Mohit Jain

Yanjie Ze, Nicklas Hansen, Yinbo Chen et al.

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional learning signal and inductive biases. However, while the real world is inherently 3D, prior efforts have largely been focused on leveraging 2D computer vision techniques as auxiliary self-supervision. In this work, we present a unified framework for self-supervised learning of 3D representations for motor control. Our proposed framework consists of two phases: a pretraining phase where a deep voxel-based 3D autoencoder is pretrained on a large object-centric dataset, and a finetuning phase where the representation is jointly finetuned together with RL on in-domain data. We empirically show that our method enjoys improved sample efficiency in simulated manipulation tasks compared to 2D representation learning methods. Additionally, our learned policies transfer zero-shot to a real robot setup with only approximate geometric correspondence, and successfully solve motor control tasks that involve grasping and lifting from a single, uncalibrated RGB camera. Code and videos are available at https://yanjieze.com/3d4rl/ .

Ishani Mondal, Kabir Ahuja, Mohit Jain et al.

The COVID-19 pandemic has brought out both the best and worst of language technology (LT). On one hand, conversational agents for information dissemination and basic diagnosis have seen widespread use, and arguably, had an important role in combating the pandemic. On the other hand, it has also become clear that such technologies are readily available for a handful of languages, and the vast majority of the global south is completely bereft of these benefits. What is the state of LT, especially conversational agents, for healthcare across the world's languages? And, what would it take to ensure global readiness of LT before the next pandemic? In this paper, we try to answer these questions through survey of existing literature and resources, as well as through a rapid chatbot building exercise for 15 Asian and African languages with varying amount of resource-availability. The study confirms the pitiful state of LT even for languages with large speaker bases, such as Sinhala and Hausa, and identifies the gaps that could help us prioritize research and investment strategies in LT for healthcare.