arXiv subjects

Saurabh Gupta

Publications and source records attributed to Saurabh Gupta.

At least 91 records · Page 5Linked to original sources

arXiv2020

Learning to Move with Affordance Maps

The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent, from household robotic vacuums to autonomous vehicles. Traditional SLAM-based approaches for exploration and navigation largely focus on leveraging scene geometry, but fail to model dynamic objects (such as other agents) or semantic constraints (such as wet floors or doorways). Learning-based RL agents are an attractive alternative because they can incorporate both semantic and geometric information, but are notoriously sample inefficient, difficult to generalize to novel settings, and are difficult to interpret. In this paper, we combine the best of both worlds with a modular approach that learns a spatial representation of a scene that is trained to be effective when coupled with traditional geometric planners. Specifically, we design an agent that learns to predict a spatial affordance map that elucidates what parts of a scene are navigable through active self-supervised experience gathering. In contrast to most simulation environments that assume a static world, we evaluate our approach in the VizDoom simulator, using large-scale randomly-generated maps containing a variety of dynamic actors and hazards. We show that learned affordance maps can be used to augment traditional approaches for both exploration and navigation, providing significant improvements in performance.

cs.RO↗

arXiv2020

Intrinsic Motivation for Encouraging Synergistic Behavior

We study the role of intrinsic motivation as an exploration bias for reinforcement learning in sparse-reward synergistic tasks, which are tasks where multiple agents must work together to achieve a goal they could not individually. Our key idea is that a good guiding principle for intrinsic motivation in synergistic tasks is to take actions which affect the world in ways that would not be achieved if the agents were acting on their own. Thus, we propose to incentivize agents to take (joint) actions whose effects cannot be predicted via a composition of the predicted effect for each individual agent. We study two instantiations of this idea, one based on the true states encountered, and another based on a dynamics model trained concurrently with the policy. While the former is simpler, the latter has the benefit of being analytically differentiable with respect to the action taken. We validate our approach in robotic bimanual manipulation and multi-agent locomotion tasks with sparse rewards; we find that our approach yields more efficient learning than both 1) training with only the sparse reward and 2) using the typical surprise-based formulation of intrinsic motivation, which does not bias toward synergistic behavior. Videos are available on the project webpage: https://sites.google.com/view/iclr2020-synergistic.

cs.LG↗

arXiv2019

Faddeev-Jackiw Quantization of Christ-Lee Model

We analyze the constraints of Christ-Lee model by the means of modified Faddeev-Jackiw formalism in Cartesian as well as polar coordinates. Further, we accomplish quantization à la Faddeev-Jackiw by choosing appropriate gauge conditions in both the coordinate systems. Finally, we establish gauge symmetries of Christ-Lee model with the help of zero modes of the symplectic matrix.

hep-th↗

arXiv2019

DeepRacer: Educational Autonomous Racing Platform for Experimentation with Sim2Real Reinforcement Learning

DeepRacer is a platform for end-to-end experimentation with RL and can be used to systematically investigate the key challenges in developing intelligent control systems. Using the platform, we demonstrate how a 1/18th scale car can learn to drive autonomously using RL with a monocular camera. It is trained in simulation with no additional tuning in physical world and demonstrates: 1) formulation and solution of a robust reinforcement learning algorithm, 2) narrowing the reality gap through joint perception and dynamics, 3) distributed on-demand compute architecture for training optimal policies, and 4) a robust evaluation method to identify when to stop training. It is the first successful large-scale deployment of deep reinforcement learning on a robotic control agent that uses only raw camera images as observations and a model-free learning method to perform robust path planning. We open source our code and video demo on GitHub: https://git.io/fjxoJ.

cs.LG↗

arXiv2019

FineText: Text Classification via Attention-based Language Model Fine-tuning

Training deep neural networks from scratch on natural language processing (NLP) tasks requires significant amount of manually labeled text corpus and substantial time to converge, which usually cannot be satisfied by the customers. In this paper, we aim to develop an effective transfer learning algorithm by fine-tuning a pre-trained language model. The goal is to provide expressive and convenient-to-use feature extractors for downstream NLP tasks, and achieve improvement in terms of accuracy, data efficiency, and generalization to new domains. Therefore, we propose an attention-based fine-tuning algorithm that automatically selects relevant contextualized features from the pre-trained language model and uses those features on downstream text classification tasks. We test our methods on six widely-used benchmarking datasets, and achieve new state-of-the-art performance on all of them. Moreover, we then introduce an alternative multi-task learning approach, which is an end-to-end algorithm given the pre-trained model. By doing multi-task learning, one can largely reduce the total training time by trading off some classification accuracy.

cs.CL↗

arXiv2019

Learning Navigation Subroutines from Egocentric Videos

Planning at a higher level of abstraction instead of low level torques improves the sample efficiency in reinforcement learning, and computational efficiency in classical planning. We propose a method to learn such hierarchical abstractions, or subroutines from egocentric video data of experts performing tasks. We learn a self-supervised inverse model on small amounts of random interaction data to pseudo-label the expert egocentric videos with agent actions. Visuomotor subroutines are acquired from these pseudo-labeled videos by learning a latent intent-conditioned policy that predicts the inferred pseudo-actions from the corresponding image observations. We demonstrate our proposed approach in context of navigation, and show that we can successfully learn consistent and diverse visuomotor subroutines from passive egocentric videos. We demonstrate the utility of our acquired visuomotor subroutines by using them as is for exploration, and as sub-policies in a hierarchical RL framework for reaching point goals and semantic goals. We also demonstrate behavior of our subroutines in the real world, by deploying them on a real robotic platform. Project website: https://ashishkumar1993.github.io/subroutines/.

cs.RO↗

arXiv2019

Combining Optimal Control and Learning for Visual Navigation in Novel Environments

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the environment is a priori unknown and can only be observed partially through on-board sensors on the robot. In this work, we address this short-coming by coupling model-based control with learning-based perception. The learning-based perception module produces a series of waypoints that guide the robot to the goal via a collision-free path. These waypoints are used by a model-based planner to generate a smooth and dynamically feasible trajectory that is executed on the physical system using feedback control. Our experiments in simulated real-world cluttered environments and on an actual ground vehicle demonstrate that the proposed approach can reach goal locations more reliably and efficiently in novel environments as compared to purely geometric mapping-based or end-to-end learning-based alternatives. Our approach does not rely on detailed explicit 3D maps of the environment, works well with low frame rates, and generalizes well from simulation to the real world. Videos describing our approach and experiments are available on the project website.

cs.RO↗

arXiv2019

PyRobot: An Open-source Robotics Framework for Research and Benchmarking

This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control different robots. PyRobot abstracts away details about low-level controllers and inter-process communication, and allows non-robotics researchers (ML, CV researchers) to focus on building high-level AI applications. PyRobot aims to provide a research ecosystem with convenient access to robotics datasets, algorithm implementations and models that can be used to quickly create a state-of-the-art baseline. We believe PyRobot, when paired up with low-cost robot platforms such as LoCoBot, will reduce the entry barrier into robotics, and democratize robotics. PyRobot is open-source, and can be accessed via https://pyrobot.org.

cs.RO↗

arXiv2019

Learning Exploration Policies for Navigation

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can autonomously explore realistic and complex 3D environments without the context of task-rewards. We propose a learning-based approach and investigate different policy architectures, reward functions, and training paradigms. We find that the use of policies with spatial memory that are bootstrapped with imitation learning and finally finetuned with coverage rewards derived purely from on-board sensors can be effective at exploring novel environments. We show that our learned exploration policies can explore better than classical approaches based on geometry alone and generic learning-based exploration techniques. Finally, we also show how such task-agnostic exploration can be used for down-stream tasks. Code and Videos are available at: https://sites.google.com/view/exploration-for-nav.

cs.RO↗

arXiv2019

Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data

The ability to segment unknown objects in depth images has potential to enhance robot skills in grasping and object tracking. Recent computer vision research has demonstrated that Mask R-CNN can be trained to segment specific categories of objects in RGB images when massive hand-labeled datasets are available. As generating these datasets is time consuming, we instead train with synthetic depth images. Many robots now use depth sensors, and recent results suggest training on synthetic depth data can transfer successfully to the real world. We present a method for automated dataset generation and rapidly generate a synthetic training dataset of 50,000 depth images and 320,000 object masks using simulated heaps of 3D CAD models. We train a variant of Mask R-CNN with domain randomization on the generated dataset to perform category-agnostic instance segmentation without any hand-labeled data and we evaluate the trained network, which we refer to as Synthetic Depth (SD) Mask R-CNN, on a set of real, high-resolution depth images of challenging, densely-cluttered bins containing objects with highly-varied geometry. SD Mask R-CNN outperforms point cloud clustering baselines by an absolute 15% in Average Precision and 20% in Average Recall on COCO benchmarks, and achieves performance levels similar to a Mask R-CNN trained on a massive, hand-labeled RGB dataset and fine-tuned on real images from the experimental setup. We deploy the model in an instance-specific grasping pipeline to demonstrate its usefulness in a robotics application. Code, the synthetic training dataset, and supplementary material are available at https://bit.ly/2letCuE.

cs.CV↗

arXiv2019

Cognitive Mapping and Planning for Visual Navigation

We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner (CMP) is based on two key ideas: a) a unified joint architecture for mapping and planning, such that the mapping is driven by the needs of the task, and b) a spatial memory with the ability to plan given an incomplete set of observations about the world. CMP constructs a top-down belief map of the world and applies a differentiable neural net planner to produce the next action at each time step. The accumulated belief of the world enables the agent to track visited regions of the environment. We train and test CMP on navigation problems in simulation environments derived from scans of real world buildings. Our experiments demonstrate that CMP outperforms alternate learning-based architectures, as well as, classical mapping and path planning approaches in many cases. Furthermore, it naturally extends to semantically specified goals, such as 'going to a chair'. We also deploy CMP on physical robots in indoor environments, where it achieves reasonable performance, even though it is trained entirely in simulation.

cs.CV↗

arXiv2018

Visual Memory for Robust Path Following

Humans routinely retrace paths in a novel environment both forwards and backwards despite uncertainty in their motion. This paper presents an approach for doing so. Given a demonstration of a path, a first network generates a path abstraction. Equipped with this abstraction, a second network observes the world and decides how to act to retrace the path under noisy actuation and a changing environment. The two networks are optimized end-to-end at training time. We evaluate the method in two realistic simulators, performing path following and homing under actuation noise and environmental changes. Our experiments show that our approach outperforms classical approaches and other learning based baselines.

cs.CV↗

arXiv2018

On Evaluation of Embodied Navigation Agents

Skillful mobile operation in three-dimensional environments is a primary topic of study in Artificial Intelligence. The past two years have seen a surge of creative work on navigation. This creative output has produced a plethora of sometimes incompatible task definitions and evaluation protocols. To coordinate ongoing and future research in this area, we have convened a working group to study empirical methodology in navigation research. The present document summarizes the consensus recommendations of this working group. We discuss different problem statements and the role of generalization, present evaluation measures, and provide standard scenarios that can be used for benchmarking.

cs.AI↗

arXiv2018

Factoring Shape, Pose, and Layout from the 2D Image of a 3D Scene

The goal of this paper is to take a single 2D image of a scene and recover the 3D structure in terms of a small set of factors: a layout representing the enclosing surfaces as well as a set of objects represented in terms of shape and pose. We propose a convolutional neural network-based approach to predict this representation and benchmark it on a large dataset of indoor scenes. Our experiments evaluate a number of practical design questions, demonstrate that we can infer this representation, and quantitatively and qualitatively demonstrate its merits compared to alternate representations.

cs.CV↗

arXiv2017

Unifying Map and Landmark Based Representations for Visual Navigation

This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus able to leverage statistical regularities of the world. This allows it to efficiently navigate in novel environments given only a sparse set of registered images as input for building representations for space. Our formulation is based on three key ideas: a learned path planner that outputs path plans to reach the goal, a feature synthesis engine that predicts features for locations along the planned path, and a learned goal-driven closed loop controller that can follow plans given these synthesized features. We test our approach for goal-driven navigation in simulated real world environments and report performance gains over competitive baseline approaches.

cs.CV↗

arXiv2016

On augmented superfield approach to vector Schwinger model

We exploit the techniques of Bonora-Tonin superfield formalism to derive the off-shell nilpotent and absolutely anticommuting (anti-)BRST as well as (anti-)co-BRST symmetry transformations for the (1+1)-dimensional (2D) bosonized vector Schwinger model. In the derivation of above symmetries, we invoke the (dual)-horizontality conditions as well as gauge and (anti-)co-BRST invariant restrictions on the superfields that are defined onto the (2, 2)-dimensional supermanifold. We provide geometrical interpretation of the above nilpotent symmetries (and their corresponding charges). We also express the nilpotency and absolute anticommutativity of the (anti-)BRST and (anti-)co-BRST charges within the framework of augmented superfield formalism.

hep-th↗

arXiv2016

Anti Self-Dual Yang-Mills, Modified Faddeev-Jackiw Formalism and Hidden BRS Invariance

We analyze the constraints for a system of anti self-dual Yang-Mills (ASDYM) equations by means of the modified Faddeev-Jackiw method in K and J gauges à la Yang. We also establish the Hamiltonian flow for ASDYM system through the hidden BRS invariance in both the gauges. Finally, we remark on the bi-Hamiltonian nature of ASDYM and the compatibility of the symplectic structures therein.

hep-th↗

arXiv2016

High scale mixing relations as a natural explanation for large neutrino mixing

The origin of small mixing among the quarks and a large mixing among the neutrinos has been an open question in particle physics. In order to answer this question, we postulate general relations among the quarks and the leptonic mixing angles at a high scale, which could be the scale of Grand Unified Theories. The central idea of these relations is that the quark and the leptonic mixing angles can be unified at some high scale either due to some quark-lepton symmetry or some other underlying mechanism and as a consequence, the mixing angles of the leptonic sector are proportional to that of the quark sector. We investigate the phenomenology of the possible relations where the leptonic mixing angles are proportional to the quark mixing angles at the unification scale by taking into account the latest experimental constraints from the neutrino sector. These relations are able to explain the pattern of leptonic mixing at the low scale and thereby hint that these relations could be possible signatures of a quark-lepton symmetry or some other underlying quark-lepton mixing unification mechanism at some high scale linked to Grand Unified Theories.

hep-ph↗