arXiv subjects

Abhinav Kumar

Publications and source records attributed to Abhinav Kumar.

At least 55 records · Page 3Linked to original sources

arXiv2024

StegaVision: Enhancing Steganography with Attention Mechanism

Image steganography is the technique of embedding secret information within images. The development of deep learning has led to significant advances in this field. However, existing methods often struggle to balance image quality, embedding capacity, and security. This paper proposes a novel approach to image steganography by enhancing an encoder-decoder architecture with attention mechanisms, specifically focusing on channel and spatial attention modules. We systematically investigate five configurations: (1) channel attention, (2) spatial attention, (3) sequential channel followed by spatial attention, (4) spatial attention followed by channel attention and (5) parallel channel and spatial attention. Our experiments show that adding attention mechanisms improves the ability to embed hidden information while maintaining the visual quality of the images. The increase in the PSNR and SSIM scores shows that using a parallel combination of channel and spatial attention improves image quality and hiding capacity simultaneously. This is in contrast to previous works where there is a tradeoff between them. This study shows that attention mechanisms in image steganography lead to better hiding of secret information. Our code is available at https://github.com/vlgiitr/StegaVision.

cs.CV↗

arXiv2024

Learning Mixtures of Unknown Causal Interventions

The ability to conduct interventions plays a pivotal role in learning causal relationships among variables, thus facilitating applications across diverse scientific disciplines such as genomics, economics, and machine learning. However, in many instances within these applications, the process of generating interventional data is subject to noise: rather than data being sampled directly from the intended interventional distribution, interventions often yield data sampled from a blend of both intended and unintended interventional distributions. We consider the fundamental challenge of disentangling mixed interventional and observational data within linear Structural Equation Models (SEMs) with Gaussian additive noise without the knowledge of the true causal graph. We demonstrate that conducting interventions, whether do or soft, yields distributions with sufficient diversity and properties conducive to efficiently recovering each component within the mixture. Furthermore, we establish that the sample complexity required to disentangle mixed data inversely correlates with the extent of change induced by an intervention in the equations governing the affected variable values. As a result, the causal graph can be identified up to its interventional Markov Equivalence Class, similar to scenarios where no noise influences the generation of interventional data. We further support our theoretical findings by conducting simulations wherein we perform causal discovery from such mixed data.

stat.ML↗

arXiv2024

Beyond Captioning: Task-Specific Prompting for Improved VLM Performance in Mathematical Reasoning

Vision-Language Models (VLMs) have transformed tasks requiring visual and reasoning abilities, such as image retrieval and Visual Question Answering (VQA). Despite their success, VLMs face significant challenges with tasks involving geometric reasoning, algebraic problem-solving, and counting. These limitations stem from difficulties effectively integrating multiple modalities and accurately interpreting geometry-related tasks. Various works claim that introducing a captioning pipeline before VQA tasks enhances performance. We incorporated this pipeline for tasks involving geometry, algebra, and counting. We found that captioning results are not generalizable, specifically with larger VLMs primarily trained on downstream QnA tasks showing random performance on math-related challenges. However, we present a promising alternative: task-based prompting, enriching the prompt with task-specific guidance. This approach shows promise and proves more effective than direct captioning methods for math-heavy problems.

cs.CV↗

arXiv2024

Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation

Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods have shown promise, but are sensitive to the quality of training data. Combining learning with classical methods like trajectory optimization and search adds additional structure to the problem and domain knowledge in the form of constraints, which can lead to outperforming the data on which models are trained. We present Diffusion-Informed Probabilistic Contact Search (DIPS), which uses an A* search to plan a sequence of contact modes informed by a diffusion model. We train the diffusion model on a dataset of demonstrations consisting of contact modes and trajectories generated by a trajectory optimizer given those modes. In addition, we use a particle filter-inspired method to reason about variability in diffusion sampling arising from model error, estimating likelihoods of trajectories using a learned discriminator. We show that our method outperforms ablations that do not reason about variability and can plan contact sequences that outperform those found in training data across multiple tasks. We evaluate on simulated tabletop card sliding and screwdriver turning tasks, as well as the screwdriver task in hardware to show that our combined learning and planning approach transfers to the real world.

cs.RO↗

arXiv2024

Constraining Gaussian Process Implicit Surfaces for Robot Manipulation via Dataset Refinement

Model-based control faces fundamental challenges in partially-observable environments due to unmodeled obstacles. We propose an online learning and optimization method to identify and avoid unobserved obstacles online. Our method, Constraint Obeying Gaussian Implicit Surfaces (COGIS), infers contact data using a combination of visual input and state tracking, informed by predictions from a nominal dynamics model. We then fit a Gaussian process implicit surface (GPIS) to these data and refine the dataset through a novel method of enforcing constraints on the estimated surface. This allows us to design a Model Predictive Control (MPC) method that leverages the obstacle estimate to complete multiple manipulation tasks. By modeling the environment instead of attempting to directly adapt the dynamics, our method succeeds at both low-dimensional peg-in-hole tasks and high-dimensional deformable object manipulation tasks. Our method succeeds in 10/10 trials vs 1/10 for a baseline on a real-world cable manipulation task under partial observability of the environment.

cs.RO↗

arXiv2024

DSP-MLIR: A MLIR Dialect for Digital Signal Processing

Traditional Digital Signal Processing ( DSP ) compilers work at low level ( C-level / assembly level ) and hence lose much of the optimization opportunities present at high-level ( domain-level ). The emerging multi-level compiler infrastructure MLIR ( Multi-level Intermediate Representation ) allows to specify optimizations at higher level. In this paper, we utilize MLIR framework to introduce a DSP Dialect and perform domain-specific optimizations at dialect -level ( high-level ) and show the usefulness of these optimizations on sample DSP apps. In particular, we develop a compiler for DSP and a DSL (Domain Specific Language) to ease the development of apps. We show the performance improvement in execution time for these sample apps by upto 10x which would have been difficult if the IR were at C/ affine level.

eess.SP↗

arXiv2024

RePLAy: Remove Projective LiDAR Depthmap Artifacts via Exploiting Epipolar Geometry

3D sensing is a fundamental task for Autonomous Vehicles. Its deployment often relies on aligned RGB cameras and LiDAR. Despite meticulous synchronization and calibration, systematic misalignment persists in LiDAR projected depthmap. This is due to the physical baseline distance between the two sensors. The artifact is often reflected as background LiDAR incorrectly projected onto the foreground, such as cars and pedestrians. The KITTI dataset uses stereo cameras as a heuristic solution to remove artifacts. However most AV datasets, including nuScenes, Waymo, and DDAD, lack stereo images, making the KITTI solution inapplicable. We propose RePLAy, a parameter-free analytical solution to remove the projective artifacts. We construct a binocular vision system between a hypothesized virtual LiDAR camera and the RGB camera. We then remove the projective artifacts by determining the epipolar occlusion with the proposed analytical solution. We show unanimous improvement in the State-of-The-Art (SoTA) monocular depth estimators and 3D object detectors with the artifacts-free depthmaps.

cs.CV↗

arXiv2024

SUP-NeRF: A Streamlined Unification of Pose Estimation and NeRF for Monocular 3D Object Reconstruction

Monocular 3D reconstruction for categorical objects heavily relies on accurately perceiving each object's pose. While gradient-based optimization in a NeRF framework updates the initial pose, this paper highlights that scale-depth ambiguity in monocular object reconstruction causes failures when the initial pose deviates moderately from the true pose. Consequently, existing methods often depend on a third-party 3D object to provide an initial object pose, leading to increased complexity and generalization issues. To address these challenges, we present SUP-NeRF, a Streamlined Unification of object Pose estimation and NeRF-based object reconstruction. SUP-NeRF decouples the object's dimension estimation and pose refinement to resolve the scale-depth ambiguity, and introduces a camera-invariant projected-box representation that generalizes cross different domains. While using a dedicated pose estimator that smoothly integrates into an object-centric NeRF, SUP-NeRF is free from external 3D detectors. SUP-NeRF achieves state-of-the-art results in both reconstruction and pose estimation tasks on the nuScenes dataset. Furthermore, SUP-NeRF exhibits exceptional cross-dataset generalization on the KITTI and Waymo datasets, surpassing prior methods with up to 50\% reduction in rotation and translation error.

cs.CV↗

arXiv2024

Silver Linings in the Shadows: Harnessing Membership Inference for Machine Unlearning

With the continued advancement and widespread adoption of machine learning (ML) models across various domains, ensuring user privacy and data security has become a paramount concern. In compliance with data privacy regulations, such as GDPR, a secure machine learning framework should not only grant users the right to request the removal of their contributed data used for model training but also facilitates the elimination of sensitive data fingerprints within machine learning models to mitigate potential attack - a process referred to as machine unlearning. In this study, we present a novel unlearning mechanism designed to effectively remove the impact of specific data samples from a neural network while considering the performance of the unlearned model on the primary task. In achieving this goal, we crafted a novel loss function tailored to eliminate privacy-sensitive information from weights and activation values of the target model by combining target classification loss and membership inference loss. Our adaptable framework can easily incorporate various privacy leakage approximation mechanisms to guide the unlearning process. We provide empirical evidence of the effectiveness of our unlearning approach with a theoretical upper-bound analysis through a membership inference mechanism as a proof of concept. Our results showcase the superior performance of our approach in terms of unlearning efficacy and latency as well as the fidelity of the primary task, across four datasets and four deep learning architectures.

cs.LG↗

arXiv2024

Unveiling the Unseen: Exploring Whitebox Membership Inference through the Lens of Explainability

The increasing prominence of deep learning applications and reliance on personalized data underscore the urgent need to address privacy vulnerabilities, particularly Membership Inference Attacks (MIAs). Despite numerous MIA studies, significant knowledge gaps persist, particularly regarding the impact of hidden features (in isolation) on attack efficacy and insufficient justification for the root causes of attacks based on raw data features. In this paper, we aim to address these knowledge gaps by first exploring statistical approaches to identify the most informative neurons and quantifying the significance of the hidden activations from the selected neurons on attack accuracy, in isolation and combination. Additionally, we propose an attack-driven explainable framework by integrating the target and attack models to identify the most influential features of raw data that lead to successful membership inference attacks. Our proposed MIA shows an improvement of up to 26% on state-of-the-art MIA.

cs.LG↗

arXiv2024

A Generative Framework for Low-Cost Result Validation of Machine Learning-as-a-Service Inference

The growing popularity of Machine Learning (ML) has led to its deployment in various sensitive domains, which has resulted in significant research focused on ML security and privacy. However, in some applications, such as Augmented/Virtual Reality, integrity verification of the outsourced ML tasks is more critical--a facet that has not received much attention. Existing solutions, such as multi-party computation and proof-based systems, impose significant computation overhead, which makes them unfit for real-time applications. We propose Fides, a novel framework for real-time integrity validation of ML-as-a-Service (MLaaS) inference. Fides features a novel and efficient distillation technique--Greedy Distillation Transfer Learning--that dynamically distills and fine-tunes a space and compute-efficient verification model for verifying the corresponding service model while running inside a trusted execution environment. Fides features a client-side attack detection model that uses statistical analysis and divergence measurements to identify, with a high likelihood, if the service model is under attack. Fides also offers a re-classification functionality that predicts the original class whenever an attack is identified. We devised a generative adversarial network framework for training the attack detection and re-classification models. The evaluation shows that Fides achieves an accuracy of up to 98% for attack detection and 94% for re-classification.

cs.CR↗

arXiv2024

SeaBird: Segmentation in Bird's View with Dice Loss Improves Monocular 3D Detection of Large Objects

Monocular 3D detectors achieve remarkable performance on cars and smaller objects. However, their performance drops on larger objects, leading to fatal accidents. Some attribute the failures to training data scarcity or their receptive field requirements of large objects. In this paper, we highlight this understudied problem of generalization to large objects. We find that modern frontal detectors struggle to generalize to large objects even on nearly balanced datasets. We argue that the cause of failure is the sensitivity of depth regression losses to noise of larger objects. To bridge this gap, we comprehensively investigate regression and dice losses, examining their robustness under varying error levels and object sizes. We mathematically prove that the dice loss leads to superior noise-robustness and model convergence for large objects compared to regression losses for a simplified case. Leveraging our theoretical insights, we propose SeaBird (Segmentation in Bird's View) as the first step towards generalizing to large objects. SeaBird effectively integrates BEV segmentation on foreground objects for 3D detection, with the segmentation head trained with the dice loss. SeaBird achieves SoTA results on the KITTI-360 leaderboard and improves existing detectors on the nuScenes leaderboard, particularly for large objects. Code and models at https://github.com/abhi1kumar/SeaBird

cs.CV↗

arXiv2024

A Survey of Application of Machine Learning in Wireless Indoor Positioning Systems

Indoor human positioning has become increasingly important for applications such as health monitoring, breath monitoring, human identification, safety and rescue operations, and security surveillance. However, achieving robust indoor human positioning remains challenging due to various constraints. Numerous attempts have been made in the literature to develop efficient indoor positioning systems (IPSs), with a growing focus on machine learning (ML) based techniques. This paper aims to compare and analyze current ML-based wireless techniques and approaches for indoor positioning, providing a comprehensive review of enabling technologies for human detection, positioning, and activity recognition. The study explores different input measurement data, including RSSI, TDOA, etc., for various IPSs. Key positioning techniques such as RSSI-based fingerprinting, Angle-based, and Time-based approaches are examined in conjunction with various ML methods. The survey compares the positioning accuracy, scalability, and algorithm complexity, with the goal of determining the suitable technology in various services. Finally, the paper compares distinct datasets focused on indoor localization, which have been published using diverse technologies. Overall, the paper presents a comprehensive comparison of existing techniques and localization models.

eess.SP↗

arXiv2023

Causal Effect Regularization: Automated Detection and Removal of Spurious Attributes

In many classification datasets, the task labels are spuriously correlated with some input attributes. Classifiers trained on such datasets often rely on these attributes for prediction, especially when the spurious correlation is high, and thus fail to generalize whenever there is a shift in the attributes' correlation at deployment. If we assume that the spurious attributes are known a priori, several methods have been proposed to learn a classifier that is invariant to the specified attributes. However, in real-world data, information about spurious attributes is typically unavailable. Therefore, we propose a method to automatically identify spurious attributes by estimating their causal effect on the label and then use a regularization objective to mitigate the classifier's reliance on them. Compared to a recent method for identifying spurious attributes, we find that our method is more accurate in removing the attribute from the learned model, especially when spurious correlation is high. Specifically, across synthetic, semi-synthetic, and real-world datasets, our method shows significant improvement in a metric used to quantify the dependence of a classifier on spurious attributes ($Δ$Prob), while obtaining better or similar accuracy. In addition, our method mitigates the reliance on spurious attributes even under noisy estimation of causal effects. To explain the empirical robustness of our method, we create a simple linear classification task with two sets of attributes: causal and spurious. We prove that our method only requires that the ranking of estimated causal effects is correct across attributes to select the correct classifier.

cs.LG↗

arXiv2023

Tame a Wild Camera: In-the-Wild Monocular Camera Calibration

3D sensing for monocular in-the-wild images, e.g., depth estimation and 3D object detection, has become increasingly important. However, the unknown intrinsic parameter hinders their development and deployment. Previous methods for the monocular camera calibration rely on specific 3D objects or strong geometry prior, such as using a checkerboard or imposing a Manhattan World assumption. This work solves the problem from the other perspective by exploiting the monocular 3D prior. Our method is assumption-free and calibrates the complete $4$ Degree-of-Freedom (DoF) intrinsic parameters. First, we demonstrate intrinsic is solved from two well-studied monocular priors, i.e., monocular depthmap, and surface normal map. However, this solution imposes a low-bias and low-variance requirement for depth estimation. Alternatively, we introduce a novel monocular 3D prior, the incidence field, defined as the incidence rays between points in 3D space and pixels in the 2D imaging plane. The incidence field is a pixel-wise parametrization of the intrinsic invariant to image cropping and resizing. With the estimated incidence field, a robust RANSAC algorithm recovers intrinsic. We demonstrate the effectiveness of our method by showing superior performance on synthetic and zero-shot testing datasets. Beyond calibration, we demonstrate downstream applications in image manipulation detection & restoration, uncalibrated two-view pose estimation, and 3D sensing. Codes, models, and data will be held in https://github.com/ShngJZ/WildCamera.

cs.CV↗

arXiv2023

Echocardiogram Foundation Model -- Application 1: Estimating Ejection Fraction

Cardiovascular diseases stand as the primary global cause of mortality. Among the various imaging techniques available for visualising the heart and evaluating its function, echocardiograms emerge as the preferred choice due to their safety and low cost. Quantifying cardiac function based on echocardiograms is very laborious, time-consuming and subject to high interoperator variability. In this work, we introduce EchoAI, an echocardiogram foundation model, that is trained using self-supervised learning (SSL) on 1.5 million echocardiograms. We evaluate our approach by fine-tuning EchoAI to estimate the ejection fraction achieving a mean absolute percentage error of 9.40%. This level of accuracy aligns with the performance of expert sonographers.

eess.IV↗

arXiv2023

MADG: Margin-based Adversarial Learning for Domain Generalization

Domain Generalization (DG) techniques have emerged as a popular approach to address the challenges of domain shift in Deep Learning (DL), with the goal of generalizing well to the target domain unseen during the training. In recent years, numerous methods have been proposed to address the DG setting, among which one popular approach is the adversarial learning-based methodology. The main idea behind adversarial DG methods is to learn domain-invariant features by minimizing a discrepancy metric. However, most adversarial DG methods use 0-1 loss based $\mathcal{H}Δ\mathcal{H}$ divergence metric. In contrast, the margin loss-based discrepancy metric has the following advantages: more informative, tighter, practical, and efficiently optimizable. To mitigate this gap, this work proposes a novel adversarial learning DG algorithm, MADG, motivated by a margin loss-based discrepancy metric. The proposed MADG model learns domain-invariant features across all source domains and uses adversarial training to generalize well to the unseen target domain. We also provide a theoretical analysis of the proposed MADG model based on the unseen target error bound. Specifically, we construct the link between the source and unseen domains in the real-valued hypothesis space and derive the generalization bound using margin loss and Rademacher complexity. We extensively experiment with the MADG model on popular real-world DG datasets, VLCS, PACS, OfficeHome, DomainNet, and TerraIncognita. We evaluate the proposed algorithm on DomainBed's benchmark and observe consistent performance across all the datasets.

cs.CV↗

arXiv2023

One-shot Imitation Learning via Interaction Warping

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D mesh of each object in the environment using shape warping, a technique for aligning point clouds across object instances. Then, we represent manipulation actions as keypoints on objects, which can be warped with the shape of the object. We show successful one-shot imitation learning on three simulated and real-world object re-arrangement tasks. We also demonstrate the ability of our method to predict object meshes and robot grasps in the wild.

cs.RO↗