Om Deshmukh

Xingyi He, Adhitya Polavaram, Yunhao Cao et al.

Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of integrated semantic and geometric reasoning in learned models. In this work, we present CorDex, a framework that robustly learns dexterous functional grasps of novel objects from synthetic data generated from just a single human demonstration. At the core of our approach is a correspondence-based data engine that generates diverse, high-quality training data in simulation. Based on the human demonstration, our data engine generates diverse object instances of the same category, transfers the expert grasp to the generated objects through correspondence estimation, and adapts the grasp through optimization. Building on the generated data, we introduce a multimodal prediction network that integrates visual and geometric information. By devising a local-global fusion module and an importance-aware sampling mechanism, we enable robust and computationally efficient prediction of functional dexterous grasps. Through extensive experiments across various object categories, we demonstrate that CorDex generalizes well to unseen object instances and significantly outperforms state-of-the-art baselines.

Om Suhas Deshmukh, Sankalp Nagaonkar, Achyut Mani Tripathi et al.

The newly introduced Visual State Space Model (VMamba), which employs \textit{State Space Mechanisms} (SSM) to interpret images as sequences of patches, has shown exceptional performance compared to Vision Transformers (ViT) across various computer vision tasks. However, recent studies have highlighted that deep models are susceptible to adversarial attacks. One common approach is to embed a trigger in the training data to retrain the model, causing it to misclassify data samples into a target class, a phenomenon known as a backdoor attack. In this paper, we first evaluate the robustness of the VMamba model against existing backdoor attacks. Based on this evaluation, we introduce a novel architectural backdoor attack, termed BadScan, designed to deceive the VMamba model. This attack utilizes bit plane slicing to create visually imperceptible backdoored images. During testing, if a trigger is detected by performing XOR operations between the $k^{th}$ bit planes of the modified triggered patches, the traditional 2D selective scan (SS2D) mechanism in the visual state space (VSS) block of VMamba is replaced with our newly designed BadScan block, which incorporates four newly developed scanning patterns. We demonstrate that the BadScan backdoor attack represents a significant threat to visual state space models and remains effective even after complete retraining from scratch. Experimental results on two widely used image classification datasets, CIFAR-10, and ImageNet-1K, reveal that while visual state space models generally exhibit robustness against current backdoor attacks, the BadScan attack is particularly effective, achieving a higher Triggered Accuracy Ratio (TAR) in misleading the VMamba model and its variants.

Ankit Gandhi, Arjun Sharma, Arijit Biswas et al.

Data generated from real world events are usually temporal and contain multimodal information such as audio, visual, depth, sensor etc. which are required to be intelligently combined for classification tasks. In this paper, we propose a novel generalized deep neural network architecture where temporal streams from multiple modalities are combined. There are total M+1 (M is the number of modalities) components in the proposed network. The first component is a novel temporally hybrid Recurrent Neural Network (RNN) that exploits the complimentary nature of the multimodal temporal information by allowing the network to learn both modality specific temporal dynamics as well as the dynamics in a multimodal feature space. M additional components are added to the network which extract discriminative but non-temporal cues from each modality. Finally, the predictions from all of these components are linearly combined using a set of automatically learned weights. We perform exhaustive experiments on three different datasets spanning four modalities. The proposed network is relatively 3.5%, 5.7% and 2% better than the best performing temporal multimodal baseline for UCF-101, CCV and Multimodal Gesture datasets respectively.

Sohil Shah, Kuldeep Kulkarni, Arijit Biswas et al.

Typical textual descriptions that accompany online videos are 'weak': i.e., they mention the main concepts in the video but not their corresponding spatio-temporal locations. The concepts in the description are typically heterogeneous (e.g., objects, persons, actions). Certain location constraints on these concepts can also be inferred from the description. The goal of this paper is to present a generalization of the Indian Buffet Process (IBP) that can (a) systematically incorporate heterogeneous concepts in an integrated framework, and (b) enforce location constraints, for efficient classification and localization of the concepts in the videos. Finally, we develop posterior inference for the proposed formulation using mean-field variational approximation. Comparative evaluations on the Casablanca and the A2D datasets show that the proposed approach significantly outperforms other state-of-the-art techniques: 24% relative improvement for pairwise concept classification in the Casablanca dataset and 9% relative improvement for localization in the A2D dataset as compared to the most competitive baseline.