as a systems contribution and evaluate it through automated tests and end-to-end local runs. We discuss limitations including external API rate limits, abstract-only extraction, incomplete corpus coverage, and the lack of citation verification.

Reinforcement learning from human feedback (RLHF) has become an important technical and storytelling tool to deploy the latest machine learning systems. In this book, we hope to give a gentle introduction to the core methods for people with some level of quantitative background. The book starts with the origins of RLHF -- both in recent literature and in a convergence of disparate fields of science in economics, philosophy, and optimal control. We then set the stage with definitions, problem formulation, data collection, and other common math used in the literature. The core of the book details every optimization stage in using RLHF, from starting with instruction tuning to training a reward model and finally all of rejection sampling, reinforcement learning, and direct alignment algorithms. The book concludes with advanced topics -- understudied research questions in synthetic data and evaluation -- and open questions for the field.

Frontier AI safety policies highlight automation of AI research and development (R&D) by AI agents as an important capability to anticipate. However, there exist few evaluations for AI R&D capabilities, and none that are highly realistic and have a direct comparison to human performance. We introduce RE-Bench (Research Engineering Benchmark, v1), which consists of 7 challenging, open-ended ML research engineering environments and data from 71 8-hour attempts by 61 distinct human experts. We confirm that our experts make progress in the environments given 8 hours, with 82% of expert attempts achieving a non-zero score and 24% matching or exceeding our strong reference solutions. We compare humans to several public frontier models through best-of-k with varying time budgets and agent designs, and find that the best AI agents achieve a score 4x higher than human experts when both are given a total time budget of 2 hours per environment. However, humans currently display better returns to increasing time budgets, narrowly exceeding the top AI agent scores given an 8-hour budget, and achieving 2x the score of the top AI agent when both are given 32 total hours (across different attempts). Qualitatively, we find that modern AI agents possess significant expertise in many ML topics -- e.g. an agent wrote a faster custom Triton kernel than any of our human experts' -- and can generate and test solutions over ten times faster than humans, at much lower cost. We open-source the evaluation environments, human expert data, analysis code and agent trajectories to facilitate future research.

Generative AI tools hold promise to increase human productivity. This paper presents results from a controlled experiment with GitHub Copilot, an AI pair programmer. Recruited software developers were asked to implement an HTTP server in JavaScript as quickly as possible. The treatment group, with access to the AI pair programmer, completed the task 55.8% faster than the control group. Observed heterogenous effects show promise for AI pair programmers to help people transition into software development careers.

Recent advances in Vision-Language Models (VLMs) have enabled mobile agents to perceive and interact with real-world mobile environments based on human instructions. However, the current fully autonomous paradigm poses potential safety risks when model understanding or reasoning capabilities are insufficient. To address this challenge, we first introduce InquireBench, a comprehensive benchmark specifically designed to evaluate mobile agents' capabilities in safe interaction and proactive inquiry with users, encompassing 5 categories and 22 sub-categories, where most existing VLM-based agents demonstrate near-zero performance. In this paper, we aim to develop an interactive system that actively seeks human confirmation at critical decision points. To achieve this, we propose InquireMobile, a novel model inspired by reinforcement learning, featuring a two-stage training strategy and an interactive pre-action reasoning mechanism. Finally, our model achieves an 46.8% improvement in inquiry success rate and the best overall success rate among existing baselines on InquireBench. We will open-source all datasets, models, and evaluation codes to facilitate development in both academia and industry.

While large language models demonstrate remarkable capabilities, they often present challenges in terms of safety, alignment with human values, and stability during training. Here, we focus on two prevalent methods used to align these models, Supervised Fine-Tuning (SFT) and Reinforcement Learning from Human Feedback (RLHF). SFT is simple and robust, powering a host of open-source models, while RLHF is a more sophisticated method used in top-tier models like ChatGPT but also suffers from instability and susceptibility to reward hacking. We propose a novel approach, Supervised Iterative Learning from Human Feedback (SuperHF), which seeks to leverage the strengths of both methods. Our hypothesis is two-fold: that the reward model used in RLHF is critical for efficient data use and model generalization and that the use of Proximal Policy Optimization (PPO) in RLHF may not be necessary and could contribute to instability issues. SuperHF replaces PPO with a simple supervised loss and a Kullback-Leibler (KL) divergence prior. It creates its own training data by repeatedly sampling a batch of model outputs and filtering them through the reward model in an online learning regime. We then break down the reward optimization problem into three components: robustly optimizing the training rewards themselves, preventing reward hacking-exploitation of the reward model that degrades model performance-as measured by a novel METEOR similarity metric, and maintaining good performance on downstream evaluations. Our experimental results show SuperHF exceeds PPO-based RLHF on the training objective, easily and favorably trades off high reward with low reward hacking, improves downstream calibration, and performs the same on our GPT-4 based qualitative evaluation scheme all the while being significantly simpler to implement, highlighting SuperHF's potential as a competitive language model alignment technique.

We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of four modules. The first module is a data collection module that is designed to collect human demonstration videos from the point of view of a robot using an AR headset. The second module is a video understanding module that detects objects and extracts 3D human-hand trajectories from demonstration videos. The third module transfers a human-hand trajectory into a reference trajectory of a robot end-effector in 3D space. The last module utilizes a trajectory optimization algorithm to solve a trajectory in the robot configuration space that can follow the end-effector trajectory transferred from the human demonstration. Consequently, these modules enable a robot to watch a human demonstration video once and then repeat the same mobile manipulation task in different environments, even when objects are placed differently from the demonstrations. Experiments of different manipulation tasks are conducted on a mobile manipulator to verify the effectiveness of our system

As synthetic data becomes higher quality and proliferates on the internet, machine learning models are increasingly trained on a mix of human- and machine-generated data. Despite the successful stories of using synthetic data for representation learning, using synthetic data for generative model training creates "self-consuming loops" which may lead to training instability or even collapse, unless certain conditions are met. Our paper aims to stabilize self-consuming generative model training. Our theoretical results demonstrate that by introducing an idealized correction function, which maps a data point to be more likely under the true data distribution, self-consuming loops can be made exponentially more stable. We then propose self-correction functions, which rely on expert knowledge (e.g. the laws of physics programmed in a simulator), and aim to approximate the idealized corrector automatically and at scale. We empirically validate the effectiveness of self-correcting self-consuming loops on the challenging human motion synthesis task, and observe that it successfully avoids model collapse, even when the ratio of synthetic data to real data is as high as 100%.

Generative foundation models are susceptible to implicit biases that can arise from extensive unsupervised training data. Such biases can produce suboptimal samples, skewed outcomes, and unfairness, with potentially significant repercussions. Consequently, aligning these models with human ethics and preferences is an essential step toward ensuring their responsible and effective deployment in real-world applications. Prior research has primarily employed Reinforcement Learning from Human Feedback (RLHF) as a means of addressing this problem, wherein generative models are fine-tuned using RL algorithms guided by a human-feedback-informed reward model. However, the inefficiencies and instabilities associated with RL algorithms frequently present substantial obstacles to the successful alignment of generative models, necessitating the development of a more robust and streamlined approach. To this end, we introduce a new framework, Reward rAnked FineTuning (RAFT), designed to align generative models more effectively. Utilizing a reward model and a sufficient number of samples, our approach selects the high-quality samples, discarding those that exhibit undesired behavior, and subsequently assembles a streaming dataset. This dataset serves as the basis for aligning the generative model and can be employed under both offline and online settings. Notably, the sample generation process within RAFT is gradient-free, rendering it compatible with black-box generators. Through extensive experiments, we demonstrate that our proposed algorithm exhibits strong performance in the context of both large language models and diffusion models.

In recent developments within the research community, the integration of Large Language Models (LLMs) in creating fully autonomous agents has garnered significant interest. Despite this, LLM-based agents frequently demonstrate notable shortcomings in adjusting to dynamic environments and fully grasping human needs. In this work, we introduce the problem of LLM-based human-agent collaboration for complex task-solving, exploring their synergistic potential. In addition, we propose a Reinforcement Learning-based Human-Agent Collaboration method, ReHAC. This approach includes a policy model designed to determine the most opportune stages for human intervention within the task-solving process. We construct a human-agent collaboration dataset to train this policy model in an offline reinforcement learning environment. Our validation tests confirm the model's effectiveness. The results demonstrate that the synergistic efforts of humans and LLM-based agents significantly improve performance in complex tasks, primarily through well-planned, limited human intervention. Datasets and code are available at: https://github.com/XueyangFeng/ReHAC.

As large language models (LLMs) get integrated into human decision-making, they are increasingly choosing goals autonomously rather than only completing human-defined ones, assuming they will reflect human preferences. However, human-LLM similarity in goal selection remains largely untested. We directly assess the validity of LLMs as proxies for human goal selection in a controlled, open-ended learning task borrowed from cognitive science. Across four state-of-the-art models (GPT-5, Gemini 2.5 Pro, Claude Sonnet 4.5, and Centaur), we find substantial divergence from human behavior. While people gradually explore and learn to achieve goals with diversity across individuals, most models exploit a single identified solution (reward hacking) or show surprisingly low performance, with distinct patterns across models and little variability across instances of the same model. Even Centaur, explicitly trained to emulate humans in experimental settings, poorly captures people's goal selection. Chain-of-thought reasoning and persona steering provide limited improvements. These findings highlight the uniqueness of human goal selection, cautioning against replacing it with current models in applications such as personal assistance, scientific discovery, and policy research.

ENIGMA-51 is a new egocentric dataset acquired in an industrial scenario by 19 subjects who followed instructions to complete the repair of electrical boards using industrial tools (e.g., electric screwdriver) and equipments (e.g., oscilloscope). The 51 egocentric video sequences are densely annotated with a rich set of labels that enable the systematic study of human behavior in the industrial domain. We provide benchmarks on four tasks related to human behavior: 1) untrimmed temporal detection of human-object interactions, 2) egocentric human-object interaction detection, 3) short-term object interaction anticipation and 4) natural language understanding of intents and entities. Baseline results show that the ENIGMA-51 dataset poses a challenging benchmark to study human behavior in industrial scenarios. We publicly release the dataset at https://iplab.dmi.unict.it/ENIGMA-51.

Human-human motion generation is essential for understanding humans as social beings. Current methods fall into two main categories: single-person-based methods and separate modeling-based methods. To delve into this field, we abstract the overall generation process into a general framework MetaMotion, which consists of two phases: temporal modeling and interaction mixing. For temporal modeling, the single-person-based methods concatenate two people into a single one directly, while the separate modeling-based methods skip the modeling of interaction sequences. The inadequate modeling described above resulted in sub-optimal performance and redundant model parameters. In this paper, we introduce TIMotion (Temporal and Interactive Modeling), an efficient and effective framework for human-human motion generation. Specifically, we first propose Causal Interactive Injection to model two separate sequences as a causal sequence leveraging the temporal and causal properties. Then we present Role-Evolving Scanning to adjust to the change in the active and passive roles throughout the interaction. Finally, to generate smoother and more rational motion, we design Localized Pattern Amplification to capture short-term motion patterns. Extensive experiments on InterHuman and InterX demonstrate that our method achieves superior performance. Project page: https://aigc-explorer.github.io/TIMotion-page/

Artificial Intelligence is moving from models that only generate text to Agentic AI, where systems behave as autonomous entities that can perceive, reason, plan, and act. Large Language Models (LLMs) are no longer used only as passive knowledge engines but as cognitive controllers that combine memory, tool use, and feedback from their environment to pursue extended goals. This shift already supports the automation of complex workflows in software engineering, scientific discovery, and web navigation, yet the variety of emerging designs, from simple single loop agents to hierarchical multi agent systems, makes the landscape hard to navigate. In this paper, we investigate architectures and propose a unified taxonomy that breaks agents into Perception, Brain, Planning, Action, Tool Use, and Collaboration. We use this lens to describe the move from linear reasoning procedures to native inference time reasoning models, and the transition from fixed API calls to open standards like the Model Context Protocol (MCP) and Native Computer Use. We also group the environments in which these agents operate, including digital operating systems, embodied robotics, and other specialized domains, and we review current evaluation practices. Finally, we highlight open challenges, such as hallucination in action, infinite loops, and prompt injection, and outline future research directions toward more robust and reliable autonomous systems.

Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method for performing a task -- natural human behavior has a great deal of heterogeneity, with several optimal ways to demonstrate a task. This multimodality is inconsequential to human users, with task variations manifesting as subconscious choices; for example, reaching down, then across to grasp an object, versus reaching across, then down. Yet, this mismatch presents a problem for interactive imitation learning, where sequences of users improve on a policy by iteratively collecting new, possibly conflicting demonstrations. To combat this problem of demonstrator incompatibility, this work designs an approach for 1) measuring the compatibility of a new demonstration given a base policy, and 2) actively eliciting more compatible demonstrations from new users. Across two simulation tasks requiring long-horizon, dexterous manipulation and a real-world "food plating" task with a Franka Emika Panda arm, we show that we can both identify incompatible demonstrations via post-hoc filtering, and apply our compatibility measure to actively elicit compatible demonstrations from new users, leading to improved task success rates across simulated and real environments.