Daily Papers

Large Language Models (LLMs) have shown great promise in integrating diverse expert models to tackle intricate language and vision tasks. Despite their significance in advancing the field of Artificial Intelligence Generated Content (AIGC), their potential in intelligent audio content creation remains unexplored. In this work, we tackle the problem of creating audio content with storylines encompassing speech, music, and sound effects, guided by text instructions. We present WavJourney, a system that leverages LLMs to connect various audio models for audio content generation. Given a text description of an auditory scene, WavJourney first prompts LLMs to generate a structured script dedicated to audio storytelling. The audio script incorporates diverse audio elements, organized based on their spatio-temporal relationships. As a conceptual representation of audio, the audio script provides an interactive and interpretable rationale for human engagement. Afterward, the audio script is fed into a script compiler, converting it into a computer program. Each line of the program calls a task-specific audio generation model or computational operation function (e.g., concatenate, mix). The computer program is then executed to obtain an explainable solution for audio generation. We demonstrate the practicality of WavJourney across diverse real-world scenarios, including science fiction, education, and radio play. The explainable and interactive design of WavJourney fosters human-machine co-creation in multi-round dialogues, enhancing creative control and adaptability in audio production. WavJourney audiolizes the human imagination, opening up new avenues for creativity in multimedia content creation.

Today's image generation systems are capable of producing realistic and high-quality images. However, user prompts often contain ambiguities, making it difficult for these systems to interpret users' actual intentions. Consequently, many users must modify their prompts several times to ensure the generated images meet their expectations. While some methods focus on enhancing prompts to make the generated images fit user needs, the model is still hard to understand users' real needs, especially for non-expert users. In this research, we aim to enhance the visual parameter-tuning process, making the model user-friendly for individuals without specialized knowledge and better understand user needs. We propose a human-machine co-adaption strategy using mutual information between the user's prompts and the pictures under modification as the optimizing target to make the system better adapt to user needs. We find that an improved model can reduce the necessity for multiple rounds of adjustments. We also collect multi-round dialogue datasets with prompts and images pairs and user intent. Various experiments demonstrate the effectiveness of the proposed method in our proposed dataset. Our annotation tools and several examples of our dataset are available at https://zenodo.org/records/14876029 for easier review. We will make open source our full dataset and code.

Recent technological advances, especially in the field of machine learning, provide astonishing progress on the road towards artificial general intelligence. However, tasks in current real-world business applications cannot yet be solved by machines alone. We, therefore, identify the need for developing socio-technological ensembles of humans and machines. Such systems possess the ability to accomplish complex goals by combining human and artificial intelligence to collectively achieve superior results and continuously improve by learning from each other. Thus, the need for structured design knowledge for those systems arises. Following a taxonomy development method, this article provides three main contributions: First, we present a structured overview of interdisciplinary research on the role of humans in the machine learning pipeline. Second, we envision hybrid intelligence systems and conceptualize the relevant dimensions for system design for the first time. Finally, we offer useful guidance for system developers during the implementation of such applications.

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.

AI creation, such as poem or lyrics generation, has attracted increasing attention from both industry and academic communities, with many promising models proposed in the past few years. Existing methods usually estimate the outputs based on single and independent visual or textual information. However, in reality, humans usually make creations according to their experiences, which may involve different modalities and be sequentially correlated. To model such human capabilities, in this paper, we define and solve a novel AI creation problem based on human experiences. More specifically, we study how to generate texts based on sequential multi-modal information. Compared with the previous works, this task is much more difficult because the designed model has to well understand and adapt the semantics among different modalities and effectively convert them into the output in a sequential manner. To alleviate these difficulties, we firstly design a multi-channel sequence-to-sequence architecture equipped with a multi-modal attention network. For more effective optimization, we then propose a curriculum negative sampling strategy tailored for the sequential inputs. To benchmark this problem and demonstrate the effectiveness of our model, we manually labeled a new multi-modal experience dataset. With this dataset, we conduct extensive experiments by comparing our model with a series of representative baselines, where we can demonstrate significant improvements in our model based on both automatic and human-centered metrics. The code and data are available at: https://github.com/Aman-4-Real/MMTG.

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.

Karl Marx once wrote that ``the human essence is the ensemble of social relations'', suggesting that individuals are not isolated entities but are fundamentally shaped by their interactions with other entities, within which contexts play a constitutive and essential role. With the advent of computers and artificial intelligence, these contexts are no longer limited to purely human--human interactions: human--machine interactions are included as well. Then a central question emerges: How can machines better understand our situations and purposes? To address this challenge, researchers have recently introduced the concept of context engineering. Although it is often regarded as a recent innovation of the agent era, we argue that related practices can be traced back more than twenty years. Since the early 1990s, the field has evolved through distinct historical phases, each shaped by the intelligence level of machines: from early human--computer interaction frameworks built around primitive computers, to today's human--agent interaction paradigms driven by intelligent agents, and potentially to human--level or superhuman intelligence in the future. In this paper, we situate context engineering, provide a systematic definition, outline its historical and conceptual landscape, and examine key design considerations for practice. By addressing these questions, we aim to offer a conceptual foundation for context engineering and sketch its promising future. This paper is a stepping stone for a broader community effort toward systematic context engineering in AI systems.

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.

Recent advancements in language models (LMs) have sparked growing interest in developing LM agents. While fully autonomous agents could excel in many scenarios, numerous use cases inherently require them to collaborate with humans due to humans' latent preferences, domain expertise, or need for control. To facilitate the study of human-agent collaboration, we present Collaborative Gym (Co-Gym), a general framework enabling asynchronous, tripartite interaction among agents, humans, and task environments. We instantiate Co-Gym with three representative tasks in both simulated and real-world conditions, and propose an evaluation framework that assesses both the collaboration outcomes and processes. Our findings reveal that collaborative agents consistently outperform their fully autonomous counterparts in task performance within those delivered cases, achieving win rates of 86% in Travel Planning, 74% in Tabular Analysis, and 66% in Related Work when evaluated by real users. However, our study also highlights significant challenges in developing collaborative agents, requiring advancements in core aspects of intelligence -- communication capabilities, situational awareness, and balancing autonomy and human control.

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.

Effective collaboration of dual-arm robots and their tool use capabilities are increasingly important areas in the advancement of robotics. These skills play a significant role in expanding robots' ability to operate in diverse real-world environments. However, progress is impeded by the scarcity of specialized training data. This paper introduces RoboTwin, a novel benchmark dataset combining real-world teleoperated data with synthetic data from digital twins, designed for dual-arm robotic scenarios. Using the COBOT Magic platform, we have collected diverse data on tool usage and human-robot interaction. We present a innovative approach to creating digital twins using AI-generated content, transforming 2D images into detailed 3D models. Furthermore, we utilize large language models to generate expert-level training data and task-specific pose sequences oriented toward functionality. Our key contributions are: 1) the RoboTwin benchmark dataset, 2) an efficient real-to-simulation pipeline, and 3) the use of language models for automatic expert-level data generation. These advancements are designed to address the shortage of robotic training data, potentially accelerating the development of more capable and versatile robotic systems for a wide range of real-world applications. The project page is available at https://robotwin-benchmark.github.io/early-version/

Human-humanoid collaboration shows significant promise for applications in healthcare, domestic assistance, and manufacturing. While compliant robot-human collaboration has been extensively developed for robotic arms, enabling compliant human-humanoid collaboration remains largely unexplored due to humanoids' complex whole-body dynamics. In this paper, we propose a proprioception-only reinforcement learning approach, COLA, that combines leader and follower behaviors within a single policy. The model is trained in a closed-loop environment with dynamic object interactions to predict object motion patterns and human intentions implicitly, enabling compliant collaboration to maintain load balance through coordinated trajectory planning. We evaluate our approach through comprehensive simulator and real-world experiments on collaborative carrying tasks, demonstrating the effectiveness, generalization, and robustness of our model across various terrains and objects. Simulation experiments demonstrate that our model reduces human effort by 24.7%. compared to baseline approaches while maintaining object stability. Real-world experiments validate robust collaborative carrying across different object types (boxes, desks, stretchers, etc.) and movement patterns (straight-line, turning, slope climbing). Human user studies with 23 participants confirm an average improvement of 27.4% compared to baseline models. Our method enables compliant human-humanoid collaborative carrying without requiring external sensors or complex interaction models, offering a practical solution for real-world deployment.

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.

Recent advancements in general-purpose AI have highlighted the importance of guiding AI systems towards the intended goals, ethical principles, and values of individuals and groups, a concept broadly recognized as alignment. However, the lack of clarified definitions and scopes of human-AI alignment poses a significant obstacle, hampering collaborative efforts across research domains to achieve this alignment. In particular, ML- and philosophy-oriented alignment research often views AI alignment as a static, unidirectional process (i.e., aiming to ensure that AI systems' objectives match humans) rather than an ongoing, mutual alignment problem [429]. This perspective largely neglects the long-term interaction and dynamic changes of alignment. To understand these gaps, we introduce a systematic review of over 400 papers published between 2019 and January 2024, spanning multiple domains such as Human-Computer Interaction (HCI), Natural Language Processing (NLP), Machine Learning (ML), and others. We characterize, define and scope human-AI alignment. From this, we present a conceptual framework of "Bidirectional Human-AI Alignment" to organize the literature from a human-centered perspective. This framework encompasses both 1) conventional studies of aligning AI to humans that ensures AI produces the intended outcomes determined by humans, and 2) a proposed concept of aligning humans to AI, which aims to help individuals and society adjust to AI advancements both cognitively and behaviorally. Additionally, we articulate the key findings derived from literature analysis, including discussions about human values, interaction techniques, and evaluations. To pave the way for future studies, we envision three key challenges for future directions and propose examples of potential future solutions.

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.

Recently, remarkable progress has been made in automated task-solving through the use of multi-agent driven by large language models (LLMs). However, existing LLM-based multi-agent works primarily focus on solving simple dialogue tasks, and complex tasks are rarely studied, mainly due to the LLM hallucination problem. This type of hallucination becomes cascading when naively chaining multiple intelligent agents, resulting in a failure to effectively address complex problems. Therefore, we introduce MetaGPT, an innovative framework that incorporates efficient human workflows as a meta programming approach into LLM-based multi-agent collaboration. Specifically, MetaGPT encodes Standardized Operating Procedures (SOPs) into prompts to enhance structured coordination. Subsequently, it mandates modular outputs, empowering agents with domain expertise comparable to human professionals, to validate outputs and minimize compounded errors. In this way, MetaGPT leverages the assembly line paradigm to assign diverse roles to various agents, thereby establishing a framework that can effectively and cohesively deconstruct complex multi-agent collaborative problems. Our experiments on collaborative software engineering benchmarks demonstrate that MetaGPT generates more coherent and correct solutions compared to existing chat-based multi-agent systems. This highlights the potential of integrating human domain knowledge into multi-agent systems, thereby creating new opportunities to tackle complex real-world challenges. The GitHub repository of this project is publicly available on:https://github.com/geekan/MetaGPT.

Human models play a crucial role in human-robot interaction (HRI), enabling robots to consider the impact of their actions on people and plan their behavior accordingly. However, crafting good human models is challenging; capturing context-dependent human behavior requires significant prior knowledge and/or large amounts of interaction data, both of which are difficult to obtain. In this work, we explore the potential of large-language models (LLMs) -- which have consumed vast amounts of human-generated text data -- to act as zero-shot human models for HRI. Our experiments on three social datasets yield promising results; the LLMs are able to achieve performance comparable to purpose-built models. That said, we also discuss current limitations, such as sensitivity to prompts and spatial/numerical reasoning mishaps. Based on our findings, we demonstrate how LLM-based human models can be integrated into a social robot's planning process and applied in HRI scenarios. Specifically, we present one case study on a simulated trust-based table-clearing task and replicate past results that relied on custom models. Next, we conduct a new robot utensil-passing experiment (n = 65) where preliminary results show that planning with a LLM-based human model can achieve gains over a basic myopic plan. In summary, our results show that LLMs offer a promising (but incomplete) approach to human modeling for HRI.

Despite the significant demand for assistive technology among vulnerable groups (e.g., the elderly, children, and the disabled) in daily tasks, research into advanced AI-driven assistive solutions that genuinely accommodate their diverse needs remains sparse. Traditional human-machine interaction tasks often require machines to simply help without nuanced consideration of human abilities and feelings, such as their opportunity for practice and learning, sense of self-improvement, and self-esteem. Addressing this gap, we define a pivotal and novel challenge Smart Help, which aims to provide proactive yet adaptive support to human agents with diverse disabilities and dynamic goals in various tasks and environments. To establish this challenge, we leverage AI2-THOR to build a new interactive 3D realistic household environment for the Smart Help task. We introduce an innovative opponent modeling module that provides a nuanced understanding of the main agent's capabilities and goals, in order to optimize the assisting agent's helping policy. Rigorous experiments validate the efficacy of our model components and show the superiority of our holistic approach against established baselines. Our findings illustrate the potential of AI-imbued assistive robots in improving the well-being of vulnerable groups.

Recent improvements in large language models (LLMs) have led many researchers to focus on building fully autonomous AI agents. This position paper questions whether this approach is the right path forward, as these autonomous systems still have problems with reliability, transparency, and understanding the actual requirements of human. We suggest a different approach: LLM-based Human-Agent Systems (LLM-HAS), where AI works with humans rather than replacing them. By keeping human involved to provide guidance, answer questions, and maintain control, these systems can be more trustworthy and adaptable. Looking at examples from healthcare, finance, and software development, we show how human-AI teamwork can handle complex tasks better than AI working alone. We also discuss the challenges of building these collaborative systems and offer practical solutions. This paper argues that progress in AI should not be measured by how independent systems become, but by how well they can work with humans. The most promising future for AI is not in systems that take over human roles, but in those that enhance human capabilities through meaningful partnership.

We present a benchmark for Planning And Reasoning Tasks in humaN-Robot collaboration (PARTNR) designed to study human-robot coordination in household activities. PARTNR tasks exhibit characteristics of everyday tasks, such as spatial, temporal, and heterogeneous agent capability constraints. We employ a semi-automated task generation pipeline using Large Language Models (LLMs), incorporating simulation in the loop for grounding and verification. PARTNR stands as the largest benchmark of its kind, comprising 100,000 natural language tasks, spanning 60 houses and 5,819 unique objects. We analyze state-of-the-art LLMs on PARTNR tasks, across the axes of planning, perception and skill execution. The analysis reveals significant limitations in SoTA models, such as poor coordination and failures in task tracking and recovery from errors. When LLMs are paired with real humans, they require 1.5x as many steps as two humans collaborating and 1.1x more steps than a single human, underscoring the potential for improvement in these models. We further show that fine-tuning smaller LLMs with planning data can achieve performance on par with models 9 times larger, while being 8.6x faster at inference. Overall, PARTNR highlights significant challenges facing collaborative embodied agents and aims to drive research in this direction.

Recently, there is an increasing interest in using artificial intelligence (AI) to automate aspects of the research process, or even autonomously conduct the full research cycle from idea generation, over data analysis, to composing and evaluation of scientific manuscripts. Examples of working AI scientist systems have been demonstrated for computer science tasks and running molecular biology labs. While some approaches aim for full autonomy of the scientific AI, others rather aim for leveraging human-AI teaming. Here, we address how to adapt such approaches for boosting Brain-Computer Interface (BCI) development, as well as brain research resp. neuroscience at large. We argue that at this time, a strong emphasis on human-AI teaming, in contrast to fully autonomous AI BCI researcher will be the most promising way forward. We introduce the collaborative workspaces concept for human-AI teaming based on a set of Janusian design principles, looking both ways, to the human as well as to the AI side. Based on these principles, we present ChatBCI, a Python-based toolbox for enabling human-AI collaboration based on interaction with Large Language Models (LLMs), designed for BCI research and development projects. We show how ChatBCI was successfully used in a concrete BCI project on advancing motor imagery decoding from EEG signals. Our approach can be straightforwardly extended to broad neurotechnological and neuroscientific topics, and may by design facilitate human expert knowledge transfer to scientific AI systems in general.

What better way to understand the impact of AI on software engineering than to ask AI itself? We constructed Story Arena, a multi-agent "writer's room" in which multiple AI agents, independently imbued with a position statement on the future of software engineering, converse with each other to develop a shared vision. They then use this shared vision to collaboratively construct a design fiction that depicts this vision in narrative form. We present "The Code of Trust," a short fiction that investigates themes of human comprehension, trust, content ownership, augmentation vs. replacement, and uncertain futures in human-AI co-creation.

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.

With the rapid growth of computing powers and recent advances in deep learning, we have witnessed impressive demonstrations of novel robot capabilities in research settings. Nonetheless, these learning systems exhibit brittle generalization and require excessive training data for practical tasks. To harness the capabilities of state-of-the-art robot learning models while embracing their imperfections, we present Sirius, a principled framework for humans and robots to collaborate through a division of work. In this framework, partially autonomous robots are tasked with handling a major portion of decision-making where they work reliably; meanwhile, human operators monitor the process and intervene in challenging situations. Such a human-robot team ensures safe deployments in complex tasks. Further, we introduce a new learning algorithm to improve the policy's performance on the data collected from the task executions. The core idea is re-weighing training samples with approximated human trust and optimizing the policies with weighted behavioral cloning. We evaluate Sirius in simulation and on real hardware, showing that Sirius consistently outperforms baselines over a collection of contact-rich manipulation tasks, achieving an 8% boost in simulation and 27% on real hardware than the state-of-the-art methods in policy success rate, with twice faster convergence and 85% memory size reduction. Videos and more details are available at https://ut-austin-rpl.github.io/sirius/

Generative AI technologies are growing in power, utility, and use. As generative technologies are being incorporated into mainstream applications, there is a need for guidance on how to design those applications to foster productive and safe use. Based on recent research on human-AI co-creation within the HCI and AI communities, we present a set of seven principles for the design of generative AI applications. These principles are grounded in an environment of generative variability. Six principles are focused on designing for characteristics of generative AI: multiple outcomes & imperfection; exploration & control; and mental models & explanations. In addition, we urge designers to design against potential harms that may be caused by a generative model's hazardous output, misuse, or potential for human displacement. We anticipate these principles to usefully inform design decisions made in the creation of novel human-AI applications, and we invite the community to apply, revise, and extend these principles to their own work.

Through iterative, cross-disciplinary discussions, we define and propose next-steps for Human-centered Generative AI (HGAI) from a technical perspective. We contribute a roadmap that lays out future directions of Generative AI spanning three levels: Aligning with human values; Accommodating humans' expression of intents; and Augmenting humans' abilities in a collaborative workflow. This roadmap intends to draw interdisciplinary research teams to a comprehensive list of emergent ideas in HGAI, identifying their interested topics while maintaining a coherent big picture of the future work landscape.

Recent advances in AI -- including generative approaches -- have resulted in technology that can support humans in scientific discovery and decision support but may also disrupt democracies and target individuals. The responsible use of AI increasingly shows the need for human-AI teaming, necessitating effective interaction between humans and machines. A crucial yet often overlooked aspect of these interactions is the different ways in which humans and machines generalise. In cognitive science, human generalisation commonly involves abstraction and concept learning. In contrast, AI generalisation encompasses out-of-domain generalisation in machine learning, rule-based reasoning in symbolic AI, and abstraction in neuro-symbolic AI. In this perspective paper, we combine insights from AI and cognitive science to identify key commonalities and differences across three dimensions: notions of generalisation, methods for generalisation, and evaluation of generalisation. We map the different conceptualisations of generalisation in AI and cognitive science along these three dimensions and consider their role in human-AI teaming. This results in interdisciplinary challenges across AI and cognitive science that must be tackled to provide a foundation for effective and cognitively supported alignment in human-AI teaming scenarios.

Human intelligence, the most evident and accessible form of source of reasoning, hosted by biological hardware, has evolved and been refined over thousands of years, positioning itself today to create new artificial forms and preparing to self--design their evolutionary path forward. Beginning with the advent of foundation models, the rate at which human and artificial intelligence interact with each other has surpassed any anticipated quantitative figures. The close engagement led to both bits of intelligence to be impacted in various ways, which naturally resulted in complex confluences that warrant close scrutiny. In the sequel, we shall explore the interplay between human and machine intelligence, focusing on the crucial role humans play in developing ethical, responsible, and robust intelligent systems. We slightly delve into interesting aspects of implementation inspired by the mechanisms underlying neuroscience and human cognition. Additionally, we propose future perspectives, capitalizing on the advantages of symbiotic designs to suggest a human-centered direction for next-generation AI development. We finalize this evolving document with a few thoughts and open questions yet to be addressed by the broader community.

The dawn of embodied intelligence has ushered in an unprecedented imperative for resilient, cognition-enabled multi-agent collaboration across next-generation ecosystems, revolutionizing paradigms in autonomous manufacturing, adaptive service robotics, and cyber-physical production architectures. However, current robotic systems face significant limitations, such as limited cross-embodiment adaptability, inefficient task scheduling, and insufficient dynamic error correction. While End-to-end VLA models demonstrate inadequate long-horizon planning and task generalization, hierarchical VLA models suffer from a lack of cross-embodiment and multi-agent coordination capabilities. To address these challenges, we introduce RoboOS, the first open-source embodied system built on a Brain-Cerebellum hierarchical architecture, enabling a paradigm shift from single-agent to multi-agent intelligence. Specifically, RoboOS consists of three key components: (1) Embodied Brain Model (RoboBrain), a MLLM designed for global perception and high-level decision-making; (2) Cerebellum Skill Library, a modular, plug-and-play toolkit that facilitates seamless execution of multiple skills; and (3) Real-Time Shared Memory, a spatiotemporal synchronization mechanism for coordinating multi-agent states. By integrating hierarchical information flow, RoboOS bridges Embodied Brain and Cerebellum Skill Library, facilitating robust planning, scheduling, and error correction for long-horizon tasks, while ensuring efficient multi-agent collaboration through Real-Time Shared Memory. Furthermore, we enhance edge-cloud communication and cloud-based distributed inference to facilitate high-frequency interactions and enable scalable deployment. Extensive real-world experiments across various scenarios, demonstrate RoboOS's versatility in supporting heterogeneous embodiments. Project website: https://github.com/FlagOpen/RoboOS

Bimanual manipulation is essential for achieving human-like dexterity in robots, but the large-scale and diverse bimanual robot datasets remain scarce due to hardware heterogeneity across robotic platforms. To address the challenge, we present RoboCOIN, a comprehensive multi-embodiment bimanual manipulation dataset with over 180,000 demonstrations collected from 15 distinct robotic platforms. The dataset covers 16 scenarios, including residential, commercial, and working environments, with 421 tasks systematically organized by bimanual coordination patterns and object properties. Our key innovation is a hierarchical capability pyramid that provides multi-level annotations, spanning trajectory-level concepts, segment-level subtasks, and frame-level kinematics. We further develop CoRobot, a comprehensive processing framework featuring Robot Trajectory Markup Language (RTML) for quality assessment, automated annotation generation, and unified multi-embodiment management. Extensive experiments demonstrate the reliability and effectiveness of RoboCOIN in multi-embodiment bimanual learning, with significant performance improvements across various model architectures and robotic platforms. The complete dataset and framework are open-sourced and publicly available for further research purposes. Project website: https://FlagOpen.github.io/RoboCOIN/.

Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in optimization efficiency due to the (i) combinatorial nature of morphological search spaces and (ii) intricate dependencies between morphology and control. We prove that the ineffective morphology representation and unbalanced reward signals between the design and control stages are key obstacles to efficiency. To advance towards efficient embodiment co-design, we propose BodyGen, which utilizes (1) topology-aware self-attention for both design and control, enabling efficient morphology representation with lightweight model sizes; (2) a temporal credit assignment mechanism that ensures balanced reward signals for optimization. With our findings, Body achieves an average 60.03% performance improvement against state-of-the-art baselines. We provide codes and more results on the website: https://genesisorigin.github.io.

With the advancement of language models (LMs), their exposure to private data is increasingly inevitable, and their deployment (especially for smaller ones) on personal devices, such as PCs and smartphones, has become a prevailing trend. In contexts laden with user information, enabling models to both safeguard user privacy and execute commands efficiently emerges as an essential research imperative. In this paper, we propose CoGenesis, a collaborative generation framework integrating large (hosted on cloud infrastructure) and small models (deployed on local devices) to address privacy concerns logically. Initially, we design a pipeline to create personalized writing instruction datasets enriched with extensive context details as the testbed of this research issue. Subsequently, we introduce two variants of CoGenesis based on sketch and logits respectively. Our experimental findings, based on our synthesized dataset and two additional open-source datasets, indicate that: 1) Large-scale models perform well when provided with user context but struggle in the absence of such context. 2) While specialized smaller models fine-tuned on the synthetic dataset show promise, they still lag behind their larger counterparts. 3) Our CoGenesis framework, utilizing mixed-scale models, showcases competitive performance, providing a feasible solution to privacy issues.

Human-Scene Interaction (HSI) is a vital component of fields like embodied AI and virtual reality. Despite advancements in motion quality and physical plausibility, two pivotal factors, versatile interaction control and the development of a user-friendly interface, require further exploration before the practical application of HSI. This paper presents a unified HSI framework, UniHSI, which supports unified control of diverse interactions through language commands. This framework is built upon the definition of interaction as Chain of Contacts (CoC): steps of human joint-object part pairs, which is inspired by the strong correlation between interaction types and human-object contact regions. Based on the definition, UniHSI constitutes a Large Language Model (LLM) Planner to translate language prompts into task plans in the form of CoC, and a Unified Controller that turns CoC into uniform task execution. To facilitate training and evaluation, we collect a new dataset named ScenePlan that encompasses thousands of task plans generated by LLMs based on diverse scenarios. Comprehensive experiments demonstrate the effectiveness of our framework in versatile task execution and generalizability to real scanned scenes. The project page is at https://github.com/OpenRobotLab/UniHSI .

Agents built on large language models (LLMs) have excelled in turn-by-turn human-AI collaboration but struggle with simultaneous tasks requiring real-time interaction. Latency issues and the challenge of inferring variable human strategies hinder their ability to make autonomous decisions without explicit instructions. Through experiments with current independent System 1 and System 2 methods, we validate the necessity of using Dual Process Theory (DPT) in real-time tasks. We propose DPT-Agent, a novel language agent framework that integrates System 1 and System 2 for efficient real-time simultaneous human-AI collaboration. DPT-Agent's System 1 uses a Finite-state Machine (FSM) and code-as-policy for fast, intuitive, and controllable decision-making. DPT-Agent's System 2 integrates Theory of Mind (ToM) and asynchronous reflection to infer human intentions and perform reasoning-based autonomous decisions. We demonstrate the effectiveness of DPT-Agent through further experiments with rule-based agents and human collaborators, showing significant improvements over mainstream LLM-based frameworks. To the best of our knowledge, DPT-Agent is the first language agent framework that achieves successful real-time simultaneous human-AI collaboration autonomously. Code of DPT-Agent can be found in https://github.com/sjtu-marl/DPT-Agent.

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.

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/

The design of complex machines stands as both a marker of human intelligence and a foundation of engineering practice. Given recent advances in large language models (LLMs), we ask whether they, too, can learn to create. We approach this question through the lens of compositional machine design: a task in which machines are assembled from standardized components to meet functional demands like locomotion or manipulation in a simulated physical environment. To support this investigation, we introduce BesiegeField, a testbed built on the machine-building game Besiege, which enables part-based construction, physical simulation and reward-driven evaluation. Using BesiegeField, we benchmark state-of-the-art LLMs with agentic workflows and identify key capabilities required for success, including spatial reasoning, strategic assembly, and instruction-following. As current open-source models fall short, we explore reinforcement learning (RL) as a path to improvement: we curate a cold-start dataset, conduct RL finetuning experiments, and highlight open challenges at the intersection of language, machine design, and physical reasoning.

We present MOSAIC, a modular architecture for home robots to perform complex collaborative tasks, such as cooking with everyday users. MOSAIC tightly collaborates with humans, interacts with users using natural language, coordinates multiple robots, and manages an open vocabulary of everyday objects. At its core, MOSAIC employs modularity: it leverages multiple large-scale pre-trained models for general tasks like language and image recognition, while using streamlined modules designed for task-specific control. We extensively evaluate MOSAIC on 60 end-to-end trials where two robots collaborate with a human user to cook a combination of 6 recipes. We also extensively test individual modules with 180 episodes of visuomotor picking, 60 episodes of human motion forecasting, and 46 online user evaluations of the task planner. We show that MOSAIC is able to efficiently collaborate with humans by running the overall system end-to-end with a real human user, completing 68.3% (41/60) collaborative cooking trials of 6 different recipes with a subtask completion rate of 91.6%. Finally, we discuss the limitations of the current system and exciting open challenges in this domain. The project's website is at https://portal-cornell.github.io/MOSAIC/

The rapid evolution of large language models (LLMs) and their capacity to simulate human cognition and behavior has given rise to LLM-based frameworks and tools that are evaluated and applied based on their ability to perform tasks traditionally performed by humans, namely those involving cognition, decision-making, and social interaction. This survey provides a comprehensive examination of such human-centric LLM capabilities, focusing on their performance in both individual tasks (where an LLM acts as a stand-in for a single human) and collective tasks (where multiple LLMs coordinate to mimic group dynamics). We first evaluate LLM competencies across key areas including reasoning, perception, and social cognition, comparing their abilities to human-like skills. Then, we explore real-world applications of LLMs in human-centric domains such as behavioral science, political science, and sociology, assessing their effectiveness in replicating human behaviors and interactions. Finally, we identify challenges and future research directions, such as improving LLM adaptability, emotional intelligence, and cultural sensitivity, while addressing inherent biases and enhancing frameworks for human-AI collaboration. This survey aims to provide a foundational understanding of LLMs from a human-centric perspective, offering insights into their current capabilities and potential for future development.

This position paper argues that, in order to understand AI, we cannot rely on our existing vocabulary of human words. Instead, we should strive to develop neologisms: new words that represent precise human concepts that we want to teach machines, or machine concepts that we need to learn. We start from the premise that humans and machines have differing concepts. This means interpretability can be framed as a communication problem: humans must be able to reference and control machine concepts, and communicate human concepts to machines. Creating a shared human-machine language through developing neologisms, we believe, could solve this communication problem. Successful neologisms achieve a useful amount of abstraction: not too detailed, so they're reusable in many contexts, and not too high-level, so they convey precise information. As a proof of concept, we demonstrate how a "length neologism" enables controlling LLM response length, while a "diversity neologism" allows sampling more variable responses. Taken together, we argue that we cannot understand AI using our existing vocabulary, and expanding it through neologisms creates opportunities for both controlling and understanding machines better.

Agents, as user-centric tools, are increasingly deployed for human task delegation, assisting with a broad spectrum of requests by generating thoughts, engaging with user proxies, and producing action plans. However, agents based on large language models (LLMs) often face substantial planning latency due to two primary factors: the efficiency limitations of the underlying LLMs due to their large size and high demand, and the structural complexity of the agents due to the extensive generation of intermediate thoughts to produce the final output. Given that inefficiency in service provision can undermine the value of automation for users, this paper presents a human-centered efficient agent planning method -- Interactive Speculative Planning -- aiming at enhancing the efficiency of agent planning through both system design and human-AI interaction. Our approach advocates for the co-design of the agent system and user interface, underscoring the importance of an agent system that can fluidly manage user interactions and interruptions. By integrating human interruptions as a fundamental component of the system, we not only make it more user-centric but also expedite the entire process by leveraging human-in-the-loop interactions to provide accurate intermediate steps. Code and data will be released.

As humans delegate more tasks and decisions to artificial intelligence (AI), we risk losing control of our individual and collective futures. Relatively simple algorithmic systems already steer human decision-making, such as social media feed algorithms that lead people to unintentionally and absent-mindedly scroll through engagement-optimized content. In this paper, we develop the idea of human agency by integrating philosophical and scientific theories of agency with AI-assisted evaluation methods: using large language models (LLMs) to simulate and validate user queries and to evaluate AI responses. We develop HumanAgencyBench (HAB), a scalable and adaptive benchmark with six dimensions of human agency based on typical AI use cases. HAB measures the tendency of an AI assistant or agent to Ask Clarifying Questions, Avoid Value Manipulation, Correct Misinformation, Defer Important Decisions, Encourage Learning, and Maintain Social Boundaries. We find low-to-moderate agency support in contemporary LLM-based assistants and substantial variation across system developers and dimensions. For example, while Anthropic LLMs most support human agency overall, they are the least supportive LLMs in terms of Avoid Value Manipulation. Agency support does not appear to consistently result from increasing LLM capabilities or instruction-following behavior (e.g., RLHF), and we encourage a shift towards more robust safety and alignment targets.

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing work often overlooks the differences between humans and robots, producing unsatisfactory results. In this paper, we study how perfectly aligned human-robot pairs benefit robot learning. Capitalizing on VR-based teleportation, we introduce H\&R, a third-person dataset with 2,600 episodes, each of which captures the fine-grained correspondence between human hand and robot gripper. Inspired by the recent success of diffusion models, we introduce Human2Robot, an end-to-end diffusion framework that formulates learning from human demonstration as a generative task. Human2Robot fully explores temporal dynamics in human videos to generate robot videos and predict actions at the same time. Through comprehensive evaluations of 4 carefully selected tasks in real-world settings, we demonstrate that Human2Robot can not only generate high-quality robot videos but also excels in seen tasks and generalizing to different positions, unseen appearances, novel instances, and even new backgrounds and task types.

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 AI capabilities increasingly surpass human proficiency in complex tasks, current alignment techniques including SFT and RLHF face fundamental challenges in ensuring reliable oversight. These methods rely on direct human assessment and become untenable when AI outputs exceed human cognitive thresholds. In response to this challenge, we explore two hypotheses: (1) critique of critique can be easier than critique itself, extending the widely-accepted observation that verification is easier than generation to the critique domain, as critique itself is a specialized form of generation; (2) this difficulty relationship is recursively held, suggesting that when direct evaluation is infeasible, performing high-order critiques (e.g., critique of critique of critique) offers a more tractable supervision pathway. To examine these hypotheses, we perform Human-Human, Human-AI, and AI-AI experiments across multiple tasks. Our results demonstrate encouraging evidence supporting these hypotheses and suggest that recursive self-critiquing is a promising direction for scalable oversight.

Researchers are investing substantial effort in developing powerful general-purpose agents, wherein Foundation Models are used as modules within agentic systems (e.g. Chain-of-Thought, Self-Reflection, Toolformer). However, the history of machine learning teaches us that hand-designed solutions are eventually replaced by learned solutions. We formulate a new research area, Automated Design of Agentic Systems (ADAS), which aims to automatically create powerful agentic system designs, including inventing novel building blocks and/or combining them in new ways. We further demonstrate that there is an unexplored yet promising approach within ADAS where agents can be defined in code and new agents can be automatically discovered by a meta agent programming ever better ones in code. Given that programming languages are Turing Complete, this approach theoretically enables the learning of any possible agentic system: including novel prompts, tool use, control flows, and combinations thereof. We present a simple yet effective algorithm named Meta Agent Search to demonstrate this idea, where a meta agent iteratively programs interesting new agents based on an ever-growing archive of previous discoveries. Through extensive experiments across multiple domains including coding, science, and math, we show that our algorithm can progressively invent agents with novel designs that greatly outperform state-of-the-art hand-designed agents. Importantly, we consistently observe the surprising result that agents invented by Meta Agent Search maintain superior performance even when transferred across domains and models, demonstrating their robustness and generality. Provided we develop it safely, our work illustrates the potential of an exciting new research direction toward automatically designing ever-more powerful agentic systems to benefit humanity.

We study a challenging task: text-to-motion synthesis, aiming to generate motions that align with textual descriptions and exhibit coordinated movements. Currently, the part-based methods introduce part partition into the motion synthesis process to achieve finer-grained generation. However, these methods encounter challenges such as the lack of coordination between different part motions and difficulties for networks to understand part concepts. Moreover, introducing finer-grained part concepts poses computational complexity challenges. In this paper, we propose Part-Coordinating Text-to-Motion Synthesis (ParCo), endowed with enhanced capabilities for understanding part motions and communication among different part motion generators, ensuring a coordinated and fined-grained motion synthesis. Specifically, we discretize whole-body motion into multiple part motions to establish the prior concept of different parts. Afterward, we employ multiple lightweight generators designed to synthesize different part motions and coordinate them through our part coordination module. Our approach demonstrates superior performance on common benchmarks with economic computations, including HumanML3D and KIT-ML, providing substantial evidence of its effectiveness. Code is available at https://github.com/qrzou/ParCo .

The evolution of large language models (LLMs) toward artificial superhuman intelligence (ASI) hinges on data reproduction, a cyclical process in which models generate, curate and retrain on novel data to refine capabilities. Current methods, however, risk getting stuck in a data reproduction trap: optimizing outputs within fixed human-generated distributions in a closed loop leads to stagnation, as models merely recombine existing knowledge rather than explore new frontiers. In this paper, we propose language games as a pathway to expanded data reproduction, breaking this cycle through three mechanisms: (1) role fluidity, which enhances data diversity and coverage by enabling multi-agent systems to dynamically shift roles across tasks; (2) reward variety, embedding multiple feedback criteria that can drive complex intelligent behaviors; and (3) rule plasticity, iteratively evolving interaction constraints to foster learnability, thereby injecting continual novelty. By scaling language games into global sociotechnical ecosystems, human-AI co-evolution generates unbounded data streams that drive open-ended exploration. This framework redefines data reproduction not as a closed loop but as an engine for superhuman intelligence.

Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive tele-operated data collection which is difficult to scale. This paper investigates a more scalable data source, egocentric human demonstrations, to serve as cross-embodiment training data for robot learning. We mitigate the embodiment gap between humanoids and humans from both the data and modeling perspectives. We collect an egocentric task-oriented dataset (PH2D) that is directly aligned with humanoid manipulation demonstrations. We then train a human-humanoid behavior policy, which we term Human Action Transformer (HAT). The state-action space of HAT is unified for both humans and humanoid robots and can be differentiably retargeted to robot actions. Co-trained with smaller-scale robot data, HAT directly models humanoid robots and humans as different embodiments without additional supervision. We show that human data improves both generalization and robustness of HAT with significantly better data collection efficiency. Code and data: https://human-as-robot.github.io/

A multi-decade exploration into the theoretical foundations of artificial and natural general intelligence, which has been expressed in a series of books and papers and used to guide a series of practical and research-prototype software systems, is reviewed at a moderate level of detail. The review covers underlying philosophies (patternist philosophy of mind, foundational phenomenological and logical ontology), formalizations of the concept of intelligence, and a proposed high level architecture for AGI systems partly driven by these formalizations and philosophies. The implementation of specific cognitive processes such as logical reasoning, program learning, clustering and attention allocation in the context and language of this high level architecture is considered, as is the importance of a common (e.g. typed metagraph based) knowledge representation for enabling "cognitive synergy" between the various processes. The specifics of human-like cognitive architecture are presented as manifestations of these general principles, and key aspects of machine consciousness and machine ethics are also treated in this context. Lessons for practical implementation of advanced AGI in frameworks such as OpenCog Hyperon are briefly considered.

Recent work has proposed artificial intelligence (AI) models that can learn to decide whether to make a prediction for an instance of a task or to delegate it to a human by considering both parties' capabilities. In simulations with synthetically generated or context-independent human predictions, delegation can help improve the performance of human-AI teams -- compared to humans or the AI model completing the task alone. However, so far, it remains unclear how humans perform and how they perceive the task when they are aware that an AI model delegated task instances to them. In an experimental study with 196 participants, we show that task performance and task satisfaction improve through AI delegation, regardless of whether humans are aware of the delegation. Additionally, we identify humans' increased levels of self-efficacy as the underlying mechanism for these improvements in performance and satisfaction. Our findings provide initial evidence that allowing AI models to take over more management responsibilities can be an effective form of human-AI collaboration in workplaces.

Large-scale pre-trained language models (PLMs) bring new opportunities to challenging problems, especially those that need high-level intelligence, such as the math word problem (MWPs). However, directly applying existing PLMs to MWPs can fail as the generation process lacks sufficient supervision and thus lacks fast adaptivity as humans. We notice that human reasoning has a dual reasoning framework that consists of an immediate reaction system (system 1) and a delicate reasoning system (system 2), where the entire reasoning is determined by their interaction. This inspires us to develop a cooperative reasoning-induced PLM for solving MWPs, called Cooperative Reasoning (CoRe), resulting in a human-like reasoning architecture with system 1 as the generator and system 2 as the verifier. In our approach, the generator is responsible for generating reasoning paths, and the verifiers are used to supervise the evaluation in order to obtain reliable feedback for the generator. We evaluate our CoRe framework on several mathematical reasoning datasets and achieve decent improvement over state-of-the-art methods, up to 9.6% increase over best baselines. Our codes are available at https://github.com/TianHongZXY/CoRe

The widespread consumer-grade 3D printers and learning resources online enable novices to self-train in remote settings. While troubleshooting plays an essential part of 3D printing, the process remains challenging for many remote novices even with the help of well-developed online sources, such as online troubleshooting archives and online community help. We conducted a formative study with 76 active 3D printing users to learn how remote novices leverage online resources in troubleshooting and their challenges. We found that remote novices cannot fully utilize online resources. For example, the online archives statically provide general information, making it hard to search and relate their unique cases with existing descriptions. Online communities can potentially ease their struggles by providing more targeted suggestions, but a helper who can provide custom help is rather scarce, making it hard to obtain timely assistance. We propose 3DPFIX, an interactive 3D troubleshooting system powered by the pipeline to facilitate Human-AI Collaboration, designed to improve novices' 3D printing experiences and thus help them easily accumulate their domain knowledge. We built 3DPFIX that supports automated diagnosis and solution-seeking. 3DPFIX was built upon shared dialogues about failure cases from Q&A discourses accumulated in online communities. We leverage social annotations (i.e., comments) to build an annotated failure image dataset for AI classifiers and extract a solution pool. Our summative study revealed that using 3DPFIX helped participants spend significantly less effort in diagnosing failures and finding a more accurate solution than relying on their common practice. We also found that 3DPFIX users learn about 3D printing domain-specific knowledge. We discuss the implications of leveraging community-driven data in developing future Human-AI Collaboration designs.

Large language models (LLMs) have transformed code generation, yet their application in hardware design produces gate counts 38\%--1075\% higher than human designs. We present CircuitMind, a multi-agent framework that achieves human-competitive efficiency through three key innovations: syntax locking (constraining generation to basic logic gates), retrieval-augmented generation (enabling knowledge-driven design), and dual-reward optimization (balancing correctness with efficiency). To evaluate our approach, we introduce TC-Bench, the first gate-level benchmark harnessing collective intelligence from the TuringComplete ecosystem -- a competitive circuit design platform with hundreds of thousands of players. Experiments show CircuitMind enables 55.6\% of model implementations to match or exceed top-tier human experts in composite efficiency metrics. Most remarkably, our framework elevates the 14B Phi-4 model to outperform both GPT-4o mini and Gemini 2.0 Flash, achieving efficiency comparable to the top 25\% of human experts without requiring specialized training. These innovations establish a new paradigm for hardware optimization where collaborative AI systems leverage collective human expertise to achieve optimal circuit designs. Our model, data, and code are open-source at https://github.com/BUAA-CLab/CircuitMind.

Large Language Models (LLMs) have demonstrated the ability to tackle increasingly complex tasks through advanced reasoning, long-form content generation, and tool use. Solving these tasks often involves long inference-time computations. In human problem solving, a common strategy to expedite work is collaboration: by dividing the problem into sub-tasks, exploring different strategies concurrently, etc. Recent research has shown that LLMs can also operate in parallel by implementing explicit cooperation frameworks, such as voting mechanisms or the explicit creation of independent sub-tasks that can be executed in parallel. However, each of these frameworks may not be suitable for all types of tasks, which can hinder their applicability. In this work, we propose a different design approach: we run LLM "workers" in parallel , allowing them to synchronize via a concurrently-updated attention cache and prompt these workers to decide how best to collaborate. Our approach allows the instances to come up with their own collaboration strategy for the problem at hand, all the while "seeing" each other's partial progress in the concurrent cache. We implement this approach via Hogwild! Inference: a parallel LLM inference engine where multiple instances of the same LLM run in parallel with the same attention cache, with "instant" access to each other's generated tokens. Hogwild! inference takes advantage of Rotary Position Embeddings (RoPE) to avoid recomputation while improving parallel hardware utilization. We find that modern reasoning-capable LLMs can perform inference with shared Key-Value cache out of the box, without additional fine-tuning.

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.

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/.

We introduce SigmaCollab, a dataset enabling research on physically situated human-AI collaboration. The dataset consists of a set of 85 sessions in which untrained participants were guided by a mixed-reality assistive AI agent in performing procedural tasks in the physical world. SigmaCollab includes a set of rich, multimodal data streams, such as the participant and system audio, egocentric camera views from the head-mounted device, depth maps, head, hand and gaze tracking information, as well as additional annotations performed post-hoc. While the dataset is relatively small in size (~ 14 hours), its application-driven and interactive nature brings to the fore novel research challenges for human-AI collaboration, and provides more realistic testing grounds for various AI models operating in this space. In future work, we plan to use the dataset to construct a set of benchmarks for physically situated collaboration in mixed-reality task assistive scenarios. SigmaCollab is available at https://github.com/microsoft/SigmaCollab.

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central challenge remains that often, it is difficult (perhaps even impossible) to capture the full complexity of the deployment environment, and therefore the desired tasks, at training time. Consequently, the representation, or abstraction, of the tasks the human hopes for the robot to perform in one environment may be misaligned with the representation of the tasks that the robot has learned in another. We postulate that because humans will be the ultimate evaluator of system success in the world, they are best suited to communicating the aspects of the tasks that matter to the robot. Our key insight is that effective learning from human input requires first explicitly learning good intermediate representations and then using those representations for solving downstream tasks. We highlight three areas where we can use this approach to build interactive systems and offer future directions of work to better create advanced collaborative robots.

Generation of images containing multiple humans, performing complex actions, while preserving their facial identities, is a significant challenge. A major factor contributing to this is the lack of a dedicated benchmark. To address this, we introduce MultiHuman-Testbench, a novel benchmark for rigorously evaluating generative models for multi-human generation. The benchmark comprises 1,800 samples, including carefully curated text prompts, describing a range of simple to complex human actions. These prompts are matched with a total of 5,550 unique human face images, sampled uniformly to ensure diversity across age, ethnic background, and gender. Alongside captions, we provide human-selected pose conditioning images which accurately match the prompt. We propose a multi-faceted evaluation suite employing four key metrics to quantify face count, ID similarity, prompt alignment, and action detection. We conduct a thorough evaluation of a diverse set of models, including zero-shot approaches and training-based methods, with and without regional priors. We also propose novel techniques to incorporate image and region isolation using human segmentation and Hungarian matching, significantly improving ID similarity. Our proposed benchmark and key findings provide valuable insights and a standardized tool for advancing research in multi-human image generation. The dataset and evaluation codes will be available at https://github.com/Qualcomm-AI-research/MultiHuman-Testbench.

Given a (machine learning) classifier and a collection of unlabeled data, how can we efficiently identify misclassification patterns presented in this dataset? To address this problem, we propose a human-machine collaborative framework that consists of a team of human annotators and a sequential recommendation algorithm. The recommendation algorithm is conceptualized as a stochastic sampler that, in each round, queries the annotators a subset of samples for their true labels and obtains the feedback information on whether the samples are misclassified. The sampling mechanism needs to balance between discovering new patterns of misclassification (exploration) and confirming the potential patterns of classification (exploitation). We construct a determinantal point process, whose intensity balances the exploration-exploitation trade-off through the weighted update of the posterior at each round to form the generator of the stochastic sampler. The numerical results empirically demonstrate the competitive performance of our framework on multiple datasets at various signal-to-noise ratios.

As Natural Language Processing (NLP) systems are increasingly employed in intricate social environments, a pressing query emerges: Can these NLP systems mirror human-esque collaborative intelligence, in a multi-agent society consisting of multiple large language models (LLMs)? This paper probes the collaboration mechanisms among contemporary NLP systems by melding practical experiments with theoretical insights. We fabricate four unique `societies' comprised of LLM agents, where each agent is characterized by a specific `trait' (easy-going or overconfident) and engages in collaboration with a distinct `thinking pattern' (debate or reflection). Evaluating these multi-agent societies on three benchmark datasets, we discern that LLM agents navigate tasks by leveraging diverse social behaviors, from active debates to introspective reflections. Notably, certain collaborative strategies only optimize efficiency (using fewer API tokens), but also outshine previous top-tier approaches. Moreover, our results further illustrate that LLM agents manifest human-like social behaviors, such as conformity or majority rule, mirroring foundational Social Psychology theories. In conclusion, we integrate insights from Social Psychology to contextualize the collaboration of LLM agents, inspiring further investigations into the collaboration mechanism for LLMs. We commit to sharing our code and datasets (already submitted in supplementary materials), hoping to catalyze further research in this promising avenue (All code and data are available at https://github.com/zjunlp/MachineSoM.).

Self-improvement is a goal currently exciting the field of AI, but is fraught with danger, and may take time to fully achieve. We advocate that a more achievable and better goal for humanity is to maximize co-improvement: collaboration between human researchers and AIs to achieve co-superintelligence. That is, specifically targeting improving AI systems' ability to work with human researchers to conduct AI research together, from ideation to experimentation, in order to both accelerate AI research and to generally endow both AIs and humans with safer superintelligence through their symbiosis. Focusing on including human research improvement in the loop will both get us there faster, and more safely.

Human-motion video generation has been a challenging task, primarily due to the difficulty inherent in learning human body movements. While some approaches have attempted to drive human-centric video generation explicitly through pose control, these methods typically rely on poses derived from existing videos, thereby lacking flexibility. To address this, we propose HumanDreamer, a decoupled human video generation framework that first generates diverse poses from text prompts and then leverages these poses to generate human-motion videos. Specifically, we propose MotionVid, the largest dataset for human-motion pose generation. Based on the dataset, we present MotionDiT, which is trained to generate structured human-motion poses from text prompts. Besides, a novel LAMA loss is introduced, which together contribute to a significant improvement in FID by 62.4%, along with respective enhancements in R-precision for top1, top2, and top3 by 41.8%, 26.3%, and 18.3%, thereby advancing both the Text-to-Pose control accuracy and FID metrics. Our experiments across various Pose-to-Video baselines demonstrate that the poses generated by our method can produce diverse and high-quality human-motion videos. Furthermore, our model can facilitate other downstream tasks, such as pose sequence prediction and 2D-3D motion lifting.

Large Language Models (LLMs) are evolving beyond their classical role of providing information within dialogue systems to actively engaging with tools and performing actions on real-world applications and services. Today, humans verify the correctness and appropriateness of the LLM-generated outputs (e.g., code, functions, or actions) before putting them into real-world execution. This poses significant challenges as code comprehension is well known to be notoriously difficult. In this paper, we study how humans can efficiently collaborate with, delegate to, and supervise autonomous LLMs in the future. We argue that in many cases, "post-facto validation" - verifying the correctness of a proposed action after seeing the output - is much easier than the aforementioned "pre-facto validation" setting. The core concept behind enabling a post-facto validation system is the integration of an intuitive undo feature, and establishing a damage confinement for the LLM-generated actions as effective strategies to mitigate the associated risks. Using this, a human can now either revert the effect of an LLM-generated output or be confident that the potential risk is bounded. We believe this is critical to unlock the potential for LLM agents to interact with applications and services with limited (post-facto) human involvement. We describe the design and implementation of our open-source runtime for executing LLM actions, Gorilla Execution Engine (GoEX), and present open research questions towards realizing the goal of LLMs and applications interacting with each other with minimal human supervision. We release GoEX at https://github.com/ShishirPatil/gorilla/.

Despite efforts to mitigate the inherent risks and biases of artificial intelligence (AI) algorithms, these algorithms can disproportionately impact culturally marginalized groups. A range of approaches has been proposed to address or reduce these risks, including the development of ethical guidelines and principles for responsible AI, as well as technical solutions that promote algorithmic fairness. Drawing on design justice, expansive learning theory, and recent empirical work on participatory AI, we argue that mitigating these harms requires a fundamental re-architecture of the AI production pipeline. This re-design should center co-production, diversity, equity, inclusion (DEI), and multidisciplinary collaboration. We introduce an augmented AI lifecycle consisting of five interconnected phases: co-framing, co-design, co-implementation, co-deployment, and co-maintenance. The lifecycle is informed by four multidisciplinary workshops and grounded in themes of distributed authority and iterative knowledge exchange. Finally, we relate the proposed lifecycle to several leading ethical frameworks and outline key research questions that remain for scaling participatory governance.

New developments are enabling AI systems to perceive, recognize, and respond with social cues based on inferences made from humans' explicit or implicit behavioral and verbal cues. These AI systems, equipped with an equivalent of human's Theory of Mind (ToM) capability, are currently serving as matchmakers on dating platforms, assisting student learning as teaching assistants, and enhancing productivity as work partners. They mark a new era in human-AI interaction (HAI) that diverges from traditional human-computer interaction (HCI), where computers are commonly seen as tools instead of social actors. Designing and understanding the human perceptions and experiences in this emerging HAI era becomes an urgent and critical issue for AI systems to fulfill human needs and mitigate risks across social contexts. In this paper, we posit the Mutual Theory of Mind (MToM) framework, inspired by our capability of ToM in human-human communications, to guide this new generation of HAI research by highlighting the iterative and mutual shaping nature of human-AI communication. We discuss the motivation of the MToM framework and its three key components that iteratively shape the human-AI communication in three stages. We then describe two empirical studies inspired by the MToM framework to demonstrate the power of MToM in guiding the design and understanding of human-AI communication. Finally, we discuss future research opportunities in human-AI interaction through the lens of MToM.

Existing LLMs exhibit remarkable performance on various NLP tasks, but still struggle with complex real-world tasks, even equipped with advanced strategies like CoT and ReAct. In this work, we propose the CoAct framework, which transfers the hierarchical planning and collaboration patterns in human society to LLM systems. Specifically, our CoAct framework involves two agents: (1) A global planning agent, to comprehend the problem scope, formulate macro-level plans and provide detailed sub-task descriptions to local execution agents, which serves as the initial rendition of a global plan. (2) A local execution agent, to operate within the multi-tier task execution structure, focusing on detailed execution and implementation of specific tasks within the global plan. Experimental results on the WebArena benchmark show that CoAct can re-arrange the process trajectory when facing failures, and achieves superior performance over baseline methods on long-horizon web tasks. Code is available at https://github.com/xmhou2002/CoAct.

Scaling real robot data is a key bottleneck in imitation learning, leading to the use of auxiliary data for policy training. While other aspects of robotic manipulation such as image or language understanding may be learned from internet-based datasets, acquiring motion knowledge remains challenging. Human data, with its rich diversity of manipulation behaviors, offers a valuable resource for this purpose. While previous works show that using human data can bring benefits, such as improving robustness and training efficiency, it remains unclear whether it can realize its greatest advantage: enabling robot policies to directly learn new motions for task completion. In this paper, we systematically explore this potential through multi-task human-robot cotraining. We introduce MotionTrans, a framework that includes a data collection system, a human data transformation pipeline, and a weighted cotraining strategy. By cotraining 30 human-robot tasks simultaneously, we direcly transfer motions of 13 tasks from human data to deployable end-to-end robot policies. Notably, 9 tasks achieve non-trivial success rates in zero-shot manner. MotionTrans also significantly enhances pretraining-finetuning performance (+40% success rate). Through ablation study, we also identify key factors for successful motion learning: cotraining with robot data and broad task-related motion coverage. These findings unlock the potential of motion-level learning from human data, offering insights into its effective use for training robotic manipulation policies. All data, code, and model weights are open-sourced https://motiontrans.github.io/.

Scientific knowledge creation is fundamentally transforming as humans and AI systems evolve beyond tool-user relationships into co-evolutionary epistemic partnerships. When AlphaFold revolutionized protein structure prediction, researchers described engaging with an epistemic partner that reshaped how they conceptualized fundamental relationships. This article introduces Cognitio Emergens (CE), a framework addressing critical limitations in existing models that focus on static roles or narrow metrics while failing to capture how scientific understanding emerges through recursive human-AI interaction over time. CE integrates three components addressing these limitations: Agency Configurations describing how authority distributes between humans and AI (Directed, Contributory, Partnership), with partnerships dynamically oscillating between configurations rather than following linear progression; Epistemic Dimensions capturing six specific capabilities emerging through collaboration across Discovery, Integration, and Projection axes, creating distinctive "capability signatures" that guide development; and Partnership Dynamics identifying forces shaping how these relationships evolve, particularly the risk of epistemic alienation where researchers lose interpretive control over knowledge they formally endorse. Drawing from autopoiesis theory, social systems theory, and organizational modularity, CE reveals how knowledge co-creation emerges through continuous negotiation of roles, values, and organizational structures. By reconceptualizing human-AI scientific collaboration as fundamentally co-evolutionary, CE offers a balanced perspective that neither uncritically celebrates nor unnecessarily fears AI's evolving role, instead providing conceptual tools for cultivating partnerships that maintain meaningful human participation while enabling transformative scientific breakthroughs.

We present a novel approach to automatically synthesize "wayfinding instructions" for an embodied robot agent. In contrast to prior approaches that are heavily reliant on human-annotated datasets designed exclusively for specific simulation platforms, our algorithm uses in-context learning to condition an LLM to generate instructions using just a few references. Using an LLM-based Visual Question Answering strategy, we gather detailed information about the environment which is used by the LLM for instruction synthesis. We implement our approach on multiple simulation platforms including Matterport3D, AI Habitat and ThreeDWorld, thereby demonstrating its platform-agnostic nature. We subjectively evaluate our approach via a user study and observe that 83.3% of users find the synthesized instructions accurately capture the details of the environment and show characteristics similar to those of human-generated instructions. Further, we conduct zero-shot navigation with multiple approaches on the REVERIE dataset using the generated instructions, and observe very close correlation with the baseline on standard success metrics (< 1% change in SR), quantifying the viability of generated instructions in replacing human-annotated data. We finally discuss the applicability of our approach in enabling a generalizable evaluation of embodied navigation policies. To the best of our knowledge, ours is the first LLM-driven approach capable of generating "human-like" instructions in a platform-agnostic manner, without training.

Human generation has achieved significant progress. Nonetheless, existing methods still struggle to synthesize specific regions such as faces and hands. We argue that the main reason is rooted in the training data. A holistic human dataset inevitably has insufficient and low-resolution information on local parts. Therefore, we propose to use multi-source datasets with various resolution images to jointly learn a high-resolution human generative model. However, multi-source data inherently a) contains different parts that do not spatially align into a coherent human, and b) comes with different scales. To tackle these challenges, we propose an end-to-end framework, UnitedHuman, that empowers continuous GAN with the ability to effectively utilize multi-source data for high-resolution human generation. Specifically, 1) we design a Multi-Source Spatial Transformer that spatially aligns multi-source images to full-body space with a human parametric model. 2) Next, a continuous GAN is proposed with global-structural guidance and CutMix consistency. Patches from different datasets are then sampled and transformed to supervise the training of this scale-invariant generative model. Extensive experiments demonstrate that our model jointly learned from multi-source data achieves superior quality than those learned from a holistic dataset.

Recent work in training large language models (LLMs) to follow natural language instructions has opened up exciting opportunities for natural language interface design. Building on the prior success of LLMs in the realm of computer-assisted creativity, we aim to study if LLMs can improve the quality of user-generated content through collaboration. We present CoPoet, a collaborative poetry writing system. In contrast to auto-completing a user's text, CoPoet is controlled by user instructions that specify the attributes of the desired text, such as Write a sentence about `love' or Write a sentence ending in `fly'. The core component of our system is a language model fine-tuned on a diverse collection of instructions for poetry writing. Our model is not only competitive with publicly available LLMs trained on instructions (InstructGPT), but is also capable of satisfying unseen compositional instructions. A study with 15 qualified crowdworkers shows that users successfully write poems with CoPoet on diverse topics ranging from Monarchy to Climate change. Further, the collaboratively written poems are preferred by third-party evaluators over those written without the system.

In recent years there has been a tremendous surge in the general capabilities of AI systems, mainly fuelled by training foundation models on internetscale data. Nevertheless, the creation of openended, ever self-improving AI remains elusive. In this position paper, we argue that the ingredients are now in place to achieve openendedness in AI systems with respect to a human observer. Furthermore, we claim that such open-endedness is an essential property of any artificial superhuman intelligence (ASI). We begin by providing a concrete formal definition of open-endedness through the lens of novelty and learnability. We then illustrate a path towards ASI via open-ended systems built on top of foundation models, capable of making novel, humanrelevant discoveries. We conclude by examining the safety implications of generally-capable openended AI. We expect that open-ended foundation models will prove to be an increasingly fertile and safety-critical area of research in the near future.

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.

The rapid rise of compound AI systems (a.k.a., AI agents) is reshaping the labor market, raising concerns about job displacement, diminished human agency, and overreliance on automation. Yet, we lack a systematic understanding of the evolving landscape. In this paper, we address this gap by introducing a novel auditing framework to assess which occupational tasks workers want AI agents to automate or augment, and how those desires align with the current technological capabilities. Our framework features an audio-enhanced mini-interview to capture nuanced worker desires and introduces the Human Agency Scale (HAS) as a shared language to quantify the preferred level of human involvement. Using this framework, we construct the WORKBank database, building on the U.S. Department of Labor's O*NET database, to capture preferences from 1,500 domain workers and capability assessments from AI experts across over 844 tasks spanning 104 occupations. Jointly considering the desire and technological capability divides tasks in WORKBank into four zones: Automation "Green Light" Zone, Automation "Red Light" Zone, R&D Opportunity Zone, Low Priority Zone. This highlights critical mismatches and opportunities for AI agent development. Moving beyond a simple automate-or-not dichotomy, our results reveal diverse HAS profiles across occupations, reflecting heterogeneous expectations for human involvement. Moreover, our study offers early signals of how AI agent integration may reshape the core human competencies, shifting from information-focused skills to interpersonal ones. These findings underscore the importance of aligning AI agent development with human desires and preparing workers for evolving workplace dynamics.

Research on emergent patterns in Large Language Models (LLMs) has gained significant traction in both psychology and artificial intelligence, motivating the need for a comprehensive review that offers a synthesis of this complex landscape. In this article, we systematically review LLMs' capabilities across three important cognitive domains: decision-making biases, reasoning, and creativity. We use empirical studies drawing on established psychological tests and compare LLMs' performance to human benchmarks. On decision-making, our synthesis reveals that while LLMs demonstrate several human-like biases, some biases observed in humans are absent, indicating cognitive patterns that only partially align with human decision-making. On reasoning, advanced LLMs like GPT-4 exhibit deliberative reasoning akin to human System-2 thinking, while smaller models fall short of human-level performance. A distinct dichotomy emerges in creativity: while LLMs excel in language-based creative tasks, such as storytelling, they struggle with divergent thinking tasks that require real-world context. Nonetheless, studies suggest that LLMs hold considerable potential as collaborators, augmenting creativity in human-machine problem-solving settings. Discussing key limitations, we also offer guidance for future research in areas such as memory, attention, and open-source model development.

3D human motion generation has seen substantial advancement in recent years. While state-of-the-art approaches have improved performance significantly, they still struggle with complex and detailed motions unseen in training data, largely due to the scarcity of motion datasets and the prohibitive cost of generating new training examples. To address these challenges, we introduce CoMA, an agent-based solution for complex human motion generation, editing, and comprehension. CoMA leverages multiple collaborative agents powered by large language and vision models, alongside a mask transformer-based motion generator featuring body part-specific encoders and codebooks for fine-grained control. Our framework enables generation of both short and long motion sequences with detailed instructions, text-guided motion editing, and self-correction for improved quality. Evaluations on the HumanML3D dataset demonstrate competitive performance against state-of-the-art methods. Additionally, we create a set of context-rich, compositional, and long text prompts, where user studies show our method significantly outperforms existing approaches.

Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still portrays robots as single, autonomous decision-makers, performing tasks like manipulation and navigation, with limited human involvement. However, a large class of real-world robotic systems, including wearable robotics (e.g., prostheses, orthoses, exoskeletons), teleoperation, and neural interfaces, are semiautonomous, and require ongoing interactive coordination with human partners, challenging single-agent assumptions. In this position paper, we argue that robot foundation models must evolve to an interactive multi-agent perspective in order to handle the complexities of real-time human-robot co-adaptation. We propose a generalizable, neuroscience-inspired architecture encompassing four modules: (1) a multimodal sensing module informed by sensorimotor integration principles, (2) an ad-hoc teamwork model reminiscent of joint-action frameworks in cognitive science, (3) a predictive world belief model grounded in internal model theories of motor control, and (4) a memory/feedback mechanism that echoes concepts of Hebbian and reinforcement-based plasticity. Although illustrated through the lens of cyborg systems, where wearable devices and human physiology are inseparably intertwined, the proposed framework is broadly applicable to robots operating in semi-autonomous or interactive contexts. By moving beyond single-agent designs, our position emphasizes how foundation models in robotics can achieve a more robust, personalized, and anticipatory level of performance.

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots to also demonstrate expressive behaviors in human-robot interaction. Prior work proposes rule-based methods that struggle to scale to new communication modalities or social situations, while data-driven methods require specialized datasets for each social situation the robot is used in. We propose to leverage the rich social context available from large language models (LLMs) and their ability to generate motion based on instructions or user preferences, to generate expressive robot motion that is adaptable and composable, building upon each other. Our approach utilizes few-shot chain-of-thought prompting to translate human language instructions into parametrized control code using the robot's available and learned skills. Through user studies and simulation experiments, we demonstrate that our approach produces behaviors that users found to be competent and easy to understand. Supplementary material can be found at https://generative-expressive-motion.github.io/.

Human-centric perceptions (e.g., pose estimation, human parsing, pedestrian detection, person re-identification, etc.) play a key role in industrial applications of visual models. While specific human-centric tasks have their own relevant semantic aspect to focus on, they also share the same underlying semantic structure of the human body. However, few works have attempted to exploit such homogeneity and design a general-propose model for human-centric tasks. In this work, we revisit a broad range of human-centric tasks and unify them in a minimalist manner. We propose UniHCP, a Unified Model for Human-Centric Perceptions, which unifies a wide range of human-centric tasks in a simplified end-to-end manner with the plain vision transformer architecture. With large-scale joint training on 33 human-centric datasets, UniHCP can outperform strong baselines on several in-domain and downstream tasks by direct evaluation. When adapted to a specific task, UniHCP achieves new SOTAs on a wide range of human-centric tasks, e.g., 69.8 mIoU on CIHP for human parsing, 86.18 mA on PA-100K for attribute prediction, 90.3 mAP on Market1501 for ReID, and 85.8 JI on CrowdHuman for pedestrian detection, performing better than specialized models tailored for each task.

The remarkable capabilities and intricate nature of Artificial Intelligence (AI) have dramatically escalated the imperative for specialized AI accelerators. Nonetheless, designing these accelerators for various AI workloads remains both labor- and time-intensive. While existing design exploration and automation tools can partially alleviate the need for extensive human involvement, they still demand substantial hardware expertise, posing a barrier to non-experts and stifling AI accelerator development. Motivated by the astonishing potential of large language models (LLMs) for generating high-quality content in response to human language instructions, we embark on this work to examine the possibility of harnessing LLMs to automate AI accelerator design. Through this endeavor, we develop GPT4AIGChip, a framework intended to democratize AI accelerator design by leveraging human natural languages instead of domain-specific languages. Specifically, we first perform an in-depth investigation into LLMs' limitations and capabilities for AI accelerator design, thus aiding our understanding of our current position and garnering insights into LLM-powered automated AI accelerator design. Furthermore, drawing inspiration from the above insights, we develop a framework called GPT4AIGChip, which features an automated demo-augmented prompt-generation pipeline utilizing in-context learning to guide LLMs towards creating high-quality AI accelerator design. To our knowledge, this work is the first to demonstrate an effective pipeline for LLM-powered automated AI accelerator generation. Accordingly, we anticipate that our insights and framework can serve as a catalyst for innovations in next-generation LLM-powered design automation tools.

This paper revisits Ramon Llull's Ars combinatoria - a medieval framework for generating knowledge through symbolic recombination - as a conceptual foundation for building a modern Llull's thinking machine for research ideation. Our approach defines three compositional axes: Theme (e.g., efficiency, adaptivity), Domain (e.g., question answering, machine translation), and Method (e.g., adversarial training, linear attention). These elements represent high-level abstractions common in scientific work - motivations, problem settings, and technical approaches - and serve as building blocks for LLM-driven exploration. We mine elements from human experts or conference papers and show that prompting LLMs with curated combinations produces research ideas that are diverse, relevant, and grounded in current literature. This modern thinking machine offers a lightweight, interpretable tool for augmenting scientific creativity and suggests a path toward collaborative ideation between humans and AI.

Building on the success of diffusion models, significant advancements have been made in multimodal image generation tasks. Among these, human image generation has emerged as a promising technique, offering the potential to revolutionize the fashion design process. However, existing methods often focus solely on text-to-image or image reference-based human generation, which fails to satisfy the increasingly sophisticated demands. To address the limitations of flexibility and precision in human generation, we introduce ComposeAnyone, a controllable layout-to-human generation method with decoupled multimodal conditions. Specifically, our method allows decoupled control of any part in hand-drawn human layouts using text or reference images, seamlessly integrating them during the generation process. The hand-drawn layout, which utilizes color-blocked geometric shapes such as ellipses and rectangles, can be easily drawn, offering a more flexible and accessible way to define spatial layouts. Additionally, we introduce the ComposeHuman dataset, which provides decoupled text and reference image annotations for different components of each human image, enabling broader applications in human image generation tasks. Extensive experiments on multiple datasets demonstrate that ComposeAnyone generates human images with better alignment to given layouts, text descriptions, and reference images, showcasing its multi-task capability and controllability.

From ancient water wheels to robotic process automation (RPA), automation technology has evolved throughout history to liberate human beings from arduous tasks. Yet, RPA struggles with tasks needing human-like intelligence, especially in elaborate design of workflow construction and dynamic decision-making in workflow execution. As Large Language Models (LLMs) have emerged human-like intelligence, this paper introduces Agentic Process Automation (APA), a groundbreaking automation paradigm using LLM-based agents for advanced automation by offloading the human labor to agents associated with construction and execution. We then instantiate ProAgent, an LLM-based agent designed to craft workflows from human instructions and make intricate decisions by coordinating specialized agents. Empirical experiments are conducted to detail its construction and execution procedure of workflow, showcasing the feasibility of APA, unveiling the possibility of a new paradigm of automation driven by agents. Our code is public at https://github.com/OpenBMB/ProAgent.

As artificial intelligence becomes increasingly intelligent---in some cases, achieving superhuman performance---there is growing potential for humans to learn from and collaborate with algorithms. However, the ways in which AI systems approach problems are often different from the ways people do, and thus may be uninterpretable and hard to learn from. A crucial step in bridging this gap between human and artificial intelligence is modeling the granular actions that constitute human behavior, rather than simply matching aggregate human performance. We pursue this goal in a model system with a long history in artificial intelligence: chess. The aggregate performance of a chess player unfolds as they make decisions over the course of a game. The hundreds of millions of games played online by players at every skill level form a rich source of data in which these decisions, and their exact context, are recorded in minute detail. Applying existing chess engines to this data, including an open-source implementation of AlphaZero, we find that they do not predict human moves well. We develop and introduce Maia, a customized version of Alpha-Zero trained on human chess games, that predicts human moves at a much higher accuracy than existing engines, and can achieve maximum accuracy when predicting decisions made by players at a specific skill level in a tuneable way. For a dual task of predicting whether a human will make a large mistake on the next move, we develop a deep neural network that significantly outperforms competitive baselines. Taken together, our results suggest that there is substantial promise in designing artificial intelligence systems with human collaboration in mind by first accurately modeling granular human decision-making.

Automating enterprise workflows could unlock $4 trillion/year in productivity gains. Despite being of interest to the data management community for decades, the ultimate vision of end-to-end workflow automation has remained elusive. Current solutions rely on process mining and robotic process automation (RPA), in which a bot is hard-coded to follow a set of predefined rules for completing a workflow. Through case studies of a hospital and large B2B enterprise, we find that the adoption of RPA has been inhibited by high set-up costs (12-18 months), unreliable execution (60% initial accuracy), and burdensome maintenance (requiring multiple FTEs). Multimodal foundation models (FMs) such as GPT-4 offer a promising new approach for end-to-end workflow automation given their generalized reasoning and planning abilities. To study these capabilities we propose ECLAIR, a system to automate enterprise workflows with minimal human supervision. We conduct initial experiments showing that multimodal FMs can address the limitations of traditional RPA with (1) near-human-level understanding of workflows (93% accuracy on a workflow understanding task) and (2) instant set-up with minimal technical barrier (based solely on a natural language description of a workflow, ECLAIR achieves end-to-end completion rates of 40%). We identify human-AI collaboration, validation, and self-improvement as open challenges, and suggest ways they can be solved with data management techniques. Code is available at: https://github.com/HazyResearch/eclair-agents

Prompting ChatGPT to achieve complex goals (e.g., creating a customer support chatbot) often demands meticulous prompt engineering, including aspects like fluent writing and chain-of-thought techniques. While emerging prompt optimizers can automatically refine many of these aspects, we argue that clearly conveying customized requirements (e.g., how to handle diverse inputs) remains a human-centric challenge. In this work, we introduce Requirement-Oriented Prompt Engineering (ROPE), a paradigm that focuses human attention on generating clear, complete requirements during prompting. We implement ROPE through an assessment and training suite that provides deliberate practice with LLM-generated feedback. In a study with 30 novices, we show that requirement-focused training doubles novices' prompting performance, significantly outperforming conventional prompt engineering training and prompt optimization. We also demonstrate that high-quality LLM outputs are directly tied to the quality of input requirements. Our work paves the way for more effective task delegation in human-LLM collaborative prompting.

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]

Human motion driven control (HMDC) is an effective approach for generating natural and compelling robot motions while preserving high-level semantics. However, establishing the correspondence between humans and robots with different body structures is not straightforward due to the mismatches in kinematics and dynamics properties, which causes intrinsic ambiguity to the problem. Many previous algorithms approach this motion retargeting problem with unsupervised learning, which requires the prerequisite skill sets. However, it will be extremely costly to learn all the skills without understanding the given human motions, particularly for high-dimensional robots. In this work, we introduce CrossLoco, a guided unsupervised reinforcement learning framework that simultaneously learns robot skills and their correspondence to human motions. Our key innovation is to introduce a cycle-consistency-based reward term designed to maximize the mutual information between human motions and robot states. We demonstrate that the proposed framework can generate compelling robot motions by translating diverse human motions, such as running, hopping, and dancing. We quantitatively compare our CrossLoco against the manually engineered and unsupervised baseline algorithms along with the ablated versions of our framework and demonstrate that our method translates human motions with better accuracy, diversity, and user preference. We also showcase its utility in other applications, such as synthesizing robot movements from language input and enabling interactive robot control.

Machine learning (ML) has the potential to revolutionize various domains, but its adoption is often hindered by the disconnect between the needs of domain experts and translating these needs into robust and valid ML tools. Despite recent advances in LLM-based co-pilots to democratize ML for non-technical domain experts, these systems remain predominantly focused on model-centric aspects while overlooking critical data-centric challenges. This limitation is problematic in complex real-world settings where raw data often contains complex issues, such as missing values, label noise, and domain-specific nuances requiring tailored handling. To address this we introduce CliMB-DC, a human-guided, data-centric framework for LLM co-pilots that combines advanced data-centric tools with LLM-driven reasoning to enable robust, context-aware data processing. At its core, CliMB-DC introduces a novel, multi-agent reasoning system that combines a strategic coordinator for dynamic planning and adaptation with a specialized worker agent for precise execution. Domain expertise is then systematically incorporated to guide the reasoning process using a human-in-the-loop approach. To guide development, we formalize a taxonomy of key data-centric challenges that co-pilots must address. Thereafter, to address the dimensions of the taxonomy, we integrate state-of-the-art data-centric tools into an extensible, open-source architecture, facilitating the addition of new tools from the research community. Empirically, using real-world healthcare datasets we demonstrate CliMB-DC's ability to transform uncurated datasets into ML-ready formats, significantly outperforming existing co-pilot baselines for handling data-centric challenges. CliMB-DC promises to empower domain experts from diverse domains -- healthcare, finance, social sciences and more -- to actively participate in driving real-world impact using ML.

Building AIs with adaptive behaviors in human-AI cooperation stands as a pivotal focus in AGI research. Current methods for developing cooperative agents predominantly rely on learning-based methods, where policy generalization heavily hinges on past interactions with specific teammates. These approaches constrain the agent's capacity to recalibrate its strategy when confronted with novel teammates. We propose ProAgent, a novel framework that harnesses large language models (LLMs) to fashion a proactive agent empowered with the ability to anticipate teammates' forthcoming decisions and formulate enhanced plans for itself. ProAgent excels at cooperative reasoning with the capacity to dynamically adapt its behavior to enhance collaborative efforts with teammates. Moreover, the ProAgent framework exhibits a high degree of modularity and interpretability, facilitating seamless integration to address a wide array of coordination scenarios. Experimental evaluations conducted within the framework of Overcook-AI unveil the remarkable performance superiority of ProAgent, outperforming five methods based on self-play and population-based training in cooperation with AI agents. Further, when cooperating with human proxy models, its performance exhibits an average improvement exceeding 10\% compared to the current state-of-the-art, COLE. The advancement was consistently observed across diverse scenarios involving interactions with both AI agents of varying characteristics and human counterparts. These findings inspire future research for human-robot collaborations. For a hands-on demonstration, please visit https://pku-proagent.github.io.

Collaborative tasks often begin with partial task knowledge and incomplete initial plans from each partner. To complete these tasks, agents need to engage in situated communication with their partners and coordinate their partial plans towards a complete plan to achieve a joint task goal. While such collaboration seems effortless in a human-human team, it is highly challenging for human-AI collaboration. To address this limitation, this paper takes a step towards collaborative plan acquisition, where humans and agents strive to learn and communicate with each other to acquire a complete plan for joint tasks. Specifically, we formulate a novel problem for agents to predict the missing task knowledge for themselves and for their partners based on rich perceptual and dialogue history. We extend a situated dialogue benchmark for symmetric collaborative tasks in a 3D blocks world and investigate computational strategies for plan acquisition. Our empirical results suggest that predicting the partner's missing knowledge is a more viable approach than predicting one's own. We show that explicit modeling of the partner's dialogue moves and mental states produces improved and more stable results than without. These results provide insight for future AI agents that can predict what knowledge their partner is missing and, therefore, can proactively communicate such information to help their partner acquire such missing knowledge toward a common understanding of joint tasks.

Mechanical reasoning is a hallmark of human intelligence, defined by its ubiquitous yet irreplaceable role in human activities ranging from routine tasks to civil engineering. Embedding machines with mechanical reasoning is therefore an important step towards building human-level artificial intelligence. Here, we leveraged 155 cognitive experiments to test the understanding of system stability, gears and pulley systems, leverage principle, inertia and motion, and fluid mechanics in 26 Vision Language Models (VLMs). Results indicate that VLMs consistently perform worse than humans on all domains, while demonstrate significant difficulty in reasoning about gear systems and fluid mechanics. Notably, their performance on these tasks do not improve as number of parameters increase, suggesting that current attention-based architecture may fail to grasp certain underlying mechanisms required for mechanical reasoning, particularly those pertaining to mental simulations.

Recent advances in large language models (LLMs) have sparked growing interest in building fully autonomous agents. However, fully autonomous LLM-based agents still face significant challenges, including limited reliability due to hallucinations, difficulty in handling complex tasks, and substantial safety and ethical risks, all of which limit their feasibility and trustworthiness in real-world applications. To overcome these limitations, LLM-based human-agent systems (LLM-HAS) incorporate human-provided information, feedback, or control into the agent system to enhance system performance, reliability and safety. This paper provides the first comprehensive and structured survey of LLM-HAS. It clarifies fundamental concepts, systematically presents core components shaping these systems, including environment & profiling, human feedback, interaction types, orchestration and communication, explores emerging applications, and discusses unique challenges and opportunities. By consolidating current knowledge and offering a structured overview, we aim to foster further research and innovation in this rapidly evolving interdisciplinary field. Paper lists and resources are available at https://github.com/HenryPengZou/Awesome-LLM-Based-Human-Agent-Systems.

Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the potential to transform human-robot interaction, very little is known about the distinctive design requirements for utilizing LLMs in robots, which may differ from text and voice interaction and vary by task and context. To better understand these requirements, we conducted a user study (n = 32) comparing an LLM-powered social robot against text- and voice-based agents, analyzing task-based requirements in conversational tasks, including choose, generate, execute, and negotiate. Our findings show that LLM-powered robots elevate expectations for sophisticated non-verbal cues and excel in connection-building and deliberation, but fall short in logical communication and may induce anxiety. We provide design implications both for robots integrating LLMs and for fine-tuning LLMs for use with robots.

This paper reviews the architecture and implementation methods of agents powered by large language models (LLMs). Motivated by the limitations of traditional LLMs in real-world tasks, the research aims to explore patterns to develop "agentic" LLMs that can automate complex tasks and bridge the performance gap with human capabilities. Key components include a perception system that converts environmental percepts into meaningful representations; a reasoning system that formulates plans, adapts to feedback, and evaluates actions through different techniques like Chain-of-Thought and Tree-of-Thought; a memory system that retains knowledge through both short-term and long-term mechanisms; and an execution system that translates internal decisions into concrete actions. This paper shows how integrating these systems leads to more capable and generalized software bots that mimic human cognitive processes for autonomous and intelligent behavior.

We are committed to learning human skill generators at key-step levels. The generation of skills is a challenging endeavor, but its successful implementation could greatly facilitate human skill learning and provide more experience for embodied intelligence. Although current video generation models can synthesis simple and atomic human operations, they struggle with human skills due to their complex procedure process. Human skills involve multi-step, long-duration actions and complex scene transitions, so the existing naive auto-regressive methods for synthesizing long videos cannot generate human skills. To address this, we propose a novel task, the Key-step Skill Generation (KS-Gen), aimed at reducing the complexity of generating human skill videos. Given the initial state and a skill description, the task is to generate video clips of key steps to complete the skill, rather than a full-length video. To support this task, we introduce a carefully curated dataset and define multiple evaluation metrics to assess performance. Considering the complexity of KS-Gen, we propose a new framework for this task. First, a multimodal large language model (MLLM) generates descriptions for key steps using retrieval argument. Subsequently, we use a Key-step Image Generator (KIG) to address the discontinuity between key steps in skill videos. Finally, a video generation model uses these descriptions and key-step images to generate video clips of the key steps with high temporal consistency. We offer a detailed analysis of the results, hoping to provide more insights on human skill generation. All models and data are available at https://github.com/MCG-NJU/KS-Gen.

Due to their significance in human communication, the automatic generation of co-speech gestures in artificial embodied agents has received a lot of attention. Although modern deep learning approaches can generate realistic-looking conversational gestures from spoken language, they often lack the ability to convey meaningful information and generate contextually appropriate gestures. This paper presents an augmented approach to the generation of co-speech gestures that additionally takes into account given form and meaning features for the gestures. Our framework effectively acquires this information from a small corpus with rich semantic annotations and a larger corpus without such information. We provide an analysis of the effects of distinctive feature targets and we report on a human rater evaluation study demonstrating that our framework achieves semantic coherence and person perception on the same level as human ground truth behavior. We make our data pipeline and the generation framework publicly available.

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.

Detecting mental states of human users is crucial for the development of cooperative and intelligent robots, as it enables the robot to understand the user's intentions and desires. Despite their importance, it is difficult to obtain a large amount of high quality data for training automatic recognition algorithms as the time and effort required to collect and label such data is prohibitively high. In this paper we present a multimodal machine learning approach for detecting dis-/agreement and confusion states in a human-robot interaction environment, using just a small amount of manually annotated data. We collect a data set by conducting a human-robot interaction study and develop a novel preprocessing pipeline for our machine learning approach. By combining semi-supervised and supervised architectures, we are able to achieve an average F1-score of 81.1\% for dis-/agreement detection with a small amount of labeled data and a large unlabeled data set, while simultaneously increasing the robustness of the model compared to the supervised approach.

Humans are highly adaptable, swiftly switching between different modes to progressively handle different tasks, situations and contexts. In Human-object interaction (HOI) activities, these modes can be attributed to two mechanisms: (1) the large-scale consistent plan for the whole activity and (2) the small-scale children interactive actions that start and end along the timeline. While neuroscience and cognitive science have confirmed this multi-mechanism nature of human behavior, machine modeling approaches for human motion are trailing behind. While attempted to use gradually morphing structures (e.g., graph attention networks) to model the dynamic HOI patterns, they miss the expeditious and discrete mode-switching nature of the human motion. To bridge that gap, this work proposes to model two concurrent mechanisms that jointly control human motion: the Persistent process that runs continually on the global scale, and the Transient sub-processes that operate intermittently on the local context of the human while interacting with objects. These two mechanisms form an interactive Persistent-Transient Duality that synergistically governs the activity sequences. We model this conceptual duality by a parent-child neural network of Persistent and Transient channels with a dedicated neural module for dynamic mechanism switching. The framework is trialed on HOI motion forecasting. On two rich datasets and a wide variety of settings, the model consistently delivers superior performances, proving its suitability for the challenge.

AI-based design tools are proliferating in professional software to assist engineering and industrial designers in complex manufacturing and design tasks. These tools take on more agentic roles than traditional computer-aided design tools and are often portrayed as "co-creators." Yet, working effectively with such systems requires different skills than working with complex CAD tools alone. To date, we know little about how engineering designers learn to work with AI-based design tools. In this study, we observed trained designers as they learned to work with two AI-based tools on a realistic design task. We find that designers face many challenges in learning to effectively co-create with current systems, including challenges in understanding and adjusting AI outputs and in communicating their design goals. Based on our findings, we highlight several design opportunities to better support designer-AI co-creation.

One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid perception and control, lingering physical gaps between humanoids and humans in morphologies and actuation, and lack of a data pipeline for humanoids to learn autonomous skills from egocentric vision. In this paper, we introduce a full-stack system for humanoids to learn motion and autonomous skills from human data. We first train a low-level policy in simulation via reinforcement learning using existing 40-hour human motion datasets. This policy transfers to the real world and allows humanoid robots to follow human body and hand motion in real time using only a RGB camera, i.e. shadowing. Through shadowing, human operators can teleoperate humanoids to collect whole-body data for learning different tasks in the real world. Using the data collected, we then perform supervised behavior cloning to train skill policies using egocentric vision, allowing humanoids to complete different tasks autonomously by imitating human skills. We demonstrate the system on our customized 33-DoF 180cm humanoid, autonomously completing tasks such as wearing a shoe to stand up and walk, unloading objects from warehouse racks, folding a sweatshirt, rearranging objects, typing, and greeting another robot with 60-100% success rates using up to 40 demonstrations. Project website: https://humanoid-ai.github.io/

Advances in AI-assisted research have introduced powerful tools for literature retrieval, hypothesis generation, experimentation, and manuscript preparation. However, systems remain fragmented and lack human-centred workflows. To address these gaps, we introduce AIssistant, an agentic, open-source Human-AI collaborative framework designed to simplify the end-to-end creation of scientific workflows. Since our development is still in an early stage, we present here the first experiments with AIssistant for perspective and review research papers in machine learning. Our system integrates modular tools and agents for literature synthesis, section-wise experimentation, citation management, and automatic LaTeX paper text generation, while maintaining human oversight at every stage to ensure accuracy, coherence, and scholarly rigour. We conducted a comprehensive evaluation across three layers: (1) Independent Human Review, following NeurIPS double-blind standards; (2) Automated LLM Review, using GPT-5 as a scalable human review proxy; and (3) Program Chair Oversight, where the chair monitors the entire review process and makes final validation and acceptance decisions. The results demonstrate that AIssistant improves drafting efficiency and thematic consistency. Nonetheless, Human-AI collaboration remains essential for maintaining factual correctness, methodological soundness, and ethical compliance. Despite its effectiveness, we identify key limitations, including hallucinated citations, difficulty adapting to dynamic paper structures, and incomplete integration of multimodal content.

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.

Generating human-human motion interactions conditioned on textual descriptions is a very useful application in many areas such as robotics, gaming, animation, and the metaverse. Alongside this utility also comes a great difficulty in modeling the highly dimensional inter-personal dynamics. In addition, properly capturing the intra-personal diversity of interactions has a lot of challenges. Current methods generate interactions with limited diversity of intra-person dynamics due to the limitations of the available datasets and conditioning strategies. For this, we introduce in2IN, a novel diffusion model for human-human motion generation which is conditioned not only on the textual description of the overall interaction but also on the individual descriptions of the actions performed by each person involved in the interaction. To train this model, we use a large language model to extend the InterHuman dataset with individual descriptions. As a result, in2IN achieves state-of-the-art performance in the InterHuman dataset. Furthermore, in order to increase the intra-personal diversity on the existing interaction datasets, we propose DualMDM, a model composition technique that combines the motions generated with in2IN and the motions generated by a single-person motion prior pre-trained on HumanML3D. As a result, DualMDM generates motions with higher individual diversity and improves control over the intra-person dynamics while maintaining inter-personal coherence.

Agentic Software Engineering (SE 3.0) represents a new era where intelligent agents are tasked not with simple code generation, but with achieving complex, goal-oriented SE objectives. To harness these new capabilities while ensuring trustworthiness, we must recognize a fundamental duality within the SE field in the Agentic SE era, comprising two symbiotic modalities: SE for Humans and SE for Agents. This duality demands a radical reimagining of the foundational pillars of SE (actors, processes, tools, and artifacts) which manifest differently across each modality. We propose two purpose-built workbenches to support this vision. The Agent Command Environment (ACE) serves as a command center where humans orchestrate and mentor agent teams, handling outputs such as Merge-Readiness Packs (MRPs) and Consultation Request Packs (CRPs). The Agent Execution Environment (AEE) is a digital workspace where agents perform tasks while invoking human expertise when facing ambiguity or complex trade-offs. This bi-directional partnership, which supports agent-initiated human callbacks and handovers, gives rise to new, structured engineering activities (i.e., processes) that redefine human-AI collaboration, elevating the practice from agentic coding to true agentic software engineering. This paper presents the Structured Agentic Software Engineering (SASE) vision, outlining several of the foundational pillars for the future of SE. The paper culminates in a research roadmap that identifies a few key challenges and opportunities while briefly discussing the resulting impact of this future on SE education. Our goal is not to offer a definitive solution, but to provide a conceptual scaffold with structured vocabulary to catalyze a community-wide dialogue, pushing the SE community to think beyond its classic, human-centric tenets toward a disciplined, scalable, and trustworthy agentic future.

Assistants on assembly tasks have a large potential to benefit humans from everyday tasks to industrial settings. However, no testbeds support application-oriented system evaluation in a practical setting, especially in assembly. To foster the development, we propose a new multimodal QA dataset on assembly activities. Our dataset, ProMQA-Assembly, consists of 391 QA pairs that require the multimodal understanding of human-activity recordings and their instruction manuals in an online-style manner. In the development, we adopt a semi-automated QA annotation approach, where LLMs generate candidates and humans verify them, as a cost-effective method, and further improve it by integrating fine-grained action labels to diversify question types. Furthermore, we create instruction task graphs for the target tasks of assembling toy vehicles. These newly created task graphs are used in our benchmarking experiment, as well as to facilitate the human verification process in the QA annotation. Utilizing our dataset, we benchmark models, including competitive proprietary multimodal models. Our results suggest great room for improvement for the current models. We believe our new evaluation dataset can contribute to the further development of procedural-activity assistants.

Recent advances in large language models (LLMs) have sparked interest in their application to IoT and automation systems, particularly for facilitating device management through natural language instructions. However, existing centralized approaches face significant scalability challenges when managing and coordinating the collaboration between IoT devices of diverse capabilities in large-scale heterogeneous IoT systems. This paper introduces LLMind 2.0, a distributed IoT automation framework that addresses the scalability challenges through lightweight LLM-empowered device agents via natural language-based machine-to-machine (M2M) communication. Unlike previous LLM-controlled automation systems that rely on a centralized coordinator to generate device-specific code to be executed on individual devices, LLMind 2.0 distributes intelligence across individual devices through lightweight LLMs embedded in IoT devices. The central coordinator translates human instructions into simple subtasks described in natural human language, which are then processed by device-specific agents to generate device-specific code locally at the associated devices. This approach transcends device heterogeneity barriers by using natural language as a unified communication medium, enabling seamless collaboration between devices from different manufacturers. The system incorporates several key innovations: a Retrieval-Augmented Generation (RAG) mechanism for accurate subtask-to-API mapping, fine-tuned lightweight LLMs for reliable code generation, and a finite state machine-based task execution framework. Experimental validation in multi-robot warehouse scenarios and real-world WiFi network deployments demonstrates significant improvements in scalability, reliability, and privacy protection compared to the centralized approach.

Text-to-video generation models have shown significant progress in the recent years. However, they still struggle with generating complex dynamic scenes based on compositional text prompts, such as attribute binding for multiple objects, temporal dynamics associated with different objects, and interactions between objects. Our key motivation is that complex tasks can be decomposed into simpler ones, each handled by a role-specialized MLLM agent. Multiple agents can collaborate together to achieve collective intelligence for complex goals. We propose GenMAC, an iterative, multi-agent framework that enables compositional text-to-video generation. The collaborative workflow includes three stages: Design, Generation, and Redesign, with an iterative loop between the Generation and Redesign stages to progressively verify and refine the generated videos. The Redesign stage is the most challenging stage that aims to verify the generated videos, suggest corrections, and redesign the text prompts, frame-wise layouts, and guidance scales for the next iteration of generation. To avoid hallucination of a single MLLM agent, we decompose this stage to four sequentially-executed MLLM-based agents: verification agent, suggestion agent, correction agent, and output structuring agent. Furthermore, to tackle diverse scenarios of compositional text-to-video generation, we design a self-routing mechanism to adaptively select the proper correction agent from a collection of correction agents each specialized for one scenario. Extensive experiments demonstrate the effectiveness of GenMAC, achieving state-of-the art performance in compositional text-to-video generation.

A fundamental bottleneck in human-AI collaboration is the "intention expression gap," the difficulty for humans to effectively convey complex, high-dimensional thoughts to AI. This challenge often traps users in inefficient trial-and-error loops and is exacerbated by the diverse expertise levels of users. We reframe this problem from passive instruction following to a Socratic collaboration paradigm, proposing an agent that actively probes for information to resolve its uncertainty about user intent. we name the proposed agent Nous, trained to acquire proficiency in this inquiry policy. The core mechanism of Nous is a training framework grounded in the first principles of information theory. Within this framework, we define the information gain from dialogue as an intrinsic reward signal, which is fundamentally equivalent to the reduction of Shannon entropy over a structured task space. This reward design enables us to avoid reliance on costly human preference annotations or external reward models. To validate our framework, we develop an automated simulation pipeline to generate a large-scale, preference-based dataset for the challenging task of scientific diagram generation. Comprehensive experiments, including ablations, subjective and objective evaluations, and tests across user expertise levels, demonstrate the effectiveness of our proposed framework. Nous achieves leading efficiency and output quality, while remaining robust to varying user expertise. Moreover, its design is domain-agnostic, and we show evidence of generalization beyond diagram generation. Experimental results prove that our work offers a principled, scalable, and adaptive paradigm for resolving uncertainty about user intent in complex human-AI collaboration.

The recent success of Large Language Models (LLMs) signifies an impressive stride towards artificial general intelligence. They have shown a promising prospect in automatically completing tasks upon user instructions, functioning as brain-like coordinators. The associated risks will be revealed as we delegate an increasing number of tasks to machines for automated completion. A big question emerges: how can we make machines behave responsibly when helping humans automate tasks as personal copilots? In this paper, we explore this question in depth from the perspectives of feasibility, completeness and security. In specific, we present Responsible Task Automation (ResponsibleTA) as a fundamental framework to facilitate responsible collaboration between LLM-based coordinators and executors for task automation with three empowered capabilities: 1) predicting the feasibility of the commands for executors; 2) verifying the completeness of executors; 3) enhancing the security (e.g., the protection of users' privacy). We further propose and compare two paradigms for implementing the first two capabilities. One is to leverage the generic knowledge of LLMs themselves via prompt engineering while the other is to adopt domain-specific learnable models. Moreover, we introduce a local memory mechanism for achieving the third capability. We evaluate our proposed ResponsibleTA on UI task automation and hope it could bring more attentions to ensuring LLMs more responsible in diverse scenarios. The research project homepage is at https://task-automation-research.github.io/responsible_task_automation.

Imagine a world where AI can handle your work while you sleep - organizing your research materials, drafting a report, or creating a presentation you need for tomorrow. However, while current digital agents can perform simple tasks, they are far from capable of handling the complex real-world work that humans routinely perform. We present PC Agent, an AI system that demonstrates a crucial step toward this vision through human cognition transfer. Our key insight is that the path from executing simple "tasks" to handling complex "work" lies in efficiently capturing and learning from human cognitive processes during computer use. To validate this hypothesis, we introduce three key innovations: (1) PC Tracker, a lightweight infrastructure that efficiently collects high-quality human-computer interaction trajectories with complete cognitive context; (2) a two-stage cognition completion pipeline that transforms raw interaction data into rich cognitive trajectories by completing action semantics and thought processes; and (3) a multi-agent system combining a planning agent for decision-making with a grounding agent for robust visual grounding. Our preliminary experiments in PowerPoint presentation creation reveal that complex digital work capabilities can be achieved with a small amount of high-quality cognitive data - PC Agent, trained on just 133 cognitive trajectories, can handle sophisticated work scenarios involving up to 50 steps across multiple applications. This demonstrates the data efficiency of our approach, highlighting that the key to training capable digital agents lies in collecting human cognitive data. By open-sourcing our complete framework, including the data collection infrastructure and cognition completion methods, we aim to lower the barriers for the research community to develop truly capable digital agents.

The rise of unifying frameworks that enable seamless interoperability of Large Language Models (LLMs) has made LLM-LLM collaboration for open-ended tasks a possibility. Despite this, there have not been efforts to explore such collaborative writing. We take the next step beyond human-LLM collaboration to explore this multi-LLM scenario by generating the first exclusively LLM-generated collaborative stories dataset called CollabStory. We focus on single-author (N=1) to multi-author (up to N=5) scenarios, where multiple LLMs co-author stories. We generate over 32k stories using open-source instruction-tuned LLMs. Further, we take inspiration from the PAN tasks that have set the standard for human-human multi-author writing tasks and analysis. We extend their authorship-related tasks for multi-LLM settings and present baselines for LLM-LLM collaboration. We find that current baselines are not able to handle this emerging scenario. Thus, CollabStory is a resource that could help propel an understanding as well as the development of techniques to discern the use of multiple LLMs. This is crucial to study in the context of writing tasks since LLM-LLM collaboration could potentially overwhelm ongoing challenges related to plagiarism detection, credit assignment, maintaining academic integrity in educational settings, and addressing copyright infringement concerns. We make our dataset and code available at \url{https://github.com/saranya-venkatraman/multi_llm_story_writing}.

Despite recent advancements in text-to-image generation, most existing methods struggle to create images with multiple objects and complex spatial relationships in 3D world. To tackle this limitation, we introduce a generic AI system, namely MUSES, for 3D-controllable image generation from user queries. Specifically, our MUSES addresses this challenging task by developing a progressive workflow with three key components, including (1) Layout Manager for 2D-to-3D layout lifting, (2) Model Engineer for 3D object acquisition and calibration, (3) Image Artist for 3D-to-2D image rendering. By mimicking the collaboration of human professionals, this multi-modal agent pipeline facilitates the effective and automatic creation of images with 3D-controllable objects, through an explainable integration of top-down planning and bottom-up generation. Additionally, we find that existing benchmarks lack detailed descriptions of complex 3D spatial relationships of multiple objects. To fill this gap, we further construct a new benchmark of T2I-3DisBench (3D image scene), which describes diverse 3D image scenes with 50 detailed prompts. Extensive experiments show the state-of-the-art performance of MUSES on both T2I-CompBench and T2I-3DisBench, outperforming recent strong competitors such as DALL-E 3 and Stable Diffusion 3. These results demonstrate a significant step of MUSES forward in bridging natural language, 2D image generation, and 3D world. Our codes and models will be released soon.

Synthesizing diverse and physically plausible Human-Scene Interactions (HSI) is pivotal for both computer animation and embodied AI. Despite encouraging progress, current methods mainly focus on developing separate controllers, each specialized for a specific interaction task. This significantly hinders the ability to tackle a wide variety of challenging HSI tasks that require the integration of multiple skills, e.g., sitting down while carrying an object. To address this issue, we present TokenHSI, a single, unified transformer-based policy capable of multi-skill unification and flexible adaptation. The key insight is to model the humanoid proprioception as a separate shared token and combine it with distinct task tokens via a masking mechanism. Such a unified policy enables effective knowledge sharing across skills, thereby facilitating the multi-task training. Moreover, our policy architecture supports variable length inputs, enabling flexible adaptation of learned skills to new scenarios. By training additional task tokenizers, we can not only modify the geometries of interaction targets but also coordinate multiple skills to address complex tasks. The experiments demonstrate that our approach can significantly improve versatility, adaptability, and extensibility in various HSI tasks. Website: https://liangpan99.github.io/TokenHSI/

Despite rapid progress on AI benchmarks, the real-world meaning of benchmark performance remains unclear. To quantify the capabilities of AI systems in terms of human capabilities, we propose a new metric: 50%-task-completion time horizon. This is the time humans typically take to complete tasks that AI models can complete with 50% success rate. We first timed humans with relevant domain expertise on a combination of RE-Bench, HCAST, and 66 novel shorter tasks. On these tasks, current frontier AI models such as Claude 3.7 Sonnet have a 50% time horizon of around 50 minutes. Furthermore, frontier AI time horizon has been doubling approximately every seven months since 2019, though the trend may have accelerated in 2024. The increase in AI models' time horizons seems to be primarily driven by greater reliability and ability to adapt to mistakes, combined with better logical reasoning and tool use capabilities. We discuss the limitations of our results -- including their degree of external validity -- and the implications of increased autonomy for dangerous capabilities. If these results generalize to real-world software tasks, extrapolation of this trend predicts that within 5 years, AI systems will be capable of automating many software tasks that currently take humans a month.

Recent interest in human-AI interactions in agent-based modeling and simulation (ABMS) has grown rapidly due to the widespread utilization of large language models (LLMs). ABMS is an intelligent approach that simulates autonomous agents' behaviors within a defined environment to research emergent phenomena. Integrating LLMs into ABMS enables natural language interaction between humans and models. Meanwhile, it introduces new challenges that rely on human interaction to address. Human involvement can assist ABMS in adapting to flexible and complex research demands. However, systematic reviews of interactions that examine how humans and AI interact in ABMS are lacking. In this paper, we investigate existing works and propose a novel taxonomy to categorize the interactions derived from them. Specifically, human users refer to researchers who utilize ABMS tools to conduct their studies in our survey. We decompose interactions into five dimensions: the goals that users want to achieve (Why), the phases that users are involved (When), the components of the system (What), the roles of users (Who), and the means of interactions (How). Our analysis summarizes the findings that reveal existing interaction patterns. They provide researchers who develop interactions with comprehensive guidance on how humans and AI interact. We further discuss the unexplored interactions and suggest future research directions.

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an open question how far such models can generalize in the wild. We describe pi_{0.5}, a new model based on pi_{0} that uses co-training on heterogeneous tasks to enable broad generalization. pi_{0.5}\ uses data from multiple robots, high-level semantic prediction, web data, and other sources to enable broadly generalizable real-world robotic manipulation. Our system uses a combination of co-training and hybrid multi-modal examples that combine image observations, language commands, object detections, semantic subtask prediction, and low-level actions. Our experiments show that this kind of knowledge transfer is essential for effective generalization, and we demonstrate for the first time that an end-to-end learning-enabled robotic system can perform long-horizon and dexterous manipulation skills, such as cleaning a kitchen or bedroom, in entirely new homes.