Kaustav Chakraborty

Kaustav Chakraborty, Somil Bansal

Machine learning driven image-based controllers allow robotic systems to take intelligent actions based on the visual feedback from their environment. Understanding when these controllers might lead to system safety violations is important for their integration in safety-critical applications and engineering corrective safety measures for the system. Existing methods leverage simulation-based testing (or falsification) to find the failures of vision-based controllers, i.e., the visual inputs that lead to closed-loop safety violations. However, these techniques do not scale well to the scenarios involving high-dimensional and complex visual inputs, such as RGB images. In this work, we cast the problem of finding closed-loop vision failures as a Hamilton-Jacobi (HJ) reachability problem. Our approach blends simulation-based analysis with HJ reachability methods to compute an approximation of the backward reachable tube (BRT) of the system, i.e., the set of unsafe states for the system under vision-based controllers. Utilizing the BRT, we can tractably and systematically find the system states and corresponding visual inputs that lead to closed-loop failures. These visual inputs can be subsequently analyzed to find the input characteristics that might have caused the failure. Besides its scalability to high-dimensional visual inputs, an explicit computation of BRT allows the proposed approach to capture non-trivial system failures that are difficult to expose via random simulations. We demonstrate our framework on two case studies involving an RGB image-based neural network controller for (a) autonomous indoor navigation, and (b) autonomous aircraft taxiing.

Aryaman Gupta, Kaustav Chakraborty, Somil Bansal

Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these vision-based controllers can make erroneous predictions when faced with novel or out-of-distribution inputs. Such errors can cascade to catastrophic system failures and compromise system safety. In this work, we introduce a run-time anomaly monitor to detect and mitigate such closed-loop, system-level failures. Specifically, we leverage a reachability-based framework to stress-test the vision-based controller offline and mine its system-level failures. This data is then used to train a classifier that is leveraged online to flag inputs that might cause system breakdowns. The anomaly detector highlights issues that transcend individual modules and pertain to the safety of the overall system. We also design a fallback controller that robustly handles these detected anomalies to preserve system safety. We validate the proposed approach on an autonomous aircraft taxiing system that uses a vision-based controller for taxiing. Our results show the efficacy of the proposed approach in identifying and handling system-level anomalies, outperforming methods such as prediction error-based detection, and ensembling, thereby enhancing the overall safety and robustness of autonomous systems.

Somnath Bhadra, Kaustav Chakraborty, Srijan Sengupta et al.

This paper studies the matched network inference problem, where the goal is to determine if two networks, defined on a common set of nodes, exhibit a specific form of stochastic similarity. Two notions of similarity are considered: (i) equality, i.e., testing whether the networks arise from the same random graph model, and (ii) scaling, i.e., testing whether their probability matrices are proportional for some unknown scaling constant. We develop a testing framework based on a parametric bootstrap approach and a Frobenius norm-based test statistic. The proposed approach is highly versatile as it covers both the equality and scaling problems, and ensures adaptability under various model settings, including stochastic blockmodels, Chung-Lu models, and random dot product graph models. We establish theoretical consistency of the proposed tests and demonstrate their empirical performance through extensive simulations under a wide range of model classes. Our results establish the flexibility and computational efficiency of the proposed method compared to existing approaches. We also report a real-world application involving the Aarhus network dataset, which reveals meaningful sociological patterns across different communication layers.

Michael Maring, Kaustav Chakraborty

Style transfer aims to combine the content of one image with the artistic style of another. It was discovered that lower levels of convolutional networks captured style information, while higher levels captures content information. The original style transfer formulation used a weighted combination of VGG-16 layer activations to achieve this goal. Later, this was accomplished in real-time using a feed-forward network to learn the optimal combination of style and content features from the respective images. The first aim of our project was to introduce a framework for capturing the style from several images at once. We propose a method that extends the original real-time style transfer formulation by combining the features of several style images. This method successfully captures color information from the separate style images. The other aim of our project was to improve the temporal style continuity from frame to frame. Accordingly, we have experimented with the temporal stability of the output images and discussed the various available techniques that could be employed as alternatives.