David Lee

Tasbolat Taunyazov, Luar Shui Song, Eugene Lim et al.

Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we consider how we can enable robots to have a similar capacity, i.e., to embody tools and extend perception using standard grasped objects. We propose that vibro-tactile sensing using dynamic tactile sensors on the robot fingers, along with machine learning models, enables robots to decipher contact information that is transmitted as vibrations along rigid objects. This paper reports on extensive experiments using the BioTac micro-vibration sensor and a new event dynamic sensor, the NUSkin, capable of multi-taxel sensing at 4~kHz. We demonstrate that fine localization on a held rod is possible using our approach (with errors less than 1 cm on a 20 cm rod). Next, we show that vibro-tactile perception can lead to reasonable grasp stability prediction during object handover, and accurate food identification using a standard fork. We find that multi-taxel vibro-tactile sensing at sufficiently high sampling rate led to the best performance across the various tasks and objects. Taken together, our results provides both evidence and guidelines for using vibro-tactile perception to extend tactile perception, which we believe will lead to enhanced competency with tools and better physical human-robot-interaction.

Vijay Janapa Reddi, Christine Cheng, David Kanter et al.

Machine-learning (ML) hardware and software system demand is burgeoning. Driven by ML applications, the number of different ML inference systems has exploded. Over 100 organizations are building ML inference chips, and the systems that incorporate existing models span at least three orders of magnitude in power consumption and five orders of magnitude in performance; they range from embedded devices to data-center solutions. Fueling the hardware are a dozen or more software frameworks and libraries. The myriad combinations of ML hardware and ML software make assessing ML-system performance in an architecture-neutral, representative, and reproducible manner challenging. There is a clear need for industry-wide standard ML benchmarking and evaluation criteria. MLPerf Inference answers that call. In this paper, we present our benchmarking method for evaluating ML inference systems. Driven by more than 30 organizations as well as more than 200 ML engineers and practitioners, MLPerf prescribes a set of rules and best practices to ensure comparability across systems with wildly differing architectures. The first call for submissions garnered more than 600 reproducible inference-performance measurements from 14 organizations, representing over 30 systems that showcase a wide range of capabilities. The submissions attest to the benchmark's flexibility and adaptability.

Bappaditya Mandal, David Lee, Nizar Ouarti

Smile is one of the key elements in identifying emotions and present state of mind of an individual. In this work, we propose a cluster of approaches to classify posed and spontaneous smiles using deep convolutional neural network (CNN) face features, local phase quantization (LPQ), dense optical flow and histogram of gradient (HOG). Eulerian Video Magnification (EVM) is used for micro-expression smile amplification along with three normalization procedures for distinguishing posed and spontaneous smiles. Although the deep CNN face model is trained with large number of face images, HOG features outperforms this model for overall face smile classification task. Using EVM to amplify micro-expressions did not have a significant impact on classification accuracy, while the normalizing facial features improved classification accuracy. Unlike many manual or semi-automatic methodologies, our approach aims to automatically classify all smiles into either `spontaneous' or `posed' categories, by using support vector machines (SVM). Experimental results on large UvA-NEMO smile database show promising results as compared to other relevant methods.