Miloš Žefran

N. Devroye, A. Mulgund, R. Shekhar et al.

As new deep-learned error-correcting codes continue to be introduced, it is important to develop tools to interpret the designed codes and understand the training process. Prior work focusing on the deep-learned TurboAE has both interpreted the learned encoders post-hoc by mapping these onto nearby ``interpretable'' encoders, and experimentally evaluated the performance of these interpretable encoders with various decoders. Here we look at developing tools for interpreting the training process for deep-learned error-correcting codes, focusing on: 1) using the Goldreich-Levin algorithm to quickly interpret the learned encoder; 2) using Fourier coefficients as a tool for understanding the training dynamics and the loss landscape; 3) reformulating the training loss, the binary cross entropy, by relating it to encoder and decoder parameters, and the bit error rate (BER); 4) using these insights to formulate and study a new training procedure. All tools are demonstrated on TurboAE, but are applicable to other deep-learned forward error correcting codes (without feedback).

Bahareh Abbasi, Ehsan Noohi, Sina Parastegari et al.

Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can recognize such actions when humans perform them during human-robot collaboration tasks. The multi-modal data in this study consists of videos, hand motion data, applied forces as represented by the pressure patterns on the hand, and measurements of the bending of the fingers, collected as human subjects performed manipulation actions. We investigate two different approaches. In the first one, we show that multi-modal signal (motion, finger bending and hand pressure) generated by the action can be decomposed into a set of primitives that can be seen as its building blocks. These primitives are used to define 24 multi-modal primitive features. The primitive features can in turn be used as an abstract representation of the multi-modal signal and employed for action recognition. In the latter approach, the visual features are extracted from the data using a pre-trained image classification deep convolutional neural network. The visual features are subsequently used to train the classifier. We also investigate whether adding data from other modalities produces a statistically significant improvement in the classifier performance. We show that both approaches produce a comparable performance. This implies that image-based methods can successfully recognize human actions during human-robot collaboration. On the other hand, in order to provide training data for the robot so it can learn how to perform object manipulation actions, multi-modal data provides a better alternative.