Abhinav Jain

Dhruv Patel, Abhinav Jain, Simran Bawkar et al.

Many applications such as forensics, surveillance, satellite imaging, medical imaging, etc., demand High-Resolution (HR) images. However, obtaining an HR image is not always possible due to the limitations of optical sensors and their costs. An alternative solution called Single Image Super-Resolution (SISR) is a software-driven approach that aims to take a Low-Resolution (LR) image and obtain the HR image. Most supervised SISR solutions use ground truth HR image as a target and do not include the information provided in the LR image, which could be valuable. In this work, we introduce Triplet Loss-based Generative Adversarial Network hereafter referred as SRTGAN for Image Super-Resolution problem on real-world degradation. We introduce a new triplet-based adversarial loss function that exploits the information provided in the LR image by using it as a negative sample. Allowing the patch-based discriminator with access to both HR and LR images optimizes to better differentiate between HR and LR images; hence, improving the adversary. Further, we propose to fuse the adversarial loss, content loss, perceptual loss, and quality loss to obtain Super-Resolution (SR) image with high perceptual fidelity. We validate the superior performance of the proposed method over the other existing methods on the RealSR dataset in terms of quantitative and qualitative metrics.

Abhinav Jain, Vaibhav Unhelkar

Offline imitation learning (IL) refers to learning expert behavior solely from demonstrations, without any additional interaction with the environment. Despite significant advances in offline IL, existing techniques find it challenging to learn policies for long-horizon tasks and require significant re-training when task specifications change. Towards addressing these limitations, we present GO-DICE an offline IL technique for goal-conditioned long-horizon sequential tasks. GO-DICE discerns a hierarchy of sub-tasks from demonstrations and uses these to learn separate policies for sub-task transitions and action execution, respectively; this hierarchical policy learning facilitates long-horizon reasoning. Inspired by the expansive DICE-family of techniques, policy learning at both the levels transpires within the space of stationary distributions. Further, both policies are learnt with goal conditioning to minimize need for retraining when task goals change. Experimental results substantiate that GO-DICE outperforms recent baselines, as evidenced by a marked improvement in the completion rate of increasingly challenging pick-and-place Mujoco robotic tasks. GO-DICE is also capable of leveraging imperfect demonstration and partial task segmentation when available, both of which boost task performance relative to learning from expert demonstrations alone.

Anurag Tripathi, Vaibhav Patle, Abhinav Jain et al.

Text-to-SQL bridges the gap between natural language and structured database language, thus allowing non-technical users to easily query databases. Traditional approaches model text-to-SQL as a direct translation task, where a given Natural Language Query (NLQ) is mapped to an SQL command. Recent advances in large language models (LLMs) have significantly improved translation accuracy, however, these methods all require that the target database is pre-specified. This becomes problematic in scenarios with multiple extensive databases, where identifying the correct database becomes a crucial yet overlooked step. In this paper, we propose a three-stage end-to-end text-to-SQL framework to identify the user's intended database before generating SQL queries. Our approach leverages LLMs and prompt engineering to extract implicit information from natural language queries (NLQs) in the form of a ruleset. We then train a large db\_id prediction model, which includes a RoBERTa-based finetuned encoder, to predict the correct Database identifier (db\_id) based on both the NLQ and the LLM-generated rules. Finally, we refine the generated SQL by using critic agents to correct errors. Experimental results demonstrate that our framework outperforms the current state-of-the-art models in both database intent prediction and SQL generation accuracy.

Abhinav Jain, Daphne Chen, Dhruva Bansal et al.

We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion prediction models to anticipate the human's motion and adapt the robot's joint trajectory accordingly. We design a multi-objective cost function that simultaneously optimizes for i) separation distance, ii) visibility of the end-effector, iii) legibility, iv) efficiency, and v) smoothness. We evaluate CoMOTO against three existing methods for robot trajectory generation when in close proximity to humans. Our experimental results indicate that our approach consistently outperforms existing methods over a combined set of safety, comfort, and efficiency metrics.

Siddhartha Banerjee, Angel Daruna, David Kent et al.

Robot task execution when situated in real-world environments is fragile. As such, robot architectures must rely on robust error recovery, adding non-trivial complexity to highly-complex robot systems. To handle this complexity in development, we introduce Recovery-Driven Development (RDD), an iterative task scripting process that facilitates rapid task and recovery development by leveraging hierarchical specification, separation of nominal task and recovery development, and situated testing. We validate our approach with our challenge-winning mobile manipulator software architecture developed using RDD for the FetchIt! Challenge at the IEEE 2019 International Conference on Robotics and Automation. We attribute the success of our system to the level of robustness achieved using RDD, and conclude with lessons learned for developing such systems.