Aditya Singh

Dhruv Srivastava, Aditya Kumar Singh, Makarand Tapaswi

Movie story analysis requires understanding characters' emotions and mental states. Towards this goal, we formulate emotion understanding as predicting a diverse and multi-label set of emotions at the level of a movie scene and for each character. We propose EmoTx, a multimodal Transformer-based architecture that ingests videos, multiple characters, and dialog utterances to make joint predictions. By leveraging annotations from the MovieGraphs dataset, we aim to predict classic emotions (e.g. happy, angry) and other mental states (e.g. honest, helpful). We conduct experiments on the most frequently occurring 10 and 25 labels, and a mapping that clusters 181 labels to 26. Ablation studies and comparison against adapted state-of-the-art emotion recognition approaches shows the effectiveness of EmoTx. Analyzing EmoTx's self-attention scores reveals that expressive emotions often look at character tokens while other mental states rely on video and dialog cues.

Mumuksh Tayal, Manan Tayal, Aditya Singh et al.

Ensuring safety in autonomous systems requires controllers that satisfy hard, state-wise constraints without relying on online interaction. While existing Safe Offline RL methods typically enforce soft expected-cost constraints, they do not guarantee forward invariance. Conversely, Control Barrier Functions (CBFs) provide rigorous safety guarantees but usually depend on expert-designed barrier functions or full knowledge of the system dynamics. We introduce Value-Guided Offline Control Barrier Functions (V-OCBF), a framework that learns a neural CBF entirely from offline demonstrations. Unlike prior approaches, V-OCBF does not assume access to the dynamics model; instead, it derives a recursive finite-difference barrier update, enabling model-free learning of a barrier that propagates safety information over time. Moreover, V-OCBF incorporates an expectile-based objective that avoids querying the barrier on out-of-distribution actions and restricts updates to the dataset-supported action set. The learned barrier is then used with a Quadratic Program (QP) formulation to synthesize real-time safe control. Across multiple case studies, V-OCBF yields substantially fewer safety violations than baseline methods while maintaining strong task performance, highlighting its scalability for offline synthesis of safety-critical controllers without online interaction or hand-engineered barriers.

Haoyang Liu, Aditya Singh, Yijiang Li et al.

Enhancing the robustness of deep learning models, particularly in the realm of vision transformers (ViTs), is crucial for their real-world deployment. In this work, we provide a finetuning approach to enhance the robustness of vision transformers inspired by the concept of nullspace from linear algebra. Our investigation centers on whether a vision transformer can exhibit resilience to input variations akin to the nullspace property in linear mappings, which would imply that perturbations sampled from this nullspace do not influence the model's output when added to the input. We start from the observation that many existing ViTs satisfy this property because their patch embedding layer has a non-trivial nullspace. Then, we extend the notion of nullspace to nonlinear settings and demonstrate that it is possible to synthesize approximate nullspace elements for ViT's encoder blocks through optimization. Finally, we propose a finetuning strategy for ViTs wherein we augment the training data with synthesized approximate nullspace noise. We find that our finetuning approach significantly improves the models' robustness to both adversarial and natural image perturbations.\footnote{Code is available at: https://github.com/Liu-Hy/ns-vit.

Manan Tayal, Aditya Singh, Shishir Kolathaya et al.

As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectives, which makes their co-optimization difficult. Learning-based methods, such as Constrained Reinforcement Learning (CRL), achieve strong performance but lack formal safety guarantees due to safety being enforced as soft constraints, limiting their use in safety-critical settings. Conversely, formal methods such as Hamilton-Jacobi (HJ) Reachability Analysis and Control Barrier Functions (CBFs) provide rigorous safety assurances but often neglect performance, resulting in overly conservative controllers. To bridge this gap, we formulate the co-optimization of safety and performance as a state-constrained optimal control problem, where performance objectives are encoded via a cost function and safety requirements are imposed as state constraints. We demonstrate that the resultant value function satisfies a Hamilton-Jacobi-Bellman (HJB) equation, which we approximate efficiently using a novel physics-informed machine learning framework. In addition, we introduce a conformal prediction-based verification strategy to quantify the learning errors, recovering a high-confidence safety value function, along with a probabilistic error bound on performance degradation. Through several case studies, we demonstrate the efficacy of the proposed framework in enabling scalable learning of safe and performant controllers for complex, high-dimensional autonomous systems.

Manan Tayal, Aditya Singh, Pushpak Jagtap et al.

Control Barrier Functions (CBFs) are a practical approach for designing safety-critical controllers, but constructing them for arbitrary nonlinear dynamical systems remains a challenge. Recent efforts have explored learning-based methods, such as neural CBFs (NCBFs), to address this issue. However, ensuring the validity of NCBFs is difficult due to potential learning errors. In this letter, we propose a novel framework that leverages split-conformal prediction to generate formally verified neural CBFs with probabilistic guarantees based on a user-defined error rate, referred to as CP-NCBF. Unlike existing methods that impose Lipschitz constraints on neural CBF-leading to scalability limitations and overly conservative safe sets--our approach is sample-efficient, scalable, and results in less restrictive safety regions. We validate our framework through case studies on obstacle avoidance in autonomous driving and geo-fencing of aerial vehicles, demonstrating its ability to generate larger and less conservative safe sets compared to conventional techniques.

Aditya Singh, Zihang Wen, Srujananjali Medicherla et al.

OthelloGPT, a transformer trained to predict valid moves in Othello, provides an ideal testbed for interpretability research. The model is complex enough to exhibit rich computational patterns, yet grounded in rule-based game logic that enables meaningful reverse-engineering. We present an automated approach based on decision trees to identify and interpret MLP neurons that encode rule-based game logic. Our method trains regression decision trees to map board states to neuron activations, then extracts decision paths where neurons are highly active to convert them into human-readable logical forms. These descriptions reveal highly interpretable patterns; for instance, neurons that specifically detect when diagonal moves become legal. Our findings suggest that roughly half of the neurons in layer 5 can be accurately described by compact, rule-based decision trees ($R^2 > 0.7$ for 913 of 2,048 neurons), while the remainder likely participate in more distributed or non-rule-based computations. We verify the causal relevance of patterns identified by our decision trees through targeted interventions. For a specific square, for specific game patterns, we ablate neurons corresponding to those patterns and find an approximately 5-10 fold stronger degradation in the model's ability to predict legal moves along those patterns compared to control patterns. To facilitate future work, we provide a Python tool that maps rule-based game behaviors to their implementing neurons, serving as a resource for researchers to test whether their interpretability methods recover meaningful computational structures.

Shreenabh Agrawal, Manan Tayal, Aditya Singh et al.

As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaranteeing safety; however, manually designing them for specific applications remains a significant challenge. With the advent of deep learning techniques, recent research has explored synthesizing CBFs using neural networks-commonly referred to as neural CBFs. This paper introduces a novel class of neural CBFs that leverages a physics-inspired neural network framework by incorporating Zubov's Partial Differential Equation (PDE) within the context of safety. This approach provides a scalable methodology for synthesizing neural CBFs applicable to high-dimensional systems. Furthermore, by utilizing reciprocal CBFs instead of zeroing CBFs, the proposed framework allows for the specification of flexible, user-defined safe regions. To validate the effectiveness of the approach, we present case studies on three different systems: an inverted pendulum, autonomous ground navigation, and aerial navigation in obstacle-laden environments.

Aditya Kumar Singh, B. Uma Shankar

Acquiring information on large areas on the earth's surface through satellite cameras allows us to see much more than we can see while standing on the ground. This assists us in detecting and monitoring the physical characteristics of an area like land-use patterns, atmospheric conditions, forest cover, and many unlisted aspects. The obtained images not only keep track of continuous natural phenomena but are also crucial in tackling the global challenge of severe deforestation. Among which Amazon basin accounts for the largest share every year. Proper data analysis would help limit detrimental effects on the ecosystem and biodiversity with a sustainable healthy atmosphere. This report aims to label the satellite image chips of the Amazon rainforest with atmospheric and various classes of land cover or land use through different machine learning and superior deep learning models. Evaluation is done based on the F2 metric, while for loss function, we have both sigmoid cross-entropy as well as softmax cross-entropy. Images are fed indirectly to the machine learning classifiers after only features are extracted using pre-trained ImageNet architectures. Whereas for deep learning models, ensembles of fine-tuned ImageNet pre-trained models are used via transfer learning. Our best score was achieved so far with the F2 metric is 0.927.