Huaidian Hou

Zixuan Huang, Huaidian Hou, Dmitry Berenson

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different modalities, i.e., sensory inputs, actions, and rewards, which is crucial for modeling robot behavior and understanding task outcomes. In this work, we propose Multimodal Diffusion Forcing, a unified framework for learning from multimodal robot trajectories that extends beyond action generation. Rather than modeling a fixed distribution, MDF applies random partial masking and trains a diffusion model to reconstruct the trajectory. This training objective encourages the model to learn temporal and cross-modal dependencies, such as predicting the effects of actions on force signals or inferring states from partial observations. We evaluate MDF on contact-rich, forceful manipulation tasks in simulated and real-world environments. Our results show that MDF not only delivers versatile functionalities, but also achieves strong performance, and robustness under noisy observations. More visualizations can be found on our website https://unified-df.github.io

Chimaobi Okite, Naihao Deng, Kiran Bodipati et al.

Recent years have witnessed a growing interest in personalizing the responses of large language models (LLMs). While existing evaluations primarily focus on whether a response aligns with a user's preferences, we argue that factuality is an equally important yet often overlooked dimension. In the context of personalization, we define a model as robust if its responses are both factually accurate and align with the user preferences. To assess this, we introduce PERG, a scalable framework for evaluating robustness in LLMs, along with a new dataset, PERGData. We evaluate fourteen models from five different model families using different prompting methods. Our findings show that current LLMs struggle with robust personalization: even the strongest models (GPT-4.1, LLaMA3-70B) fail to maintain correctness in 5% of previously successful cases without personalization, while smaller models (e.g., 7B-scale) can fail more than 20% of the time. Further analysis reveals that robustness is significantly affected by the nature of the query and the type of user preference. To mitigate these failures, we propose Pref-Aligner, a two-stage approach that improves robustness by an average of 25% across models. Our work highlights critical gaps in current evaluation practices and introduces tools and metrics to support more reliable, user-aligned LLM deployments.