Mohit Sharma

Homanga Bharadhwaj, Jay Vakil, Mohit Sharma et al.

The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs, and safety challenges. A path toward such an universal agent would require a structured framework capable of wide generalization but trained within a reasonable data budget. In this paper, we develop an efficient system (RoboAgent) for training universal agents capable of multi-task manipulation skills using (a) semantic augmentations that can rapidly multiply existing datasets and (b) action representations that can extract performant policies with small yet diverse multi-modal datasets without overfitting. In addition, reliable task conditioning and an expressive policy architecture enable our agent to exhibit a diverse repertoire of skills in novel situations specified using language commands. Using merely 7500 demonstrations, we are able to train a single agent capable of 12 unique skills, and demonstrate its generalization over 38 tasks spread across common daily activities in diverse kitchen scenes. On average, RoboAgent outperforms prior methods by over 40% in unseen situations while being more sample efficient and being amenable to capability improvements and extensions through fine-tuning. Videos at https://robopen.github.io/

Mohit Sharma, Claudio Fantacci, Yuxiang Zhou et al.

Recent works have shown that large models pretrained on common visual learning tasks can provide useful representations for a wide range of specialized perception problems, as well as a variety of robotic manipulation tasks. While prior work on robotic manipulation has predominantly used frozen pretrained features, we demonstrate that in robotics this approach can fail to reach optimal performance, and that fine-tuning of the full model can lead to significantly better results. Unfortunately, fine-tuning disrupts the pretrained visual representation, and causes representational drift towards the fine-tuned task thus leading to a loss of the versatility of the original model. We introduce "lossless adaptation" to address this shortcoming of classical fine-tuning. We demonstrate that appropriate placement of our parameter efficient adapters can significantly reduce the performance gap between frozen pretrained representations and full end-to-end fine-tuning without changes to the original representation and thus preserving original capabilities of the pretrained model. We perform a comprehensive investigation across three major model architectures (ViTs, NFNets, and ResNets), supervised (ImageNet-1K classification) and self-supervised pretrained weights (CLIP, BYOL, Visual MAE) in 3 task domains and 35 individual tasks, and demonstrate that our claims are strongly validated in various settings.

Zoey Chen, Zhao Mandi, Homanga Bharadhwaj et al.

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to generalize despite these challenges, it is essential to leverage sources of data or priors beyond the robot's direct experience. In this work, we posit that image-text generative models, which are pre-trained on large corpora of web-scraped data, can serve as such a data source. These generative models encompass a broad range of real-world scenarios beyond a robot's direct experience and can synthesize novel synthetic experiences that expose robotic agents to additional world priors aiding real-world generalization at no extra cost. In particular, our approach leverages pre-trained generative models as an effective tool for data augmentation. We propose a generative augmentation framework for semantically controllable augmentations and rapidly multiplying robot datasets while inducing rich variations that enable real-world generalization. Based on diverse augmentations of robot data, we show how scalable robot manipulation policies can be trained and deployed both in simulation and in unseen real-world environments such as kitchens and table-tops. By demonstrating the effectiveness of image-text generative models in diverse real-world robotic applications, our generative augmentation framework provides a scalable and efficient path for boosting generalization in robot learning at no extra human cost.

Mohit Sharma, Amit Deshpande, Rajiv Ratn Shah

In this paper, we consider a theoretical model for injecting data bias, namely, under-representation and label bias (Blum & Stangl, 2019). We empirically study the effect of varying data biases on the accuracy and fairness of fair classifiers. Through extensive experiments on both synthetic and real-world datasets (e.g., Adult, German Credit, Bank Marketing, COMPAS), we empirically audit pre-, in-, and post-processing fair classifiers from standard fairness toolkits for their fairness and accuracy by injecting varying amounts of under-representation and label bias in their training data (but not the test data). Our main observations are: 1. The fairness and accuracy of many standard fair classifiers degrade severely as the bias injected in their training data increases, 2. A simple logistic regression model trained on the right data can often outperform, in both accuracy and fairness, most fair classifiers trained on biased training data, and 3. A few, simple fairness techniques (e.g., reweighing, exponentiated gradients) seem to offer stable accuracy and fairness guarantees even when their training data is injected with under-representation and label bias. Our experiments also show how to integrate a measure of data bias risk in the existing fairness dashboards for real-world deployments.

Victor Persson, Christofer Boo, Mohit Sharma et al.

Digital Image Correlation (DIC) enables dense, time-resolved measurement of surface strain in deforming materials, providing insight into strain localization and failure mechanisms. However, the resulting strain fields are typically explored frame-by-frame through spatial visualizations, making global temporal patterns difficult to discern. We present a visual summarization approach that represents the evolution of high-strain regions as a single Sankey diagram constructed from superlevel sets of the von Mises equivalent strain field. By tracking connected components over time via spatial overlap, the diagram encodes the birth, persistence, merging, and disappearance of strain concentrations. Applied to four tensile test datasets with varying notch geometries, the approach compactly captures differences in deformation regimes and qualitative precursors to failure, complementing traditional spatial strain visualizations with a global temporal overview.

Gheorghe Comanici, Eric Bieber, Mike Schaekermann et al. · amazon-science, baidu

In this report, we introduce the Gemini 2.X model family: Gemini 2.5 Pro and Gemini 2.5 Flash, as well as our earlier Gemini 2.0 Flash and Flash-Lite models. Gemini 2.5 Pro is our most capable model yet, achieving SoTA performance on frontier coding and reasoning benchmarks. In addition to its incredible coding and reasoning skills, Gemini 2.5 Pro is a thinking model that excels at multimodal understanding and it is now able to process up to 3 hours of video content. Its unique combination of long context, multimodal and reasoning capabilities can be combined to unlock new agentic workflows. Gemini 2.5 Flash provides excellent reasoning abilities at a fraction of the compute and latency requirements and Gemini 2.0 Flash and Flash-Lite provide high performance at low latency and cost. Taken together, the Gemini 2.X model generation spans the full Pareto frontier of model capability vs cost, allowing users to explore the boundaries of what is possible with complex agentic problem solving.

Anirudha Majumdar, Mohit Sharma, Dmitry Kalashnikov et al.

Visuomotor policies trained via imitation learning are capable of performing challenging manipulation tasks, but are often extremely brittle to lighting, visual distractors, and object locations. These vulnerabilities can depend unpredictably on the specifics of training, and are challenging to expose without time-consuming and expensive hardware evaluations. We propose the problem of predictive red teaming: discovering vulnerabilities of a policy with respect to environmental factors, and predicting the corresponding performance degradation without hardware evaluations in off-nominal scenarios. In order to achieve this, we develop RoboART: an automated red teaming (ART) pipeline that (1) modifies nominal observations using generative image editing to vary different environmental factors, and (2) predicts performance under each variation using a policy-specific anomaly detector executed on edited observations. Experiments across 500+ hardware trials in twelve off-nominal conditions for visuomotor diffusion policies demonstrate that RoboART predicts performance degradation with high accuracy (less than 0.19 average difference between predicted and real success rates). We also demonstrate how predictive red teaming enables targeted data collection: fine-tuning with data collected under conditions predicted to be adverse boosts baseline performance by 2-7x.

Connor Schenck, Isaac Reid, Mithun George Jacob et al.

We introduce STRING: Separable Translationally Invariant Position Encodings. STRING extends Rotary Position Encodings, a recently proposed and widely used algorithm in large language models, via a unifying theoretical framework. Importantly, STRING still provides exact translation invariance, including token coordinates of arbitrary dimensionality, whilst maintaining a low computational footprint. These properties are especially important in robotics, where efficient 3D token representation is key. We integrate STRING into Vision Transformers with RGB(-D) inputs (color plus optional depth), showing substantial gains, e.g. in open-vocabulary object detection and for robotics controllers. We complement our experiments with a rigorous mathematical analysis, proving the universality of our methods.

Mohit Sharma, Amit Deshpande

A general belief in fair classification is that fairness constraints incur a trade-off with accuracy, which biased data may worsen. Contrary to this belief, Blum & Stangl (2019) show that fair classification with equal opportunity constraints even on extremely biased data can recover optimally accurate and fair classifiers on the original data distribution. Their result is interesting because it demonstrates that fairness constraints can implicitly rectify data bias and simultaneously overcome a perceived fairness-accuracy trade-off. Their data bias model simulates under-representation and label bias in underprivileged population, and they show the above result on a stylized data distribution with i.i.d. label noise, under simple conditions on the data distribution and bias parameters. We propose a general approach to extend the result of Blum & Stangl (2019) to different fairness constraints, data bias models, data distributions, and hypothesis classes. We strengthen their result, and extend it to the case when their stylized distribution has labels with Massart noise instead of i.i.d. noise. We prove a similar recovery result for arbitrary data distributions using fair reject option classifiers. We further generalize it to arbitrary data distributions and arbitrary hypothesis classes, i.e., we prove that for any data distribution, if the optimally accurate classifier in a given hypothesis class is fair and robust, then it can be recovered through fair classification with equal opportunity constraints on the biased distribution whenever the bias parameters satisfy certain simple conditions. Finally, we show applications of our technique to time-varying data bias in classification and fair machine learning pipelines.

Akshar Prabhu Desai, Tejasvi Ravi, Mohammad Luqman et al.

Machine Learning and data mining techniques (i.e. supervised and unsupervised techniques) are used across domains to detect user safety violations. Examples include classifiers used to detect whether an email is spam or a web-page is requesting bank login information. However, existing ML/DM classifiers are limited in their ability to understand natural languages w.r.t the context and nuances. The aforementioned challenges are overcome with the arrival of Gen-AI techniques, along with their inherent ability w.r.t translation between languages, fine-tuning between various tasks and domains. In this manuscript, we provide a comprehensive overview of the various work done while using Gen-AI techniques w.r.t user safety. In particular, we first provide the various domains (e.g. phishing, malware, content moderation, counterfeit, physical safety) across which Gen-AI techniques have been applied. Next, we provide how Gen-AI techniques can be used in conjunction with various data modalities i.e. text, images, videos, audio, executable binaries to detect violations of user-safety. Further, also provide an overview of how Gen-AI techniques can be used in an adversarial setting. We believe that this work represents the first summarization of Gen-AI techniques for user-safety.

Mohit Sharma, Adam Fishman, Vikash Kumar et al.

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and other generative models have shown strong performance in solving local planning problems, but often struggle at avoiding all of the subtle constraint violations that characterize truly challenging global motion planning problems. In this work, we propose an approach for learning global motion planning using diffusion policies, allowing the robot to generate full trajectories through complex scenes and reasoning about multiple obstacles along the path. Our approach uses cascaded hierarchical models which unify global prediction and local refinement together with online plan repair to ensure the trajectories are collision free. Our method outperforms (by ~5%) a wide variety of baselines on challenging tasks in multiple domains including navigation and manipulation.

Nirjhar Das, Mohit Sharma, Praharsh Nanavati et al.

We study the problem of auditing the fairness of a given classifier under partial feedback, where true labels are available only for positively classified individuals, (e.g., loan repayment outcomes are observed only for approved applicants). We introduce a novel cost model for acquiring additional labeled data, designed to more accurately reflect real-world costs such as credit assessment, loan processing, and potential defaults. Our goal is to find optimal fairness audit algorithms that are more cost-effective than random exploration and natural baselines. In our work, we consider two audit settings: a black-box model with no assumptions on the data distribution, and a mixture model, where features and true labels follow a mixture of exponential family distributions. In the black-box setting, we propose a near-optimal auditing algorithm under mild assumptions and show that a natural baseline can be strictly suboptimal. In the mixture model setting, we design a novel algorithm that achieves significantly lower audit cost than the black-box case. Our approach leverages prior work on learning from truncated samples and maximum-a-posteriori oracles, and extends known results on spherical Gaussian mixtures to handle exponential family mixtures, which may be of independent interest. Moreover, our algorithms apply to popular fairness metrics including demographic parity, equal opportunity, and equalized odds. Empirically, we demonstrate strong performance of our algorithms on real-world fair classification datasets like Adult Income and Law School, consistently outperforming natural baselines by around 50% in terms of audit cost.

Mohit Sharma, Amit Jayant Deshpande, Chiranjib Bhattacharyya et al.

To fix the 'bias in, bias out' problem in fair machine learning, it is important to steer feature distributions of data or internal representations of Large Language Models (LLMs) to ideal ones that guarantee group-fair outcomes. Previous work on fair generative models and representation steering could greatly benefit from provable fairness guarantees on the model output. We define a distribution as ideal if the minimizer of any cost-sensitive risk on it is guaranteed to have exact group-fair outcomes (e.g., demographic parity, equal opportunity)-in other words, it has no fairness-utility trade-off. We formulate an optimization program for optimal steering by finding the nearest ideal distribution in KL-divergence, and provide efficient algorithms for it when the underlying distributions come from well-known parametric families (e.g., normal, log-normal). Empirically, our optimal steering techniques on both synthetic and real-world datasets improve fairness without diminishing utility (and sometimes even improve utility). We demonstrate affine steering of LLM representations to reduce bias in multi-class classification, e.g., occupation prediction from a short biography in Bios dataset (De-Arteaga et al.). Furthermore, we steer internal representations of LLMs towards desired outputs so that it works equally well across different groups.

Dhruv Meduri, Mohit Sharma, Vijay Natarajan

The Jacobi set of a bivariate scalar field is the set of points where the gradients of the two constituent scalar fields align with each other. It captures the regions of topological changes in the bivariate field. The Jacobi set is a bivariate analog of critical points, and may correspond to features of interest. In the specific case of time-varying fields and when one of the scalar fields is time, the Jacobi set corresponds to temporal tracks of critical points, and serves as a feature-tracking graph. The Jacobi set of a bivariate field or a time-varying scalar field is complex, resulting in cluttered visualizations that are difficult to analyze. This paper addresses the problem of Jacobi set simplification. Specifically, we use the time-varying scalar field scenario to introduce a method that computes a reduced Jacobi set. The method is based on a stability measure called robustness that was originally developed for vector fields and helps capture the structural stability of critical points. We also present a mathematical analysis for the method, and describe an implementation for 2D time-varying scalar fields. Applications to both synthetic and real-world datasets demonstrate the effectiveness of the method for tracking features.

Saumya Saxena, Mohit Sharma, Oliver Kroemer

Leveraging sensing modalities across diverse spatial and temporal resolutions can improve performance of robotic manipulation tasks. Multi-spatial resolution sensing provides hierarchical information captured at different spatial scales and enables both coarse and precise motions. Simultaneously multi-temporal resolution sensing enables the agent to exhibit high reactivity and real-time control. In this work, we propose a framework, MResT (Multi-Resolution Transformer), for learning generalizable language-conditioned multi-task policies that utilize sensing at different spatial and temporal resolutions using networks of varying capacities to effectively perform real time control of precise and reactive tasks. We leverage off-the-shelf pretrained vision-language models to operate on low-frequency global features along with small non-pretrained models to adapt to high frequency local feedback. Through extensive experiments in 3 domains (coarse, precise and dynamic manipulation tasks), we show that our approach significantly improves (2X on average) over recent multi-task baselines. Further, our approach generalizes well to visual and geometric variations in target objects and to varying interaction forces.

Mohit Sharma, Raj Patra, Harshal Desai et al.

Deep learning has shown remarkable progress in a wide range of problems. However, efficient training of such models requires large-scale datasets, and getting annotations for such datasets can be challenging and costly. In this work, we explore the use of user-generated freely available labels from web videos for video understanding. We create a benchmark dataset consisting of around 2 million videos with associated user-generated annotations and other meta information. We utilize the collected dataset for action classification and demonstrate its usefulness with existing small-scale annotated datasets, UCF101 and HMDB51. We study different loss functions and two pretraining strategies, simple and self-supervised learning. We also show how a network pretrained on the proposed dataset can help against video corruption and label noise in downstream datasets. We present this as a benchmark dataset in noisy learning for video understanding. The dataset, code, and trained models will be publicly available for future research.

Mohit Sharma, Talha Bin Masood, Signe S. Thygesen et al.

Electronic transitions in molecules due to absorption or emission of light is a complex quantum mechanical process. Their study plays an important role in the design of novel materials. A common yet challenging task in the study is to determine the nature of those electronic transitions, i.e. which subgroups of the molecule are involved in the transition by donating or accepting electrons, followed by an investigation of the variation in the donor-acceptor behavior for different transitions or conformations of the molecules. In this paper, we present a novel approach towards the study of electronic transitions based on the visual analysis of a bivariate field, namely the electron density in the hole and particle Natural Transition Orbital (NTO). The visual analysis focuses on the continuous scatter plots (CSPs) of the bivariate field linked to their spatial domain. The method supports selections in the CSP visualized as fiber surfaces in the spatial domain, the grouping of atoms, and segmentation of the density fields to peel the CSP. This peeling operator is central to the visual analysis process and helps identify donors and acceptors. We study different molecular systems, identifying local excitation and charge transfer excitations to demonstrate the utility of the method.

Jacky Liang, Mohit Sharma, Alex LaGrassa et al.

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared skill implementations, or task-specific plan skeletons, which limit adaptation to new skills and tasks. By contrast, we propose doing task planning by jointly searching in the space of parameterized skills using high-level skill effect models learned in simulation. We use an iterative training procedure to efficiently generate relevant data to train such models. Our approach allows flexible skill parameterizations and task specifications to facilitate lifelong learning in general-purpose domains. Experiments demonstrate the ability of our planner to integrate new skills in a lifelong manner, finding new task strategies with lower costs in both train and test tasks. We additionally show that our method can transfer to the real world without further fine-tuning.

Mohit Sharma, Oliver Kroemer

To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to train monolithic neural network policies across such large variance in object properties. Towards this generalization challenge, we propose to learn modular task policies which compose object-centric task-axes controllers. These task-axes controllers are parameterized by properties associated with underlying objects in the scene. We infer these controller parameters directly from visual input using multi-view dense correspondence learning. Our overall approach provides a simple, modular and yet powerful framework for learning manipulation tasks. We empirically evaluate our approach on multiple different manipulation tasks and show its ability to generalize to large variance in object size, shape and geometry.

Navyata Sanghvi, Shinnosuke Usami, Mohit Sharma et al.

Various methods for solving the inverse reinforcement learning (IRL) problem have been developed independently in machine learning and economics. In particular, the method of Maximum Causal Entropy IRL is based on the perspective of entropy maximization, while related advances in the field of economics instead assume the existence of unobserved action shocks to explain expert behavior (Nested Fixed Point Algorithm, Conditional Choice Probability method, Nested Pseudo-Likelihood Algorithm). In this work, we make previously unknown connections between these related methods from both fields. We achieve this by showing that they all belong to a class of optimization problems, characterized by a common form of the objective, the associated policy and the objective gradient. We demonstrate key computational and algorithmic differences which arise between the methods due to an approximation of the optimal soft value function, and describe how this leads to more efficient algorithms. Using insights which emerge from our study of this class of optimization problems, we identify various problem scenarios and investigate each method's suitability for these problems.

Saurav Manchanda, Mohit Sharma, George Karypis

Slot-filling refers to the task of annotating individual terms in a query with the corresponding intended product characteristics (product type, brand, gender, size, color, etc.). These characteristics can then be used by a search engine to return results that better match the query's product intent. Traditional methods for slot-filling require the availability of training data with ground truth slot-annotation information. However, generating such labeled data, especially in e-commerce is expensive and time-consuming because the number of slots increases as new products are added. In this paper, we present distant-supervised probabilistic generative models, that require no manual annotation. The proposed approaches leverage the readily available historical query logs and the purchases that these queries led to, and also exploit co-occurrence information among the slots in order to identify intended product characteristics. We evaluate our approaches by considering how they affect retrieval performance, as well as how well they classify the slots. In terms of retrieval, our approaches achieve better ranking performance (up to 156%) over Okapi BM25. Moreover, our approach that leverages co-occurrence information leads to better performance than the one that does not on both the retrieval and slot classification tasks.

Mohit Sharma, Oliver Kroemer

To determine if a skill can be executed in any given environment, a robot needs to learn the preconditions for the skill. As robots begin to operate in dynamic and unstructured environments, precondition models will need to generalize to variable number of objects with different shapes and sizes. In this work, we focus on learning precondition models for manipulation skills in unconstrained environments. Our work is motivated by the intuition that many complex manipulation tasks, with multiple objects, can be simplified by focusing on less complex pairwise object relations. We propose an object-relation model that learns continuous representations for these pairwise object relations. Our object-relation model is trained completely in simulation, and once learned, is used by a separate precondition model to predict skill preconditions for real world tasks. We evaluate our precondition model on $3$ different manipulation tasks: sweeping, cutting, and unstacking. We show that our approach leads to significant improvements in predicting preconditions for all 3 tasks, across objects of different shapes and sizes.

Mohit Sharma, Jacky Liang, Jialiang Zhao et al.

Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual subtasks can be achieved by task-axis controllers defined relative to the objects being manipulated, and a set of object-centric controllers can be combined in an hierarchy. In prior works, such combinations are defined manually or learned from demonstrations. By contrast, we propose using reinforcement learning to dynamically compose hierarchical object-centric controllers for manipulation tasks. Experiments in both simulation and real world show how the proposed approach leads to improved sample efficiency, zero-shot generalization to novel test environments, and simulation-to-reality transfer without fine-tuning.

Kevin Zhang, Mohit Sharma, Jacky Liang et al.

We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into combinations of trajectory generators, feedback controllers, and termination handlers. Low-level control is implemented in C++ and runs at $1$kHz, and high-level commands are exposed in Python. In addition, external sensor feedback, like estimated object poses, can be streamed to the low-level controllers in real time. This modular approach allows us to quickly prototype new control methods, which is essential for research applications. We have applied this framework across a variety of real-world robot tasks in more than $5$ published research papers. The framework is currently shared internally with other robotics labs at Carnegie Mellon University, and we plan for a public release in the near future.

Kevin Zhang, Mohit Sharma, Manuela Veloso et al.

Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task due to the wide range of material properties exhibited by food items. Due to this variability, the same cutting motions cannot be used for all food items. Sensations from contact events, e.g., when placing the knife on the food item, will also vary depending on the material properties, and the robot will need to adapt accordingly. In this paper, we propose using vibrations and force-torque feedback from the interactions to adapt the slicing motions and monitor for contact events. The robot learns neural networks for performing each of these tasks and generalizing across different material properties. By adapting and monitoring the skill executions, the robot is able to reliably cut through more than 20 different types of food items and even detect whether certain food items are fresh or old.

Saurav Manchanda, Mohit Sharma, George Karypis

In e-commerce, a user tends to search for the desired product by issuing a query to the search engine and examining the retrieved results. If the search engine was successful in correctly understanding the user's query, it will return results that correspond to the products whose attributes match the terms in the query that are representative of the query's product intent. However, the search engine may fail to retrieve results that satisfy the query's product intent and thus degrading user experience due to different issues in query processing: (i) when multiple terms are present in a query it may fail to determine the relevant terms that are representative of the query's product intent, and (ii) it may suffer from vocabulary gap between the terms in the query and the product's description, i.e., terms used in the query are semantically similar but different from the terms in the product description. Hence, identifying the terms that describe the query's product intent and predicting additional terms that describe the query's product intent better than the existing query terms to the search engine is an essential task in e-commerce search. In this paper, we leverage the historical query reformulation logs of a major e-commerce retailer to develop distant-supervised approaches to solve both these problems. Our approaches exploit the fact that the significance of a term is dependent upon the context (other terms in the neighborhood) in which it is used in order to learn the importance of the term towards the query's product intent. We show that identifying and emphasizing the terms that define the query's product intent leads to a 3% improvement in ranking. Moreover, for the tasks of identifying the important terms in a query and for predicting the additional terms that represent product intent, experiments illustrate that our approaches outperform the non-contextual baselines.

Nirbhay Modhe, Prithvijit Chattopadhyay, Mohit Sharma et al.

We propose a novel framework to identify sub-goals useful for exploration in sequential decision making tasks under partial observability. We utilize the variational intrinsic control framework (Gregor et.al., 2016) which maximizes empowerment -- the ability to reliably reach a diverse set of states and show how to identify sub-goals as states with high necessary option information through an information theoretic regularizer. Despite being discovered without explicit goal supervision, our sub-goals provide better exploration and sample complexity on challenging grid-world navigation tasks compared to supervised counterparts in prior work.

Siddharth Gururani, Mohit Sharma, Alexander Lerch

While the automatic recognition of musical instruments has seen significant progress, the task is still considered hard for music featuring multiple instruments as opposed to single instrument recordings. Datasets for polyphonic instrument recognition can be categorized into roughly two categories. Some, such as MedleyDB, have strong per-frame instrument activity annotations but are usually small in size. Other, larger datasets such as OpenMIC only have weak labels, i.e., instrument presence or absence is annotated only for long snippets of a song. We explore an attention mechanism for handling weakly labeled data for multi-label instrument recognition. Attention has been found to perform well for other tasks with weakly labeled data. We compare the proposed attention model to multiple models which include a baseline binary relevance random forest, recurrent neural network, and fully connected neural networks. Our results show that incorporating attention leads to an overall improvement in classification accuracy metrics across all 20 instruments in the OpenMIC dataset. We find that attention enables models to focus on (or `attend to') specific time segments in the audio relevant to each instrument label leading to interpretable results.

Mohit Sharma, Jiayu Zhou, Junling Hu et al.

Recommending new items to existing users has remained a challenging problem due to absence of user's past preferences for these items. The user personalized non-collaborative methods based on item features can be used to address this item cold-start problem. These methods rely on similarities between the target item and user's previous preferred items. While computing similarities based on item features, these methods overlook the interactions among the features of the items and consider them independently. Modeling interactions among features can be helpful as some features, when considered together, provide a stronger signal on the relevance of an item when compared to case where features are considered independently. To address this important issue, in this work we introduce the Feature-based factorized Bilinear Similarity Model (FBSM), which learns factorized bilinear similarity model for TOP-n recommendation of new items, given the information about items preferred by users in past as well as the features of these items. We carry out extensive empirical evaluations on benchmark datasets, and we find that the proposed FBSM approach improves upon traditional non-collaborative methods in terms of recommendation performance. Moreover, the proposed approach also learns insightful interactions among item features from data, which lead to deep understanding on how these interactions contribute to personalized recommendation.

Mohit Sharma, George Karypis

Recommender systems are widely used to recommend the most appealing items to users. These recommendations can be generated by applying collaborative filtering methods. The low-rank matrix completion method is the state-of-the-art collaborative filtering method. In this work, we show that the skewed distribution of ratings in the user-item rating matrix of real-world datasets affects the accuracy of matrix-completion-based approaches. Also, we show that the number of ratings that an item or a user has positively correlates with the ability of low-rank matrix-completion-based approaches to predict the ratings for the item or the user accurately. Furthermore, we use these insights to develop four matrix completion-based approaches, i.e., Frequency Adaptive Rating Prediction (FARP), Truncated Matrix Factorization (TMF), Truncated Matrix Factorization with Dropout (TMF + Dropout) and Inverse Frequency Weighted Matrix Factorization (IFWMF), that outperforms traditional matrix-completion-based approaches for the users and the items with few ratings in the user-item rating matrix.

Mohit Sharma, F. Maxwell Harper, George Karypis

Most of the existing recommender systems use the ratings provided by users on individual items. An additional source of preference information is to use the ratings that users provide on sets of items. The advantages of using preferences on sets are two-fold. First, a rating provided on a set conveys some preference information about each of the set's items, which allows us to acquire a user's preferences for more items that the number of ratings that the user provided. Second, due to privacy concerns, users may not be willing to reveal their preferences on individual items explicitly but may be willing to provide a single rating to a set of items, since it provides some level of information hiding. This paper investigates two questions related to using set-level ratings in recommender systems. First, how users' item-level ratings relate to their set-level ratings. Second, how collaborative filtering-based models for item-level rating prediction can take advantage of such set-level ratings. We have collected set-level ratings from active users of Movielens on sets of movies that they have rated in the past. Our analysis of these ratings shows that though the majority of the users provide the average of the ratings on a set's constituent items as the rating on the set, there exists a significant number of users that tend to consistently either under- or over-rate the sets. We have developed collaborative filtering-based methods to explicitly model these user behaviors that can be used to recommend items to users. Experiments on real data and on synthetic data that resembles the under- or over-rating behavior in the real data, demonstrate that these models can recover the overall characteristics of the underlying data and predict the user's ratings on individual items.

Mohit Sharma, Kevin Zhang, Oliver Kroemer

In this work, we present an interaction-based approach to learn semantically rich representations for the task of slicing vegetables. Unlike previous approaches, we focus on object-centric representations and use auxiliary tasks to learn rich representations using a two-step process. First, we use simple auxiliary tasks, such as predicting the thickness of a cut slice, to learn an embedding space which captures object properties that are important for the task of slicing vegetables. In the second step, we use these learned latent embeddings to learn a forward model. Learning a forward model affords us to plan online in the latent embedding space and forces our model to improve its representations while performing the slicing task. To show the efficacy of our approach we perform experiments on two different vegetables: cucumbers and tomatoes. Our experimental evaluation shows that our method is able to capture important semantic properties for the slicing task, such as the thickness of the vegetable being cut. We further show that by using our learned forward model, we can plan for the task of vegetable slicing.

Charlie Mydlarz, Mohit Sharma, Yitzchak Lockerman et al.

Noise pollution is one of the topmost quality of life issues for urban residents in the United States. Continued exposure to high levels of noise has proven effects on health, including acute effects such as sleep disruption, and long-term effects such as hypertension, heart disease, and hearing loss. To investigate and ultimately aid in the mitigation of urban noise, a network of 55 sensor nodes has been deployed across New York City for over two years, collecting sound pressure level (SPL) and audio data. This network has cumulatively amassed over 75 years of calibrated, high-resolution SPL measurements and 35 years of audio data. In addition, high frequency telemetry data has been collected that provides an indication of a sensors' health. This telemetry data was analyzed over an 18 month period across 31 of the sensors. It has been used to develop a prototype model for pre-failure detection which has the ability to identify sensors in a prefail state 69.1% of the time. The entire network infrastructure is outlined, including the operation of the sensors, followed by an analysis of its data yield and the development of the fault detection approach and the future system integration plans for this.

Arjun Sharma, Mohit Sharma, Nicholas Rhinehart et al.

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for each mode or sub-task can greatly improve the performance of imitation learning. In this work, we discover the interaction between sub-tasks from their resulting state-action trajectory sequences using a directed graphical model. We propose a new algorithm based on the generative adversarial imitation learning framework which automatically learns sub-task policies from unsegmented demonstrations. Our approach maximizes the directed information flow in the graphical model between sub-task latent variables and their generated trajectories. We also show how our approach connects with the existing Options framework, which is commonly used to learn hierarchical policies.

Mohit Sharma, Kris M. Kitani, Joachim Groeger

We make an important connection to existing results in econometrics to describe an alternative formulation of inverse reinforcement learning (IRL). In particular, we describe an algorithm using Conditional Choice Probabilities (CCP), which are maximum likelihood estimates of the policy estimated from expert demonstrations, to solve the IRL problem. Using the language of structural econometrics, we re-frame the optimal decision problem and introduce an alternative representation of value functions due to (Hotz and Miller 1993). In addition to presenting the theoretical connections that bridge the IRL literature between Economics and Robotics, the use of CCPs also has the practical benefit of reducing the computational cost of solving the IRL problem. Specifically, under the CCP representation, we show how one can avoid repeated calls to the dynamic programming subroutine typically used in IRL. We show via extensive experimentation on standard IRL benchmarks that CCP-IRL is able to outperform MaxEnt-IRL, with as much as a 5x speedup and without compromising on the quality of the recovered reward function.