Akash Singh

Jan Jezabek, Akash Singh

Protecting NLP models against misspellings whether accidental or adversarial has been the object of research interest for the past few years. Existing remediations have typically either compromised accuracy or required full model re-training with each new class of attacks. We propose a novel method of retroactively adding resilience to misspellings to transformer-based NLP models. This robustness can be achieved without the need for re-training of the original NLP model and with only a minimal loss of language understanding performance on inputs without misspellings. Additionally we propose a new efficient approximate method of generating adversarial misspellings, which significantly reduces the cost needed to evaluate a model's resilience to adversarial attacks.

Akash Jain, Manish Kumar, Rithvik Patibandla et al.

Anahita is an autonomous underwater vehicle which is currently being developed by interdisciplinary team of students at Indian Institute of Technology(IIT) Kanpur with aim to provide a platform for research in AUV to undergraduate students. This is the second vehicle which is being designed by AUV-IITK team to participate in 6th NIOT-SAVe competition organized by the National Institute of Ocean Technology, Chennai. The Vehicle has been completely redesigned with the major improvements in modularity and ease of access of all the components, keeping the design very compact and efficient. New advancements in the vehicle include, power distribution system and monitoring system. The sensors include the inertial measurement units (IMU), hydrophone array, a depth sensor, and two RGB cameras. The current vehicle features hot swappable battery pods giving a huge advantage over the previous vehicle, for longer runtime.

Enna Sachdeva, Akash Singh, Vinay Rodrigues et al.

This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of Omnidirectional bending within the module, which is the key contribution of this paper. The Omnidirectional bending is achieved by an arrangement of two independent 1-DOF joints aligned at 90? w.r.t each other. The unique characteristic of this module is its ability to crawl in Omnidirectionally bent configuration which is achieved by a novel design of a 2-DOF roller chain and a backbone of a hybrid structure of a soft-rigid material. This hybrid structure provides compliant pathways for the lug-chain assembly to passively conform with the orientation of the module and crawl in Omnidirectional bent configuration, which makes this module one of its kind. Furthermore, we show that the unique modular design of CObRaSO unveils its versatility by achieving active compliance on an uneven surface, demonstrating its applications in different robotic platforms (an in-pipeline robot, Quadruped and snake robot) and exhibiting hybrid locomotion modes in various configurations of the robots. The mechanism and mobility characteristics of the proposed module have been verified with the aid of simulations and experiments on real robot prototype.