Abhinav Kumar

Ondrej Biza, Skye Thompson, Kishore Reddy Pagidi et al.

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D mesh of each object in the environment using shape warping, a technique for aligning point clouds across object instances. Then, we represent manipulation actions as keypoints on objects, which can be warped with the shape of the object. We show successful one-shot imitation learning on three simulated and real-world object re-arrangement tasks. We also demonstrate the ability of our method to predict object meshes and robot grasps in the wild.

Aveen Dayal, Vimal K. B., Linga Reddy Cenkeramaddi et al.

Domain Generalization (DG) techniques have emerged as a popular approach to address the challenges of domain shift in Deep Learning (DL), with the goal of generalizing well to the target domain unseen during the training. In recent years, numerous methods have been proposed to address the DG setting, among which one popular approach is the adversarial learning-based methodology. The main idea behind adversarial DG methods is to learn domain-invariant features by minimizing a discrepancy metric. However, most adversarial DG methods use 0-1 loss based $\mathcal{H}Δ\mathcal{H}$ divergence metric. In contrast, the margin loss-based discrepancy metric has the following advantages: more informative, tighter, practical, and efficiently optimizable. To mitigate this gap, this work proposes a novel adversarial learning DG algorithm, MADG, motivated by a margin loss-based discrepancy metric. The proposed MADG model learns domain-invariant features across all source domains and uses adversarial training to generalize well to the unseen target domain. We also provide a theoretical analysis of the proposed MADG model based on the unseen target error bound. Specifically, we construct the link between the source and unseen domains in the real-valued hypothesis space and derive the generalization bound using margin loss and Rademacher complexity. We extensively experiment with the MADG model on popular real-world DG datasets, VLCS, PACS, OfficeHome, DomainNet, and TerraIncognita. We evaluate the proposed algorithm on DomainBed's benchmark and observe consistent performance across all the datasets.

Adil Dahlan, Cyril Zakka, Abhinav Kumar et al.

Cardiovascular diseases stand as the primary global cause of mortality. Among the various imaging techniques available for visualising the heart and evaluating its function, echocardiograms emerge as the preferred choice due to their safety and low cost. Quantifying cardiac function based on echocardiograms is very laborious, time-consuming and subject to high interoperator variability. In this work, we introduce EchoAI, an echocardiogram foundation model, that is trained using self-supervised learning (SSL) on 1.5 million echocardiograms. We evaluate our approach by fine-tuning EchoAI to estimate the ejection fraction achieving a mean absolute percentage error of 9.40%. This level of accuracy aligns with the performance of expert sonographers.

Pujitha Mamillapalli, Yoghitha Ramamoorthi, Abhinav Kumar et al.

The increasing demand for high data rates and seamless connectivity in wireless systems has sparked significant interest in reconfigurable intelligent surfaces (RIS) and artificial intelligence-based wireless applications. RIS typically comprises passive reflective antenna elements that control the wireless propagation environment by adequately tuning the phase of the reflective elements. The allocation of RIS elements to multipleuser equipment (UEs) is crucial for efficiently utilizing RIS. In this work, we formulate a joint optimization problem that optimizes the RIS phase configuration and resource allocation under an $α$-fair scheduling framework and propose an efficient way of allocating RIS elements. Conventional iterative optimization methods, however, suffer from exponentially increasing computational complexity as the number of RIS elements increases and also complicate the generation of training labels for supervised learning. To overcome these challenges, we propose a five-layer fully connected neural network (FNN) combined with a preprocessing technique to significantly reduce input dimensionality, lower computational complexity, and enhance scalability. The simulation results show that our proposed NN-based solution reduces computational overhead while significantly improving system throughput by 6.8% compared to existing RIS element allocation schemes. Furthermore, the proposed system achieves better performance while reducing computational complexity, making it significantly more scalable than the iterative optimization algorithms.

Nagabhushan Eswara, Hemanth P. Sethuram, Soumen Chakraborty et al.

A rapid increase in the video traffic together with an increasing demand for higher quality videos has put a significant load on content delivery networks in the recent years. Due to the relatively limited delivery infrastructure, the video users in HTTP streaming often encounter dynamically varying quality over time due to rate adaptation, while the delays in video packet arrivals result in rebuffering events. The user quality-of-experience (QoE) degrades and varies with time because of these factors. Thus, it is imperative to monitor the QoE continuously in order to minimize these degradations and deliver an optimized QoE to the users. Towards this end, we propose a nonlinear state space model for efficiently and effectively predicting the user QoE on a continuous time basis. The QoE prediction using the proposed approach relies on a state space that is defined by a set of carefully chosen time varying QoE determining features. An evaluation of the proposed approach conducted on two publicly available continuous QoE databases shows a superior QoE prediction performance over the state-of-the-art QoE modeling approaches. The evaluation results also demonstrate the efficacy of the selected features and the model order employed for predicting the QoE. Finally, we show that the proposed model is completely state controllable and observable, so that the potential of state space modeling approaches can be exploited for further improving QoE prediction.