Richeek Das

Richeek Das, Samuel Dooley

Making models algorithmically fairer in tabular data has been long studied, with techniques typically oriented towards fixes which usually take a neural model with an undesirable outcome and make changes to how the data are ingested, what the model weights are, or how outputs are processed. We employ an emergent and different strategy where we consider updating the model's architecture and training hyperparameters to find an entirely new model with better outcomes from the beginning of the debiasing procedure. In this work, we propose using multi-objective Neural Architecture Search (NAS) and Hyperparameter Optimization (HPO) in the first application to the very challenging domain of tabular data. We conduct extensive exploration of architectural and hyperparameter spaces (MLP, ResNet, and FT-Transformer) across diverse datasets, demonstrating the dependence of accuracy and fairness metrics of model predictions on hyperparameter combinations. We show that models optimized solely for accuracy with NAS often fail to inherently address fairness concerns. We propose a novel approach that jointly optimizes architectural and training hyperparameters in a multi-objective constraint of both accuracy and fairness. We produce architectures that consistently Pareto dominate state-of-the-art bias mitigation methods either in fairness, accuracy or both, all of this while being Pareto-optimal over hyperparameters achieved through single-objective (accuracy) optimization runs. This research underscores the promise of automating fairness and accuracy optimization in deep learning models.

Richeek Das, Pratik Chaudhari

Neurosim is a fast, real-time, high-performance library for simulating sensors such as dynamic vision sensors, RGB cameras, depth sensors, and inertial sensors. It can also simulate agile dynamics of multi-rotor vehicles in complex and dynamic environments. Neurosim can achieve frame rates as high as ~2700 FPS on a desktop GPU. Neurosim integrates with a ZeroMQ-based communication library called Cortex to facilitate seamless integration with machine learning and robotics workflows. Cortex provides a high-throughput, low-latency message-passing system for Python and C++ applications, with native support for NumPy arrays and PyTorch tensors. This paper discusses the design philosophy behind Neurosim and Cortex. It demonstrates how they can be used to (i) train neuromorphic perception and control algorithms, e.g., using self-supervised learning on time-synchronized multi-modal data, and (ii) test real-time implementations of these algorithms in closed-loop. Neurosim and Cortex are available at https://github.com/grasp-lyrl/neurosim .

Richeek Das, Kostas Daniilidis, Pratik Chaudhari

This paper develops a mathematical argument and algorithms for building representations of data from event-based cameras, that we call Fast Feature Field ($\text{F}^3$). We learn this representation by predicting future events from past events and show that it preserves scene structure and motion information. $\text{F}^3$ exploits the sparsity of event data and is robust to noise and variations in event rates. It can be computed efficiently using ideas from multi-resolution hash encoding and deep sets - achieving 120 Hz at HD and 440 Hz at VGA resolutions. $\text{F}^3$ represents events within a contiguous spatiotemporal volume as a multi-channel image, enabling a range of downstream tasks. We obtain state-of-the-art performance on optical flow estimation, semantic segmentation, and monocular metric depth estimation, on data from three robotic platforms (a car, a quadruped robot and a flying platform), across different lighting conditions (daytime, nighttime), environments (indoors, outdoors, urban, as well as off-road) and dynamic vision sensors (resolutions and event rates). Our implementations can predict these tasks at 25-75 Hz at HD resolution.

Alex Markham, Richeek Das, Moritz Grosse-Wentrup

We consider the problem of causal structure learning in the setting of heterogeneous populations, i.e., populations in which a single causal structure does not adequately represent all population members, as is common in biological and social sciences. To this end, we introduce a distance covariance-based kernel designed specifically to measure the similarity between the underlying nonlinear causal structures of different samples. Indeed, we prove that the corresponding feature map is a statistically consistent estimator of nonlinear independence structure, rendering the kernel itself a statistical test for the hypothesis that sets of samples come from different generating causal structures. Even stronger, we prove that the kernel space is isometric to the space of causal ancestral graphs, so that distance between samples in the kernel space is guaranteed to correspond to distance between their generating causal structures. This kernel thus enables us to perform clustering to identify the homogeneous subpopulations, for which we can then learn causal structures using existing methods. Though we focus on the theoretical aspects of the kernel, we also evaluate its performance on synthetic data and demonstrate its use on a real gene expression data set.