Kara Moraw

Malte Mosbach, Kara Moraw, Sven Behnke

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to enable humanoid robots to operate in unstructured real-world environments. Reinforcement learning (RL) has traditionally imposed enormous interaction data requirements for optimizing such complex control problems. We introduce a new framework that leverages recent advances in GPU-based simulation along with the strength of imitation learning in guiding policy search towards promising behaviors to make RL training feasible in these domains. To this end, we present an immersive virtual reality teleoperation interface designed for interactive human-like manipulation on contact rich tasks and a suite of manipulation environments inspired by tasks of daily living. Finally, we demonstrate the complementary strengths of massively parallel RL and imitation learning, yielding robust and natural behaviors. Videos of trained policies, our source code, and the collected demonstration datasets are available at https://maltemosbach.github.io/interactive_ human_like_manipulation/.

Xingran Ruan, Angelo Salatino, Rosa Filgueira et al.

This paper presents preliminary findings from a UKRI-funded Metascience project comparing three LLM-based approaches, GPT-4o, Mistral, and a bespoke algorithm, DSIT-Taxonomies, for extracting and classifying research entities from funding proposals. Our project "Tracking Stars and Unicorns" aims to identify early signals of emerging research areas to inform public investment. Our methodology employed a three-stage pipeline, leveraging Mistral for primary entity extraction and mapping against the OpenAlex Topics taxonomy. We evaluated our approach across 42 proposals' abstracts from different areas and observed that Mistral and GPT-4o produce comparable, high-quality entity sets with significant semantic overlap, outperforming the fragmented DSIT-Taxonomies approach. Crucially, the Mistral-based approach achieved superior topic classification accuracy (90.5%) compared to the full DSIT-Taxonomies pipeline (71.4%). We conclude that Mistral offers a high-performance, operationally efficient, and secure solution for large-scale analysis of sensitive grant data.