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View article: SwiLTra-Bench: The Swiss Legal Translation Benchmark
SwiLTra-Bench: The Swiss Legal Translation Benchmark Open
In Switzerland legal translation is uniquely important due to the country’s four official languages and requirements for multilingual legal documentation. However, this process traditionally relies on professionals who must be both legal e…
View article: SwiLTra-Bench: The Swiss Legal Translation Benchmark
SwiLTra-Bench: The Swiss Legal Translation Benchmark Open
In Switzerland legal translation is uniquely important due to the country's four official languages and requirements for multilingual legal documentation. However, this process traditionally relies on professionals who must be both legal e…
View article: Privacy Preserving Multi-Agent Reinforcement Learning in Supply Chains
Privacy Preserving Multi-Agent Reinforcement Learning in Supply Chains Open
This paper addresses privacy concerns in multi-agent reinforcement learning (MARL), specifically within the context of supply chains where individual strategic data must remain confidential. Organizations within the supply chain are modele…
View article: Stackelberg Games for Learning Emergent Behaviors During Competitive Autocurricula
Stackelberg Games for Learning Emergent Behaviors During Competitive Autocurricula Open
Autocurricular training is an important sub-area of multi-agent reinforcement learning~(MARL) that allows multiple agents to learn emergent skills in an unsupervised co-evolving scheme. The robotics community has experimented autocurricula…
View article: Hierarchical Control Strategy for Moving A Robot Manipulator Between Small Containers
Hierarchical Control Strategy for Moving A Robot Manipulator Between Small Containers Open
In this paper, we study the implementation of a model predictive controller (MPC) for the task of object manipulation in a highly uncertain environment (e.g., picking objects from a semi-flexible array of densely packed bins). As a real-ti…
View article: Improved Object Pose Estimation via Deep Pre-touch Sensing
Improved Object Pose Estimation via Deep Pre-touch Sensing Open
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
View article: Motivating Physical Activity via Competitive Human-Robot Interaction
Motivating Physical Activity via Competitive Human-Robot Interaction Open
This project aims to motivate research in competitive human-robot interaction by creating a robot competitor that can challenge human users in certain scenarios such as physical exercise and games. With this goal in mind, we introduce the …
View article: Competitive Physical Human-Robot Game Play
Competitive Physical Human-Robot Game Play Open
While competitive games have been studied extensively in the AI community for benchmarking purposes, there has only been limited discussion of human interaction with embodied agents under competitive settings. In this work, we aim to motiv…
View article: Contact-less manipulation of millimeter-scale objects via ultrasonic levitation
Contact-less manipulation of millimeter-scale objects via ultrasonic levitation Open
Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have b…
View article: Benchmarking Robot Manipulation With the Rubik's Cube
Benchmarking Robot Manipulation With the Rubik's Cube Open
Benchmarks for robot manipulation are crucial to measuring progress in the\nfield, yet there are few benchmarks that demonstrate critical manipulation\nskills, possess standardized metrics, and can be attempted by a wide array of\nrobot pl…