Arun Kumar Singh

Karan Bhatia, Ansh Agrawal, Priyanka Singh et al.

The recent advancements in generative artificial speech models have made possible the generation of highly realistic speech signals. At first, it seems exciting to obtain these artificially synthesized signals such as speech clones or deep fakes but if left unchecked, it may lead us to digital dystopia. One of the primary focus in audio forensics is validating the authenticity of a speech. Though some solutions are proposed for English speeches but the detection of synthetic Hindi speeches have not gained much attention. Here, we propose an approach for discrimination of AI synthesized Hindi speech from an actual human speech. We have exploited the Bicoherence Phase, Bicoherence Magnitude, Mel Frequency Cepstral Coefficient (MFCC), Delta Cepstral, and Delta Square Cepstral as the discriminating features for machine learning models. Also, we extend the study to using deep neural networks for extensive experiments, specifically VGG16 and homemade CNN as the architecture models. We obtained an accuracy of 99.83% with VGG16 and 99.99% with homemade CNN models.

Vivek K. Adajania, Aditya Sharma, Anish Gupta et al.

Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only a local search to solve a complex non-convex optimization problem. As a result, they cannot capture the multi-modal characteristic of human driving. A global optimizer can be a potential solution but is computationally intractable in a real-time setting. In this paper, we present a real-time MPC capable of searching over different driving modalities. Our basic idea is simple: we run several goal-directed parallel trajectory optimizations and score the resulting trajectories based on user-defined meta cost functions. This allows us to perform a global search over several locally optimal motion plans. Although conceptually straightforward, realizing this idea in real-time with existing optimizers is highly challenging from technical and computational standpoints. With this motivation, we present a novel batch non-holonomic trajectory optimization whose underlying matrix algebra is easily parallelizable across problem instances and reduces to computing large batch matrix-vector products. This structure, in turn, is achieved by deriving a linearization-free multi-convex reformulation of the non-holonomic kinematics and collision avoidance constraints. We extensively validate our approach using both synthetic and real data sets (NGSIM) of traffic scenarios. We highlight how our algorithm automatically takes lane-change and overtaking decisions based on the defined meta cost function. Our batch optimizer achieves trajectories with lower meta cost, up to 6x faster than competing baselines.

Arun Kumar Singh, Priyanka Singh, Karan Nathwani

The recent developments in technology have re-warded us with amazing audio synthesis models like TACOTRON and WAVENETS. On the other side, it poses greater threats such as speech clones and deep fakes, that may go undetected. To tackle these alarming situations, there is an urgent need to propose models that can help discriminate a synthesized speech from an actual human speech and also identify the source of such a synthesis. Here, we propose a model based on Convolutional Neural Network (CNN) and Bidirectional Recurrent Neural Network (BiRNN) that helps to achieve both the aforementioned objectives. The temporal dependencies present in AI synthesized speech are exploited using Bidirectional RNN and CNN. The model outperforms the state-of-the-art approaches by classifying the AI synthesized audio from real human speech with an error rate of 1.9% and detecting the underlying architecture with an accuracy of 97%.

Fatemeh Rastgar, Houman Masnavi, Jatan Shrestha et al.

In this paper, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart of our optimizer is a novel reformulation of the non-convex collision avoidance constraints that reduces the core computation in each iteration to that of solving a large scale, convex, unconstrained Quadratic Program (QP). We also show that the matrix factorization/inverse computation associated with the QP needs to be done only once and can be done offline for a given number of agents. This further simplifies the solution process, effectively reducing it to a problem of evaluating a few matrix-vector products. Moreover, for a large number of agents, this computation can be trivially accelerated on GPUs using existing off-the-shelf libraries. We validate our optimizer's performance on challenging benchmarks and show substantial improvement over state of the art in computation time and trajectory quality.

Mithun Babu, Raghu Ram Theerthala, Arun Kumar Singh et al.

In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our MPC stems from the following results. Firstly, we adopt an alternating minimization approach wherein linear velocities and angular accelerations are alternately optimized. We show that in contrast to the joint optimization, the alternating minimization exploits the structure of the problem better, which in turn translates to reduction in computation time. Secondly, our MPC explicitly incorporates the time dependent non-linear actuator dynamics that captures the transient response of the vehicle for a given commanded velocity. This added complexity improves the predictive component of MPC resulting in improved margin of inter-vehicle distance during maneuvers like overtaking, lane-change, etc. Although, past works have also incorporated actuator dynamics within MPC, there has been very few attempts towards coupling actuator dynamics to collision avoidance constraints through the non-holonomic motion model of the vehicle and analyzing the resulting behavior. We use a high fidelity simulator to benchmark our actuator dynamics augmented MPC with other related approaches in terms of metrics like inter-vehicle distance, trajectory smoothness, and velocity overshoot.