Demo2Code: From Summarizing Demonstrations to Synthesizing Code via Extended Chain-of-Thought

Language instructions and demonstrations are two natural ways for users to teach robots personalized tasks. Recent progress in Large Language Models (LLMs) has shown impressive performance in translating language instructions into code for robotic tasks. However, translating demonstrations into task code continues to be a challenge due to the length and complexity of both demonstrations and code, making learning a direct mapping intractable. This paper presents Demo2Code, a novel framework that generates robot task code from demonstrations via an extended chain-of-thought and defines a common latent specification to connect the two. Our framework employs a robust two-stage process: (1) a recursive summarization technique that condenses demonstrations into concise specifications, and (2) a code synthesis approach that expands each function recursively from the generated specifications. We conduct extensive evaluation on various robot task benchmarks, including a novel game benchmark Robotouille, designed to simulate diverse cooking tasks in a kitchen environment. The project's website is available at https://portal-cornell.github.io/demo2code-webpageComment: 10 pages (not including references and appendix), 14 figures (7 in main paper, 7 in appendix); (v2) added additional references to section 2 and 9, added acknowledgement sectio

Diagnóstico da Gestão, Estrutura, Organização e Oferta de Atividades de Esporte e Lazer no Estado de Rondônia

O trabalho apresenta um diagnóstico relativo à gestão, estrutura, organização de esporte e lazer no estado de Rondônia. Realizou-se uma pesquisa exploratória descritiva, com a utilização de métodos qualitativos, junto a gestores de esporte e lazer dos municípios do estado de Rondônia. A amostra foi selecionada por conveniência. Para a coleta de dados utilizou-se um questionário semiestruturado contendo 14 questões que tinham como objetivo identificar o perfil sociodemográfico dos gestores de esporte e lazer e as ações sociais de esporte e lazer da localidade. A pesquisa mostrou que a maioria tem formação em ensino superior, com predominância no curso de Educação Física; são homens, com média de idade de 47 anos. A experiência em gestão ficou entre 1 e 2 anos de prática. Os principais critérios assinalados para o uso dos espaços de esporte e lazer foram “Agendamento” prévio e “Gestão Compartilhada”

Una nueva figura de bisonte en la cueva de "El Pindal" (Asturias): transformación de un relieve natural en una representación animal

El presente trabajo da a conocer una representación de bisonte hasta hoy desconocida en la cueva de El Pindal (costa oriental de Asturias). No se trata de una imagen pintada o exclusivamente grabada sobre la pared, sino de un relieve natural con un perfil evocador, transformado por el artista magdaleniense, mediante la precisa adición de ciertos rasgos grabados, en una figura de dicho animal

Autorregulación del aprendizaje a partir de textos

[Resumen] En este artículo se presenta la versión experimental de la Escala de Evaluación de la Autorregulación del Aprendizaje a partir de Textos (ARATEX), que trata de informar sobre la situación real en la que se encuentran los alumnos en relación con la autorregulación de su comprensión lectora, considerando ésta como una condición fundamental para que se produzca un aprendizaje significativo a partir de textos. En este sentido, siguiendo como marco teórico el modelo de aprendizaje autorregulado actualmente propuesto por Pintrich, en esta escala se trata de evaluar las estrategias implicadas en la comprensión atendiendo a la autorregulación de las distintas áreas (cognición, motivación, comportamiento y contexto) y diferenciando tres momentos clave en la lectura significativa (antes, durante y después de la lectura) que se corresponden con las fases de toda conducta autorregulada: (a) planificación y activación, (b) supervisión y control, y (c) reacción y reflexión.[Abstract] The main aim of this paper is to present the experimental version of a new instrument (Self-regulated Learning from Texts Scale) designed to asses students real self-regulated reading comprehension, which is considered a basic condition for significative and self-regulated learning from texts. This scale has been developed using Pintrich current model of self-regulated learning as a general framework for self - regulatinge By the means, what we are trying with this scale is to evaluate the different strategies involved in reading comprehension; this evaluation is centered on the diferent areas of regulation (cognition, motivation, behavior and context), as well as on the diferent moments that individuals go through as they read significatively (before, during and after reading), which are equivalent to the diferent phases that take place when individuals try to regulate their learning: (a) forethought, planning and activation, (b) monitoring and control, and (3) reaction and reflectio

Is Reticular Macular Disease a Choriocapillaris Perfusion Problem?

The etiology of reticular macular disease (RMD), a sub-phenotype of age-related macular degeneration (AMD), is controversial and has not been clarified. RMD is suspected to be a multifactorial, complex disease with genetic, environmental, and systemic factors playing an important role in its origin. Findings from combinations of different imaging modalities suggest that the pattern that characterizes this condition is associated with an alteration of the choriocapillaris blood flow. If the choroid is indeed affected in RMD, the possible linkage with inflammatory or other systemic diseases could be better supported

Aplicacións da teoría de xogos ao problema do passepartout

Traballo Fin de Grao en Matemáticas. Curso 2018-2019[GL] Nun sistema de passepartout, un grupo de provedores de servizos deciden emitir un passepartout que permite aos seus clientes acceder aos seus servizos durante un período limitado de tempo e a un prezo fixo. O problema do passepartout consiste en como dividir os beneficios comúns obtidos pola venda dos passepartouts. Neste traballo abordamos esta cuestión empregando diferentes ferramentas que nos proporciona a teoría de xogos cooperativos, centrándonos no caso no que o sistema de passepartout está formado exclusivamente por museos.[EN] In a passepartout system, a group of service providers decide to offer a passepartout to their clients which allows them to access to its services for a limited period of time for a fixed price. The passepartout's problem consists in how to divide the common benefits obtained by the passepartouts' sale. In this work we approach this issue employing different tools provided by the cooperative game theory, focusing in the case in which the passepartout system is formed exclusively by museums

La Lluera-I, grotte

Le siteLa grotte de La Lluera-I se trouve sur la rive droite du Nalón dans la localité de San Juan de Priorio (Oviedo, Asturies). Le gisement et les gravures ont été découverts par J.M. Quintanal et le groupe spéléologique Polifemo en 1979 (Quintanal 1991). C’est une petite grotte en forme de « U » inversé, dont les branches correspondent à deux petites galeries, orientale et occidentale, qui communiquent par le fond. Le porche s’ouvre au sud, à seulement 5 m au-dessus du niveau de la rivièr..