Vishwajeet Agrawal

Namasivayam Kalithasan, Himanshu Singh, Vishal Bindal et al.

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on hand-coded symbols for concepts limiting generalization beyond those seen during training [1] (ii) infer action sequences from instructions but require dense sub-goal supervision [2] or (iii) lack semantics required for deeper object-centric reasoning inherent in interpreting complex instructions [3]. In contrast, our approach can handle linguistic as well as perceptual variations, end-to-end trainable and requires no intermediate supervision. The proposed model uses symbolic reasoning constructs that operate on a latent neural object-centric representation, allowing for deeper reasoning over the input scene. Central to our approach is a modular structure consisting of a hierarchical instruction parser and an action simulator to learn disentangled action representations. Our experiments on a simulated environment with a 7-DOF manipulator, consisting of instructions with varying number of steps and scenes with different number of objects, demonstrate that our model is robust to such variations and significantly outperforms baselines, particularly in the generalization settings. The code, dataset and experiment videos are available at https://nsrmp.github.io

Muqsit Nawaz, Aditya Gulati, Kunlong Liu et al.

This paper describes the design, implementation, and evaluation of Otak, a system that allows two non-colluding cloud providers to run machine learning (ML) inference without knowing the inputs to inference. Prior work for this problem mostly relies on advanced cryptography such as two-party secure computation (2PC) protocols that provide rigorous guarantees but suffer from high resource overhead. Otak improves efficiency via a new 2PC protocol that (i) tailors recent primitives such as function and homomorphic secret sharing to ML inference, and (ii) uses trusted hardware in a limited capacity to bootstrap the protocol. At the same time, Otak reduces trust assumptions on trusted hardware by running a small code inside the hardware, restricting its use to a preprocessing step, and distributing trust over heterogeneous trusted hardware platforms from different vendors. An implementation and evaluation of Otak demonstrates that its CPU and network overhead converted to a dollar amount is 5.4$-$385$\times$ lower than state-of-the-art 2PC-based works. Besides, Otak's trusted computing base (code inside trusted hardware) is only 1,300 lines of code, which is 14.6$-$29.2$\times$ lower than the code-size in prior trusted hardware-based works.