Vishnu Dutt Sharma

Vishnu Dutt Sharma, John P. Dickerson, Pratap Tokekar

Green Security Games with real-time information (GSG-I) add the real-time information about the agents' movement to the typical GSG formulation. Prior works on GSG-I have used deep reinforcement learning (DRL) to learn the best policy for the agent in such an environment without any need to store the huge number of state representations for GSG-I. However, the decision-making process of DRL methods is largely opaque, which results in a lack of trust in their predictions. To tackle this issue, we present an interpretable DRL method for GSG-I that generates visualization to explain the decisions taken by the DRL algorithm. We also show that this approach performs better and works well with a simpler training regimen compared to the existing method.

Vishnu Sashank Dorbala, Vishnu Dutt Sharma, Pratap Tokekar et al.

We propose a new method for improving zero-shot ObjectNav that aims to utilize potentially available environmental percepts for navigational assistance. Our approach takes into account that the ground agent may have limited and sometimes obstructed view. Our formulation encourages Generative Communication (GC) between an assistive overhead agent with a global view containing the target object and the ground agent with an obfuscated view; both equipped with Vision-Language Models (VLMs) for vision-to-language translation. In this assisted setup, the embodied agents communicate environmental information before the ground agent executes actions towards a target. Despite the overhead agent having a global view with the target, we note a drop in performance (-13% in OSR and -13% in SPL) of a fully cooperative assistance scheme over an unassisted baseline. In contrast, a selective assistance scheme where the ground agent retains its independent exploratory behaviour shows a 10% OSR and 7.65% SPL improvement. To explain navigation performance, we analyze the GC for unique traits, quantifying the presence of hallucination and cooperation. Specifically, we identify the novel linguistic trait of preemptive hallucination in our embodied setting, where the overhead agent assumes that the ground agent has executed an action in the dialogue when it is yet to move, and note its strong correlation with navigation performance. We conduct real-world experiments and present some qualitative examples where we mitigate hallucinations via prompt finetuning to improve ObjectNav performance.

Vishnu Dutt Sharma, Anukriti Singh, Pratap Tokekar

2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have shown that predicting the structural patterns in the environment through learning-based approaches can greatly enhance task efficiency. While many such works build task-specific networks using limited datasets, we show that the existing foundational vision networks can accomplish the same without any fine-tuning. Specifically, we use Masked Autoencoders, pre-trained on street images, to present novel applications for field-of-view expansion, single-agent topological exploration, and multi-agent exploration for indoor mapping, across different input modalities. Our work motivates the use of foundational vision models for generalized structure prediction-driven applications, especially in the dearth of training data. For more qualitative results see https://raaslab.org/projects/MIM4Robots.

Vishnu Dutt Sharma, Pratap Tokekar

We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result in longer paths as a conservative planner may try to avoid regions that are occluded. We propose a modular, deep learning-based framework that allows the robot to predict the existence of navigable areas in the occluded regions. Specifically, we use image inpainting methods to fill in parts of the areas that are potentially occluded, which can then be semantically segmented to determine navigability. We use supervised neural networks for both modules. However, these predictions may be incorrect. Therefore, we extract uncertainty in these predictions and use a risk-aware approach that takes these uncertainties into account for path planning. We compare modules in our approach with non-learning-based approaches to show the efficacy of the proposed framework through photo-realistic simulations. The modular pipeline allows further improvement in path planning and deployment in different settings.

Amrith Krishna, Bishal Santra, Sasi Prasanth Bandaru et al.

The configurational information in sentences of a free word order language such as Sanskrit is of limited use. Thus, the context of the entire sentence will be desirable even for basic processing tasks such as word segmentation. We propose a structured prediction framework that jointly solves the word segmentation and morphological tagging tasks in Sanskrit. We build an energy based model where we adopt approaches generally employed in graph based parsing techniques (McDonald et al., 2005a; Carreras, 2007). Our model outperforms the state of the art with an F-Score of 96.92 (percentage improvement of 7.06%) while using less than one-tenth of the task-specific training data. We find that the use of a graph based ap- proach instead of a traditional lattice-based sequential labelling approach leads to a percentage gain of 12.6% in F-Score for the segmentation task.

Vikas Reddy, Amrith Krishna, Vishnu Dutt Sharma et al.

There is an abundance of digitised texts available in Sanskrit. However, the word segmentation task in such texts are challenging due to the issue of 'Sandhi'. In Sandhi, words in a sentence often fuse together to form a single chunk of text, where the word delimiter vanishes and sounds at the word boundaries undergo transformations, which is also reflected in the written text. Here, we propose an approach that uses a deep sequence to sequence (seq2seq) model that takes only the sandhied string as the input and predicts the unsandhied string. The state of the art models are linguistically involved and have external dependencies for the lexical and morphological analysis of the input. Our model can be trained "overnight" and be used for production. In spite of the knowledge lean approach, our system preforms better than the current state of the art by gaining a percentage increase of 16.79 % than the current state of the art.

Vikram Mohanty, Shubh Agrawal, Shaswat Datta et al.

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these approaches, they have not yet been exploited largely for solving the standard perception related problems encountered in autonomous navigation such as Visual Odometry (VO), Structure from Motion (SfM) and Simultaneous Localization and Mapping (SLAM). This paper analyzes the problem of Monocular Visual Odometry using a Deep Learning-based framework, instead of the regular 'feature detection and tracking' pipeline approaches. Several experiments were performed to understand the influence of a known/unknown environment, a conventional trackable feature and pre-trained activations tuned for object classification on the network's ability to accurately estimate the motion trajectory of the camera (or the vehicle). Based on these observations, we propose a Convolutional Neural Network architecture, best suited for estimating the object's pose under known environment conditions, and displays promising results when it comes to inferring the actual scale using just a single camera in real-time.