arXiv subjects

Sai Prasanna

Publications and source records attributed to Sai Prasanna.

5 recordsLinked to original sources

arXiv2026

Better Slots, Better Worlds: Representation Quality & Robustness in Object-Centric World Models

Learning world models from offline trajectories enables agents to accomplish different tasks through planning. Object-centric (OC) representations, which decompose a scene into a set of slots that bind to its objects, have been proposed as an inductive bias for world models that are more sample-efficient and generalize better. Yet prior object-centric world models (OCWMs) take the slot encoder as given and evaluate only in-distribution, leaving open whether the object-centric bias actually delivers for planning and what within the OCWM drives it. We conduct a controlled study of OCWMs for visual model-predictive control along two axes: object-centric representation quality and generalization under distribution shift relative to scene-centric models. We find that (i) planning success correlates positively with unsupervised slot-quality metrics (FG-ARI, mBO), though the gains saturate at high slot quality; (ii) with well-bound slots, the auxiliary proprioception inputs and masking inductive bias that prior methods relied on become unnecessary; and (iii) under unseen distribution shifts, the OCWM with well-bound slots is more robust overall than the end-to-end trained scene-centric LeWM, while DINO-WM, built on similar frozen pretrained features, remains competitive -- pointing to pretrained features as a key contributor to robustness.

cs.CV↗

arXiv2025

Perception Matters: Enhancing Embodied AI with Uncertainty-Aware Semantic Segmentation

Embodied AI has made significant progress acting in unexplored environments. However, tasks such as object search have largely focused on efficient policy learning. In this work, we identify several gaps in current search methods: They largely focus on dated perception models, neglect temporal aggregation, and transfer from ground truth directly to noisy perception at test time, without accounting for the resulting overconfidence in the perceived state. We address the identified problems through calibrated perception probabilities and uncertainty across aggregation and found decisions, thereby adapting the models for sequential tasks. The resulting methods can be directly integrated with pretrained models across a wide family of existing search approaches at no additional training cost. We perform extensive evaluations of aggregation methods across both different semantic perception models and policies, confirming the importance of calibrated uncertainties in both the aggregation and found decisions. We make the code and trained models available at https://semantic-search.cs.uni-freiburg.de.

cs.RO↗

arXiv2024

Dreaming of Many Worlds: Learning Contextual World Models Aids Zero-Shot Generalization

Zero-shot generalization (ZSG) to unseen dynamics is a major challenge for creating generally capable embodied agents. To address the broader challenge, we start with the simpler setting of contextual reinforcement learning (cRL), assuming observability of the context values that parameterize the variation in the system's dynamics, such as the mass or dimensions of a robot, without making further simplifying assumptions about the observability of the Markovian state. Toward the goal of ZSG to unseen variation in context, we propose the contextual recurrent state-space model (cRSSM), which introduces changes to the world model of Dreamer (v3) (Hafner et al., 2023). This allows the world model to incorporate context for inferring latent Markovian states from the observations and modeling the latent dynamics. Our approach is evaluated on two tasks from the CARL benchmark suite, which is tailored to study contextual RL. Our experiments show that such systematic incorporation of the context improves the ZSG of the policies trained on the "dreams" of the world model. We further find qualitatively that our approach allows Dreamer to disentangle the latent state from context, allowing it to extrapolate its dreams to the many worlds of unseen contexts. The code for all our experiments is available at https://github.com/sai-prasanna/dreaming_of_many_worlds.

cs.LG↗

arXiv2020

When BERT Plays the Lottery, All Tickets Are Winning

Large Transformer-based models were shown to be reducible to a smaller number of self-attention heads and layers. We consider this phenomenon from the perspective of the lottery ticket hypothesis, using both structured and magnitude pruning. For fine-tuned BERT, we show that (a) it is possible to find subnetworks achieving performance that is comparable with that of the full model, and (b) similarly-sized subnetworks sampled from the rest of the model perform worse. Strikingly, with structured pruning even the worst possible subnetworks remain highly trainable, indicating that most pre-trained BERT weights are potentially useful. We also study the "good" subnetworks to see if their success can be attributed to superior linguistic knowledge, but find them unstable, and not explained by meaningful self-attention patterns.

cs.CL↗

arXiv2019

Zoho at SemEval-2019 Task 9: Semi-supervised Domain Adaptation using Tri-training for Suggestion Mining

This paper describes our submission for the SemEval-2019 Suggestion Mining task. A simple Convolutional Neural Network (CNN) classifier with contextual word representations from a pre-trained language model was used for sentence classification. The model is trained using tri-training, a semi-supervised bootstrapping mechanism for labelling unseen data. Tri-training proved to be an effective technique to accommodate domain shift for cross-domain suggestion mining (Subtask B) where there is no hand labelled training data. For in-domain evaluation (Subtask A), we use the same technique to augment the training set. Our system ranks thirteenth in Subtask A with an $F_1$-score of 68.07 and third in Subtask B with an $F_1$-score of 81.94.

cs.CL↗