Wikibench: Community-Driven Data Curation for AI Evaluation on Wikipedia

AI tools are increasingly deployed in community contexts. However, datasets used to evaluate AI are typically created by developers and annotators outside a given community, which can yield misleading conclusions about AI performance. How might we empower communities to drive the intentional design and curation of evaluation datasets for AI that impacts them? We investigate this question on Wikipedia, an online community with multiple AI-based content moderation tools deployed. We introduce Wikibench, a system that enables communities to collaboratively curate AI evaluation datasets, while navigating ambiguities and differences in perspective through discussion. A field study on Wikipedia shows that datasets curated using Wikibench can effectively capture community consensus, disagreement, and uncertainty. Furthermore, study participants used Wikibench to shape the overall data curation process, including refining label definitions, determining data inclusion criteria, and authoring data statements. Based on our findings, we propose future directions for systems that support community-driven data curation.

Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning

Diffusion models have risen as a powerful tool in robotics due to their flexibility and multi-modality. While some of these methods effectively address complex problems, they often depend heavily on inference-time obstacle detection and require additional equipment. Addressing these challenges, we present a method that, during inference time, simultaneously generates only reachable goals and plans motions that avoid obstacles, all from a single visual input. Central to our approach is the novel use of a collision-avoiding diffusion kernel for training. Through evaluations against behavior-cloning and classical diffusion models, our framework has proven its robustness. It is particularly effective in multi-modal environments, navigating toward goals and avoiding unreachable ones blocked by obstacles, while ensuring collision avoidance.

Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation

Recent studies have verified that equivariant methods can significantly improve the data efficiency, generalizability, and robustness in robot learning. Meanwhile, denoising diffusion-based generative modeling has recently gained significant attention as a promising approach for robotic manipulation learning from demonstrations with stochastic behaviors. In this paper, we present Diffusion-EDFs, a novel approach that incorporates spatial roto-translation equivariance, i.e., SE(3)-equivariance to diffusion generative modeling. By integrating SE(3)-equivariance into our model architectures, we demonstrate that our proposed method exhibits remarkable data efficiency, requiring only 5 to 10 task demonstrations for effective end-to-end training. Furthermore, our approach showcases superior generalizability compared to previous diffusion-based manipulation methods.