arXiv subjects

Saurabh Gupta

Publications and source records attributed to Saurabh Gupta.

At least 73 records · Page 4Linked to original sources

arXiv2021

SEAL: Self-supervised Embodied Active Learning using Exploration and 3D Consistency

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL). It utilizes perception models trained on internet images to learn an active exploration policy. The observations gathered by this exploration policy are labelled using 3D consistency and used to improve the perception model. We build and utilize 3D semantic maps to learn both action and perception in a completely self-supervised manner. The semantic map is used to compute an intrinsic motivation reward for training the exploration policy and for labelling the agent observations using spatio-temporal 3D consistency and label propagation. We demonstrate that the SEAL framework can be used to close the action-perception loop: it improves object detection and instance segmentation performance of a pretrained perception model by just moving around in training environments and the improved perception model can be used to improve Object Goal Navigation.

cs.CV↗

arXiv2021

"A Virus Has No Religion": Analyzing Islamophobia on Twitter During the COVID-19 Outbreak

The COVID-19 pandemic has disrupted people's lives driving them to act in fear, anxiety, and anger, leading to worldwide racist events in the physical world and online social networks. Though there are works focusing on Sinophobia during the COVID-19 pandemic, less attention has been given to the recent surge in Islamophobia. A large number of positive cases arising out of the religious Tablighi Jamaat gathering has driven people towards forming anti-Muslim communities around hashtags like #coronajihad, #tablighijamaatvirus on Twitter. In addition to the online spaces, the rise in Islamophobia has also resulted in increased hate crimes in the real world. Hence, an investigation is required to create interventions. To the best of our knowledge, we present the first large-scale quantitative study linking Islamophobia with COVID-19. In this paper, we present CoronaBias dataset which focuses on anti-Muslim hate spanning four months, with over 410,990 tweets from 244,229 unique users. We use this dataset to perform longitudinal analysis. We find the relation between the trend on Twitter with the offline events that happened over time, measure the qualitative changes in the context associated with the Muslim community, and perform macro and micro topic analysis to find prevalent topics. We also explore the nature of the content, focusing on the toxicity of the URLs shared within the tweets present in the CoronaBias dataset. Apart from the content-based analysis, we focus on user analysis, revealing that the portrayal of religion as a symbol of patriotism played a crucial role in deciding how the Muslim community was perceived during the pandemic. Through these experiments, we reveal the existence of anti-Muslim rhetoric around COVID-19 in the Indian sub-continent.

cs.SI↗

arXiv2021

Learned Visual Navigation for Under-Canopy Agricultural Robots

We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and accomplish tasks that are infeasible for over-the-canopy drones or larger agricultural equipment. However, autonomously navigating them under the canopy presents a number of challenges: unreliable GPS and LiDAR, high cost of sensing, challenging farm terrain, clutter due to leaves and weeds, and large variability in appearance over the season and across crop types. We address these challenges by building a modular system that leverages machine learning for robust and generalizable perception from monocular RGB images from low-cost cameras, and model predictive control for accurate control in challenging terrain. Our system, CropFollow, is able to autonomously drive 485 meters per intervention on average, outperforming a state-of-the-art LiDAR based system (286 meters per intervention) in extensive field testing spanning over 25 km.

cs.RO↗

arXiv2021

Symplectic gauge invariant reformulation of a free particle system on toric geometry

We deduce the constraint structure and subsequently quantize a free particle system residing on a torus satisfying the geometric constraint $(r-a)=0$, within the framework of modified Faddeev-Jackiw formalism. Further, we reformulate the system as a gauge theory by the means of symplectic gauge invariant formalism. Finally, we establish the off-shell nilpotent and absolutely anti-commuting (anti-)BRST symmetries of the reformulated gauge invariant theory.

hep-th↗

arXiv2020

Coupled $\mathcal{N}$ = 2 supersymmetric quantum systems: symmetries and supervariable approach

We consider specific examples of $\mathcal{N}$ = 2 supersymmetric quantum mechanical models and list out all the novel symmetries. In each case, we show the existence of two sets of discrete symmetries that correspond to the Hodge duality operator of differential geometry. Thus, we are able to provide a proof of the conjecture which endorses the existence of more than one discrete symmetry transformation as the analogue of Hodge duality operation. Finally, we extend our analysis to a more general case and derive on-shell nilpotent symmetries within the framework of supervariable approach.

hep-th↗

arXiv2020

Semantic Visual Navigation by Watching YouTube Videos

Semantic cues and statistical regularities in real-world environment layouts can improve efficiency for navigation in novel environments. This paper learns and leverages such semantic cues for navigating to objects of interest in novel environments, by simply watching YouTube videos. This is challenging because YouTube videos don't come with labels for actions or goals, and may not even showcase optimal behavior. Our method tackles these challenges through the use of Q-learning on pseudo-labeled transition quadruples (image, action, next image, reward). We show that such off-policy Q-learning from passive data is able to learn meaningful semantic cues for navigation. These cues, when used in a hierarchical navigation policy, lead to improved efficiency at the ObjectGoal task in visually realistic simulations. We observe a relative improvement of 15-83% over end-to-end RL, behavior cloning, and classical methods, while using minimal direct interaction.

cs.CV↗

arXiv2020

Viable Threat on News Reading: Generating Biased News Using Natural Language Models

Recent advancements in natural language generation has raised serious concerns. High-performance language models are widely used for language generation tasks because they are able to produce fluent and meaningful sentences. These models are already being used to create fake news. They can also be exploited to generate biased news, which can then be used to attack news aggregators to change their reader's behavior and influence their bias. In this paper, we use a threat model to demonstrate that the publicly available language models can reliably generate biased news content based on an input original news. We also show that a large number of high-quality biased news articles can be generated using controllable text generation. A subjective evaluation with 80 participants demonstrated that the generated biased news is generally fluent, and a bias evaluation with 24 participants demonstrated that the bias (left or right) is usually evident in the generated articles and can be easily identified.

cs.CL↗

arXiv2020

imdpGAN: Generating Private and Specific Data with Generative Adversarial Networks

Generative Adversarial Network (GAN) and its variants have shown promising results in generating synthetic data. However, the issues with GANs are: (i) the learning happens around the training samples and the model often ends up remembering them, consequently, compromising the privacy of individual samples - this becomes a major concern when GANs are applied to training data including personally identifiable information, (ii) the randomness in generated data - there is no control over the specificity of generated samples. To address these issues, we propose imdpGAN - an information maximizing differentially private Generative Adversarial Network. It is an end-to-end framework that simultaneously achieves privacy protection and learns latent representations. With experiments on MNIST dataset, we show that imdpGAN preserves the privacy of the individual data point, and learns latent codes to control the specificity of the generated samples. We perform binary classification on digit pairs to show the utility versus privacy trade-off. The classification accuracy decreases as we increase privacy levels in the framework. We also experimentally show that the training process of imdpGAN is stable but experience a 10-fold time increase as compared with other GAN frameworks. Finally, we extend imdpGAN framework to CelebA dataset to show how the privacy and learned representations can be used to control the specificity of the output.

cs.CV↗

arXiv2020

Multi-objective Reinforcement Learning based approach for User-Centric Power Optimization in Smart Home Environments

Smart homes require every device inside them to be connected with each other at all times, which leads to a lot of power wastage on a daily basis. As the devices inside a smart home increase, it becomes difficult for the user to control or operate every individual device optimally. Therefore, users generally rely on power management systems for such optimization but often are not satisfied with the results. In this paper, we present a novel multi-objective reinforcement learning framework with two-fold objectives of minimizing power consumption and maximizing user satisfaction. The framework explores the trade-off between the two objectives and converges to a better power management policy when both objectives are considered while finding an optimal policy. We experiment on real-world smart home data, and show that the multi-objective approaches: i) establish trade-off between the two objectives, ii) achieve better combined user satisfaction and power consumption than single-objective approaches. We also show that the devices that are used regularly and have several fluctuations in device modes at regular intervals should be targeted for optimization, and the experiments on data from other smart homes fetch similar results, hence ensuring transfer-ability of the proposed framework.

cs.AI↗

arXiv2020

Aligning Videos in Space and Time

In this paper, we focus on the task of extracting visual correspondences across videos. Given a query video clip from an action class, we aim to align it with training videos in space and time. Obtaining training data for such a fine-grained alignment task is challenging and often ambiguous. Hence, we propose a novel alignment procedure that learns such correspondence in space and time via cross video cycle-consistency. During training, given a pair of videos, we compute cycles that connect patches in a given frame in the first video by matching through frames in the second video. Cycles that connect overlapping patches together are encouraged to score higher than cycles that connect non-overlapping patches. Our experiments on the Penn Action and Pouring datasets demonstrate that the proposed method can successfully learn to correspond semantically similar patches across videos, and learns representations that are sensitive to object and action states.

cs.CV↗

arXiv2020

Semantic Curiosity for Active Visual Learning

In this paper, we study the task of embodied interactive learning for object detection. Given a set of environments (and some labeling budget), our goal is to learn an object detector by having an agent select what data to obtain labels for. How should an exploration policy decide which trajectory should be labeled? One possibility is to use a trained object detector's failure cases as an external reward. However, this will require labeling millions of frames required for training RL policies, which is infeasible. Instead, we explore a self-supervised approach for training our exploration policy by introducing a notion of semantic curiosity. Our semantic curiosity policy is based on a simple observation -- the detection outputs should be consistent. Therefore, our semantic curiosity rewards trajectories with inconsistent labeling behavior and encourages the exploration policy to explore such areas. The exploration policy trained via semantic curiosity generalizes to novel scenes and helps train an object detector that outperforms baselines trained with other possible alternatives such as random exploration, prediction-error curiosity, and coverage-maximizing exploration.

cs.CV↗

arXiv2020

Revisiting Novel Symmetries in Coupled $\mathcal{N} = 2$ Supersymmetric Quantum Systems: Examples and Supervariable Approach

We revisit the novel symmetries in $\mathcal{N}$ = 2 supersymmetric (SUSY) quantum mechanical (QM) models by considering specific examples of coupled systems. Further, we extend our analysis to a general case and list out all the novel symmetries. In each case, we show the existence of two sets of discrete symmetries that correspond to the Hodge duality operator of differential geometry. Thus, we are able to provide a proof of the conjecture which points out the existence of more than one set of discrete symmetry transformations corresponding to the Hodge duality operator. Moreover, we derive on-shell nilpotent symmetries for a generalized superpotential within the framework of supervariable approach.

hep-th↗

arXiv2020

Neural Topological SLAM for Visual Navigation

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space that effectively leverage semantics and afford approximate geometric reasoning. At the heart of our representations are nodes with associated semantic features, that are interconnected using coarse geometric information. We describe supervised learning-based algorithms that can build, maintain and use such representations under noisy actuation. Experimental study in visually and physically realistic simulation suggests that our method builds effective representations that capture structural regularities and efficiently solve long-horizon navigation problems. We observe a relative improvement of more than 50% over existing methods that study this task.

cs.CV↗

arXiv2020

Making Smart Homes Smarter: Optimizing Energy Consumption with Human in the Loop

Rapid advancements in the Internet of Things (IoT) have facilitated more efficient deployment of smart environment solutions for specific user requirement. With the increase in the number of IoT devices, it has become difficult for the user to control or operate every individual smart device into achieving some desired goal like optimized power consumption, scheduled appliance running time, etc. Furthermore, existing solutions to automatically adapt the IoT devices are not capable enough to incorporate the user behavior. This paper presents a novel approach to accurately configure IoT devices while achieving the twin objectives of energy optimization along with conforming to user preferences. Our work comprises of unsupervised clustering of devices' data to find the states of operation for each device, followed by probabilistically analyzing user behavior to determine their preferred states. Eventually, we deploy an online reinforcement learning (RL) agent to find the best device settings automatically. Results for three different smart homes' data-sets show the effectiveness of our methodology. To the best of our knowledge, this is the first time that a practical approach has been adopted to achieve the above mentioned objectives without any human interaction within the system.

cs.AI↗

arXiv2020

Hashtags are (not) judgemental: The untold story of Lok Sabha elections 2019

Hashtags in online social media have become a way for users to build communities around topics, promote opinions, and categorize messages. In the political context, hashtags on Twitter are used by users to campaign for their parties, spread news, or to get followers and get a general idea by following a discussion built around a hashtag. In the past, researchers have studied certain types and specific properties of hashtags by utilizing a lot of data collected around hashtags. In this paper, we perform a large-scale empirical analysis of elections using only the hashtags shared on Twitter during the 2019 Lok Sabha elections in India. We study the trends and events unfolded on the ground, the latent topics to uncover representative hashtags and semantic similarity to relate hashtags with the election outcomes. We collect over 24 million hashtags to perform extensive experiments. First, we find the trending hashtags to cross-reference them with the tweets in our dataset to list down notable events. Second, we use Latent Dirichlet Allocation to find topic patterns in the dataset. In the end, we use skip-gram word embedding model to find semantically similar hashtags. We propose popularity and an influence metric to predict election outcomes using just the hashtags. Empirical results show that influence is a good measure to predict the election outcome.

cs.SI↗

arXiv2020

Learning to Explore using Active Neural SLAM

This work presents a modular and hierarchical approach to learn policies for exploring 3D environments, called `Active Neural SLAM'. Our approach leverages the strengths of both classical and learning-based methods, by using analytical path planners with learned SLAM module, and global and local policies. The use of learning provides flexibility with respect to input modalities (in the SLAM module), leverages structural regularities of the world (in global policies), and provides robustness to errors in state estimation (in local policies). Such use of learning within each module retains its benefits, while at the same time, hierarchical decomposition and modular training allow us to sidestep the high sample complexities associated with training end-to-end policies. Our experiments in visually and physically realistic simulated 3D environments demonstrate the effectiveness of our approach over past learning and geometry-based approaches. The proposed model can also be easily transferred to the PointGoal task and was the winning entry of the CVPR 2019 Habitat PointGoal Navigation Challenge.

cs.CV↗

arXiv2020

Use the Force, Luke! Learning to Predict Physical Forces by Simulating Effects

When we humans look at a video of human-object interaction, we can not only infer what is happening but we can even extract actionable information and imitate those interactions. On the other hand, current recognition or geometric approaches lack the physicality of action representation. In this paper, we take a step towards a more physical understanding of actions. We address the problem of inferring contact points and the physical forces from videos of humans interacting with objects. One of the main challenges in tackling this problem is obtaining ground-truth labels for forces. We sidestep this problem by instead using a physics simulator for supervision. Specifically, we use a simulator to predict effects and enforce that estimated forces must lead to the same effect as depicted in the video. Our quantitative and qualitative results show that (a) we can predict meaningful forces from videos whose effects lead to accurate imitation of the motions observed, (b) by jointly optimizing for contact point and force prediction, we can improve the performance on both tasks in comparison to independent training, and (c) we can learn a representation from this model that generalizes to novel objects using few shot examples.

cs.CV↗

arXiv2020

Efficient Bimanual Manipulation Using Learned Task Schemas

We address the problem of effectively composing skills to solve sparse-reward tasks in the real world. Given a set of parameterized skills (such as exerting a force or doing a top grasp at a location), our goal is to learn policies that invoke these skills to efficiently solve such tasks. Our insight is that for many tasks, the learning process can be decomposed into learning a state-independent task schema (a sequence of skills to execute) and a policy to choose the parameterizations of the skills in a state-dependent manner. For such tasks, we show that explicitly modeling the schema's state-independence can yield significant improvements in sample efficiency for model-free reinforcement learning algorithms. Furthermore, these schemas can be transferred to solve related tasks, by simply re-learning the parameterizations with which the skills are invoked. We find that doing so enables learning to solve sparse-reward tasks on real-world robotic systems very efficiently. We validate our approach experimentally over a suite of robotic bimanual manipulation tasks, both in simulation and on real hardware. See videos at http://tinyurl.com/chitnis-schema.

cs.RO↗