Tong Zhao

Huachuan Qiu, Tong Zhao, Anqi Li et al.

Dialogue safety remains a pervasive challenge in open-domain human-machine interaction. Existing approaches propose distinctive dialogue safety taxonomies and datasets for detecting explicitly harmful responses. However, these taxonomies may not be suitable for analyzing response safety in mental health support. In real-world interactions, a model response deemed acceptable in casual conversations might have a negligible positive impact on users seeking mental health support. To address these limitations, this paper aims to develop a theoretically and factually grounded taxonomy that prioritizes the positive impact on help-seekers. Additionally, we create a benchmark corpus with fine-grained labels for each dialogue session to facilitate further research. We analyze the dataset using popular language models, including BERT-base, RoBERTa-large, and ChatGPT, to detect and understand unsafe responses within the context of mental health support. Our study reveals that ChatGPT struggles to detect safety categories with detailed safety definitions in a zero- and few-shot paradigm, whereas the fine-tuned model proves to be more suitable. The developed dataset and findings serve as valuable benchmarks for advancing research on dialogue safety in mental health support, with significant implications for improving the design and deployment of conversation agents in real-world applications. We release our code and data here: https://github.com/qiuhuachuan/DialogueSafety.

Tong Zhao, Andrea Tagliabue, Jonathan P. How

The deployment of agile autonomous systems in challenging, unstructured environments requires adaptation capabilities and robustness to uncertainties. Existing robust and adaptive controllers, such as those based on model predictive control (MPC), can achieve impressive performance at the cost of heavy online onboard computations. Strategies that efficiently learn robust and onboard-deployable policies from MPC have emerged, but they still lack fundamental adaptation capabilities. In this work, we extend an existing efficient Imitation Learning (IL) algorithm for robust policy learning from MPC with the ability to learn policies that adapt to challenging model/environment uncertainties. The key idea of our approach consists in modifying the IL procedure by conditioning the policy on a learned lower-dimensional model/environment representation that can be efficiently estimated online. We tailor our approach to the task of learning an adaptive position and attitude control policy to track trajectories under challenging disturbances on a multirotor. Evaluations in simulation show that a high-quality adaptive policy can be obtained in about $1.3$ hours. We additionally empirically demonstrate rapid adaptation to in- and out-of-training-distribution uncertainties, achieving a $6.1$ cm average position error under wind disturbances that correspond to about $50\%$ of the weight of the robot, and that are $36\%$ larger than the maximum wind seen during training.

Yi-Hsuan Hsiao, Andrea Tagliabue, Owen Matteson et al.

Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non-aggressive trajectories with small body acceleration. This performance gap is contributed by a combination of low robot inertia, fast dynamics, uncertainty in flapping-wing aerodynamics, and high susceptibility to environmental disturbance. Executing highly dynamic maneuvers requires the generation of aggressive flight trajectories that push against the hardware limit and a high-rate feedback controller that accounts for model and environmental uncertainty. Here, through designing a deep-learned robust tube model predictive controller, we showcase insect-like flight agility and robustness in a 750-millgram flapping-wing robot. Our model predictive controller can track aggressive flight trajectories under disturbance. To achieve a high feedback rate in a compute-constrained real-time system, we design imitation learning methods to train a two-layer, fully connected neural network, which resembles insect flight control architecture consisting of central nervous system and motor neurons. Our robot demonstrates insect-like saccade movements with lateral speed and acceleration of 197 centimeters per second and 11.7 meters per second square, representing 447$\%$ and 255$\%$ improvement over prior results. The robot can also perform saccade maneuvers under 160 centimeters per second wind disturbance and large command-to-force mapping errors. Furthermore, it performs 10 consecutive body flips in 11 seconds - the most challenging maneuver among sub-gram flyers. These results represent a milestone in achieving insect-scale flight agility and inspire future investigations on sensing and compute autonomy.

Pablo Ortega, Tong Zhao, Aldo Faisal

Non-invasive cortical neural interfaces have only achieved modest performance in cortical decoding of limb movements and their forces, compared to invasive brain-computer interfaces (BCIs). While non-invasive methodologies are safer, cheaper and vastly more accessible technologies, signals suffer from either poor resolution in the space domain (EEG) or the temporal domain (BOLD signal of functional Near Infrared Spectroscopy, fNIRS). The non-invasive BCI decoding of bimanual force generation and the continuous force signal has not been realised before and so we introduce an isometric grip force tracking task to evaluate the decoding. We find that combining EEG and fNIRS using deep neural networks works better than linear models to decode continuous grip force modulations produced by the left and the right hand. Our multi-modal deep learning decoder achieves 55.2 FVAF[%] in force reconstruction and improves the decoding performance by at least 15% over each individual modality. Our results show a way to achieve continuous hand force decoding using cortical signals obtained with non-invasive mobile brain imaging has immediate impact for rehabilitation, restoration and consumer applications.