Haruto Suzuki

Ryosuke Takanami, Petr Khrapchenkov, Shu Morikuni et al.

As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a central challenge. Progress in robust mobile manipulation requires large-scale multimodal datasets that capture contact-rich and long-horizon tasks, yet existing resources lack synchronized force-torque sensing, hierarchical annotations, and explicit failure cases. We address this gap with the AIRoA MoMa Dataset, a large-scale real-world multimodal dataset for mobile manipulation. It includes synchronized RGB images, joint states, six-axis wrist force-torque signals, and internal robot states, together with a novel two-layer annotation schema of sub-goals and primitive actions for hierarchical learning and error analysis. The initial dataset comprises 25,469 episodes (approx. 94 hours) collected with the Human Support Robot (HSR) and is fully standardized in the LeRobot v2.1 format. By uniquely integrating mobile manipulation, contact-rich interaction, and long-horizon structure, AIRoA MoMa provides a critical benchmark for advancing the next generation of Vision-Language-Action models. The first version of our dataset is now available at https://huggingface.co/datasets/airoa-org/airoa-moma .

Md Faizul Ibne Amin, Yutaka Watanobe, Daniel M. Muepu et al.

LLMs are increasingly employed both as judges for evaluating open-ended outputs and as co-creation partners in AI-assisted programming; yet rigorous evaluation in human-AI co-creation settings remains underdeveloped as judgments must be reliable, comparable across models, and interpretable over multi-turn interaction. To address this gap, a rubric-driven LLM-as-a-Judge framework is presented for contest-style human-AI co-creation in coding and software engineering (SE). The framework is built around schema-constrained judge outputs, validation and repair mechanisms, grouped and split by user and problem to prevent trajectory leakage, and participant-level NONBLIND context. Multiple LLM judges are assessed through a multi-metric protocol covering discrimination (ROC-AUC, PR-AUC), thresholded decision quality (MCC), probabilistic reliability (LogLoss, Brier score, ECE), and inter-judge agreement (Cohen's and Fleiss' k). Human-AI co-creation is further examined through trajectory-level signals, including turn-wise confidence, Success-at-Turn, time-to-success, revision churn, and CodeBLEU. Co-creation success is found to concentrate early, with Success-at-Turn rising to 0.8533 at the first observed turn and stabilizing at 0.8641 by turn 6. Revision behavior, however, remains heterogeneous, suggesting that productive progress can emerge through either incremental refinement or broader restructuring. On the judging side, the best held-out scores reach 0.5937 for ROC-AUC, 0.6904 for PR-AUC, and 0.5000 for MCC test, while inter-judge consistency remains modest overall (mean pairwise Cohen's k = 0.1592, Fleiss' k = 0.0696). Taken together, this work offers an auditable and reproducible evaluation methodology that links reliability-aware LLM judging with trajectory-based analysis of human-AI co-creation, providing a practical evaluation template for future AI-assisted coding and SE.