Sign languages are expressive visual languages used by Deaf and Hard-of-Hearing (DHH) communities.Despite substantial progress in sign-language recognition, translation, and production, advances remain constrained by fragmented datasets, inconsistent annotations, and limited linguistic coverage.Existing benchmarks often fail to reflect real-world communication needs, and systematic analyses of these limitations remain limited.In this survey, we present a comprehensive index of sign-language datasets, covering 120 resources across 35 sign languages.We analyze key challenges such as modality imbalance, annotation granularity, and signer bias, and outline considerations for future dataset design.We also introduce a 24-field Sign-Language Datasheet and release a public GitHub repository 1 to support standardized documentation and reproducible evaluation.Overall, our work provides a unified and practical foundation for developing inclusive, robust, and scalable sign-language technologies in real-world applications.

Traditional automated metrics for evaluating conditional natural language generation rely on pairwise comparisons between a single generated text and the best-matching gold-standard reference. This method is effective when ground truth data diversity can be attributed to noise, however, it falls short when diversity in references holds valuable contextual information, as in visual description or summarization, as it does not evaluate the ability of a model to generate text matching the diversity of the ground truth samples. In this paper, we challenge the adequacy of existing metrics in such semantically diverse contexts and introduce a novel approach for evaluating conditional language generation models, leveraging a family of meta-metrics that build on existing pairwise distance functions. These meta-metrics assess not just single-samples, but distributions of reference and model-generated captions using small sample sets. We demonstrate our approach through a case study of visual description in the English language which reveals not only how current models prioritize single-description quality over diversity, but further sheds light on the impact of sampling methods and temperature settings on description quality and diversity.

This work presents HiLMa-Res, a hierarchical framework leveraging reinforcement learning to tackle manipulation tasks while performing continuous locomotion using quadrupedal robots. Unlike most previous efforts that focus on solving a specific task, HiLMa-Res is designed to be general for various loco-manipulation tasks that require quadrupedal robots to maintain sustained mobility. The novel design of this framework tackles the challenges of integrating continuous locomotion control and manipulation using legs. It develops an operational space locomotion controller that can track arbitrary robot end-effector (toe) trajectories while walking at different velocities. This controller is designed to be generic to different downstream tasks, and therefore, can be utilized in high-level manipulation planning policy to address specific tasks. To demonstrate the versatility of this framework, we utilize HiLMa-Res to tackle several challenging loco-manipulation tasks using a quadrupedal robot in the real world. These tasks span from leveraging state-based policy to vision-based policy, from training purely from the simulation data to learning from real-world data. In these tasks, HiLMa-Res shows better performance than other methods.

We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping with quadrupeds is a challenging problem, that combines highly dynamic locomotion with precise and fast non-prehensile object (ball) manipulation. The robot needs to react to and intercept a potentially flying ball using dynamic locomotion maneuvers in a very short amount of time, usually less than one second. In this paper, we propose to address this problem using a hierarchical model-free RL framework. The first component of the framework contains multiple control policies for distinct locomotion skills, which can be used to cover different regions of the goal. Each control policy enables the robot to track random parametric end-effector trajectories while performing one specific locomotion skill, such as jump, dive, and sidestep. These skills are then utilized by the second part of the framework which is a high-level planner to determine a desired skill and end-effector trajectory in order to intercept a ball flying to different regions of the goal. We deploy the proposed framework on a Mini Cheetah quadrupedal robot and demonstrate the effectiveness of our framework for various agile interceptions of a fast-moving ball in the real world.