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Giacomo Spigler

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Artificial Intelligence Machine Learning Computer Vision Multiagent Systems Robotics

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preprint2026arXiv

TAVIS: A Benchmark for Egocentric Active Vision and Anticipatory Gaze in Imitation Learning

Active vision -- where a policy controls its own gaze during manipulation -- has emerged as a key capability for imitation learning, with multiple independent systems demonstrating its benefits in the past year. Yet there is no shared benchmark to compare approaches or quantify what active vision contributes, on which task types, and under what conditions. We introduce TAVIS, evaluation infrastructure for active-vision imitation learning, with two complementary task suites -- TAVIS-Head (5 tasks, global search via pan/tilt necks) and TAVIS-Hands (3 tasks, local occlusion via wrist cameras) -- on two humanoid torso embodiments (GR1T2, Reachy2), built on IsaacLab. TAVIS provides three evaluation primitives: a paired headcam-vs-fixedcam protocol on identical demonstrations; GALT (Gaze-Action Lead Time), a novel metric grounded in cognitive science and HRI that quantifies anticipatory gaze in learned policies; and procedural ID/OOD splits. Baseline experiments with Diffusion Policy and $π_0$ reveal that (i) active-vision generally helps, but benefits are task-conditional rather than uniform; (ii) multi-task policies degrade sharply under controlled distribution shifts on both suites; and (iii) imitation alone yields anticipatory gaze, with median lead times comparable to the human teleoperator reference. Code, evaluation scripts, demonstrations (LeRobot v3.0; ~2200 episodes) and trained baselines are released at https://github.com/spiglerg/tavis and https://huggingface.co/tavis-benchmark.

preprint2021arXiv

Investigating Trade-offs in Utility, Fairness and Differential Privacy in Neural Networks

To enable an ethical and legal use of machine learning algorithms, they must both be fair and protect the privacy of those whose data are being used. However, implementing privacy and fairness constraints might come at the cost of utility (Jayaraman & Evans, 2019; Gong et al., 2020). This paper investigates the privacy-utility-fairness trade-off in neural networks by comparing a Simple (S-NN), a Fair (F-NN), a Differentially Private (DP-NN), and a Differentially Private and Fair Neural Network (DPF-NN) to evaluate differences in performance on metrics for privacy (epsilon, delta), fairness (risk difference), and utility (accuracy). In the scenario with the highest considered privacy guarantees (epsilon = 0.1, delta = 0.00001), the DPF-NN was found to achieve better risk difference than all the other neural networks with only a marginally lower accuracy than the S-NN and DP-NN. This model is considered fair as it achieved a risk difference below the strict (0.05) and lenient (0.1) thresholds. However, while the accuracy of the proposed model improved on previous work from Xu, Yuan and Wu (2019), the risk difference was found to be worse.

preprint2020arXiv

Meta-learnt priors slow down catastrophic forgetting in neural networks

Current training regimes for deep learning usually involve exposure to a single task / dataset at a time. Here we start from the observation that in this context the trained model is not given any knowledge of anything outside its (single-task) training distribution, and has thus no way to learn parameters (i.e., feature detectors or policies) that could be helpful to solve other tasks, and to limit future interference with the acquired knowledge, and thus catastrophic forgetting. Here we show that catastrophic forgetting can be mitigated in a meta-learning context, by exposing a neural network to multiple tasks in a sequential manner during training. Finally, we present SeqFOMAML, a meta-learning algorithm that implements these principles, and we evaluate it on sequential learning problems composed by Omniglot and MiniImageNet classification tasks.

preprint2019arXiv

Denoising Autoencoders for Overgeneralization in Neural Networks

Despite the recent developments that allowed neural networks to achieve impressive performance on a variety of applications, these models are intrinsically affected by the problem of overgeneralization, due to their partitioning of the full input space into the fixed set of target classes used during training. Thus it is possible for novel inputs belonging to categories unknown during training or even completely unrecognizable to humans to fool the system into classifying them as one of the known classes, even with a high degree of confidence. Solving this problem may help improve the security of such systems in critical applications, and may further lead to applications in the context of open set recognition and 1-class recognition. This paper presents a novel way to compute a confidence score using denoising autoencoders and shows that such confidence score can correctly identify the regions of the input space close to the training distribution by approximately identifying its local maxima.

preprint2018arXiv

The Temporal Singularity: time-accelerated simulated civilizations and their implications

Provided significant future progress in artificial intelligence and computing, it may ultimately be possible to create multiple Artificial General Intelligences (AGIs), and possibly entire societies living within simulated environments. In that case, it should be possible to improve the problem solving capabilities of the system by increasing the speed of the simulation. If a minimal simulation with sufficient capabilities is created, it might manage to increase its own speed by accelerating progress in science and technology, in a way similar to the Technological Singularity. This may ultimately lead to large simulated civilizations unfolding at extreme temporal speedups, achieving what from the outside would look like a Temporal Singularity. Here we discuss the feasibility of the minimal simulation and the potential advantages, dangers, and connection to the Fermi paradox of the Temporal Singularity. The medium-term importance of the topic derives from the amount of computational power required to start the process, which could be available within the next decades, making the Temporal Singularity theoretically possible before the end of the century.