Gaurav Aggarwal

Sohan Rudra, Saksham Goel, Anirban Santara et al.

Object-goal navigation (Object-nav) entails searching, recognizing and navigating to a target object. Object-nav has been extensively studied by the Embodied-AI community, but most solutions are often restricted to considering static objects (e.g., television, fridge, etc.). We propose a modular framework for object-nav that is able to efficiently search indoor environments for not just static objects but also movable objects (e.g. fruits, glasses, phones, etc.) that frequently change their positions due to human intervention. Our contextual-bandit agent efficiently explores the environment by showing optimism in the face of uncertainty and learns a model of the likelihood of spotting different objects from each navigable location. The likelihoods are used as rewards in a weighted minimum latency solver to deduce a trajectory for the robot. We evaluate our algorithms in two simulated environments and a real-world setting, to demonstrate high sample efficiency and reliability.

Nidhi Hegde, Sujoy Paul, Gagan Madan et al.

Recent document question answering models consist of two key components: the vision encoder, which captures layout and visual elements in images, and a Large Language Model (LLM) that helps contextualize questions to the image and supplements them with external world knowledge to generate accurate answers. However, the relative contributions of the vision encoder and the language model in these tasks remain unclear. This is especially interesting given the effectiveness of instruction-tuned LLMs, which exhibit remarkable adaptability to new tasks. To this end, we explore the following aspects in this work: (1) The efficacy of an LLM-only approach on document question answering tasks (2) strategies for serializing textual information within document images and feeding it directly to an instruction-tuned LLM, thus bypassing the need for an explicit vision encoder (3) thorough quantitative analysis on the feasibility of such an approach. Our comprehensive analysis encompasses six diverse benchmark datasets, utilizing LLMs of varying scales. Our findings reveal that a strategy exclusively reliant on the LLM yields results that are on par with or closely approach state-of-the-art performance across a range of datasets. We posit that this evaluation framework will serve as a guiding resource for selecting appropriate datasets for future research endeavors that emphasize the fundamental importance of layout and image content information.

Sujoy Paul, Gagan Madan, Akankshya Mishra et al.

State-of-the-art information extraction methods are limited by OCR errors. They work well for printed text in form-like documents, but unstructured, handwritten documents still remain a challenge. Adapting existing models to domain-specific training data is quite expensive, because of two factors, 1) limited availability of the domain-specific documents (such as handwritten prescriptions, lab notes, etc.), and 2) annotations become even more challenging as one needs domain-specific knowledge to decode inscrutable handwritten document images. In this work, we focus on the complex problem of extracting medicine names from handwritten prescriptions using only weakly labeled data. The data consists of images along with the list of medicine names in it, but not their location in the image. We solve the problem by first identifying the regions of interest, i.e., medicine lines from just weak labels and then injecting a domain-specific medicine language model learned using only synthetically generated data. Compared to off-the-shelf state-of-the-art methods, our approach performs >2.5x better in medicine names extraction from prescriptions.

Debapriya Tula, Sujoy Paul, Gagan Madan et al.

Recognizing text lines from images is a challenging problem, especially for handwritten documents due to large variations in writing styles. While text line recognition models are generally trained on large corpora of real and synthetic data, such models can still make frequent mistakes if the handwriting is inscrutable or the image acquisition process adds corruptions, such as noise, blur, compression, etc. Writing style is generally quite consistent for an individual, which can be leveraged to correct mistakes made by such models. Motivated by this, we introduce the problem of adapting text line recognition models during test time. We focus on a challenging and realistic setting where, given only a single test image consisting of multiple text lines, the task is to adapt the model such that it performs better on the image, without any labels. We propose an iterative self-training approach that uses feedback from the language model to update the optical model, with confident self-labels in each iteration. The confidence measure is based on an augmentation mechanism that evaluates the divergence of the prediction of the model in a local region. We perform rigorous evaluation of our method on several benchmark datasets as well as their corrupted versions. Experimental results on multiple datasets spanning multiple scripts show that the proposed adaptation method offers an absolute improvement of up to 8% in character error rate with just a few iterations of self-training at test time.

Radhika Dua, Nikita Saxena, Aditi Agarwal et al.

Agricultural landscapes are quite complex, especially in the Global South where fields are smaller, and agricultural practices are more varied. In this paper we report on our progress in digitizing the agricultural landscape (natural and man-made) in our study region of India. We use high resolution imagery and a UNet style segmentation model to generate the first of its kind national-scale multi-class panoptic segmentation output. Through this work we have been able to identify individual fields across 151.7M hectares, and delineating key features such as water resources and vegetation. We share how this output was validated by our team and externally by downstream users, including some sample use cases that can lead to targeted data driven decision making. We believe this dataset will contribute towards digitizing agriculture by generating the foundational baselayer.

Ishan Deshpande, Amandeep Kaur Reehal, Chandan Nath et al.

Accurate, timely, and farm-level crop type information is paramount for national food security, agricultural policy formulation, and economic planning, particularly in agriculturally significant nations like India. While remote sensing and machine learning have become vital tools for crop monitoring, existing approaches often grapple with challenges such as limited geographical scalability, restricted crop type coverage, the complexities of mixed-pixel and heterogeneous landscapes, and crucially, the robust in-season identification essential for proactive decision-making. We present a framework designed to address the critical data gaps for targeted data driven decision making which generates farm-level, in-season, multi-crop identification at national scale (India) using deep learning. Our methodology leverages the strengths of Sentinel-1 and Sentinel-2 satellite imagery, integrated with national-scale farm boundary data. The model successfully identifies 12 major crops (which collectively account for nearly 90% of India's total cultivated area showing an agreement with national crop census 2023-24 of 94% in winter, and 75% in monsoon season). Our approach incorporates an automated season detection algorithm, which estimates crop sowing and harvest periods. This allows for reliable crop identification as early as two months into the growing season and facilitates rigorous in-season performance evaluation. Furthermore, we have engineered a highly scalable inference pipeline, culminating in what is, to our knowledge, the first pan-India, in-season, farm-level crop type data product. The system's effectiveness and scalability are demonstrated through robust validation against national agricultural statistics, showcasing its potential to deliver actionable, data-driven insights for transformative agricultural monitoring and management across India.

Returaj Burnwal, Anirban Santara, Nirav P. Bhatt et al.

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety, optimality, generalizability, interpretability, and explainability. However, some behaviors are complex and it is difficult to hand-craft an MPC objective function. A special class of MPC policies called Learnable-MPC addresses this difficulty using imitation learning from expert demonstrations. However, they require the demonstrator and the imitator agents to be identical which is hard to satisfy in many real world applications of robotics. In this paper, we address the practical problem of training Learnable-MPC policies when the demonstrator and the imitator do not share the same dynamics and their state spaces may have a partial overlap. We propose a novel approach that uses a generative adversarial network (GAN) to minimize the Jensen-Shannon divergence between the state-trajectory distributions of the demonstrator and the imitator. We evaluate our approach on a variety of simulated robotics tasks of DeepMind Control suite and demonstrate the efficacy of our approach at learning the demonstrator's behavior without having to copy their actions.

Miriam Redi, Nikhil Rasiwasia, Gaurav Aggarwal et al.

Digital portrait photographs are everywhere, and while the number of face pictures keeps growing, not much work has been done to on automatic portrait beauty assessment. In this paper, we design a specific framework to automatically evaluate the beauty of digital portraits. To this end, we procure a large dataset of face images annotated not only with aesthetic scores but also with information about the traits of the subject portrayed. We design a set of visual features based on portrait photography literature, and extensively analyze their relation with portrait beauty, exposing interesting findings about what makes a portrait beautiful. We find that the beauty of a portrait is linked to its artistic value, and independent from age, race and gender of the subject. We also show that a classifier trained with our features to separate beautiful portraits from non-beautiful portraits outperforms generic aesthetic classifiers.