Graph-based Decentralized Task Allocation for Multi-Robot Target Localization

We introduce a new approach to address the task allocation problem in a system of heterogeneous robots comprising of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or \textbf{G}raph \textbf{A}ttention \textbf{T}ask \textbf{A}llocato\textbf{R} aggregates information from neighbors in the multi-robot system, with the aim of achieving joint optimality in the target localization efficiency.Being decentralized, our method is highly robust and adaptable to situations where collaborators may change over time, ensuring the continuity of the mission. We also proposed heterogeneity-aware preprocessing to let all the different types of robots collaborate with a uniform model.The experimental results demonstrate the effectiveness and scalability of the proposed approach in a range of simulated scenarios. The model can allocate targets' positions close to the expert algorithm's result, with a median spatial gap less than a unit length. This approach can be used in multi-robot systems deployed in search and rescue missions, environmental monitoring, and disaster response.

ARTEMIS: AI-driven Robotic Triage Labeling and Emergency Medical Information System

Mass casualty incidents (MCIs) pose a formidable challenge to emergency medical services by overwhelming available resources and personnel. Effective victim assessment is paramount to minimizing casualties during such a crisis. In this paper, we introduce ARTEMIS, an AI-driven Robotic Triage Labeling and Emergency Medical Information System. This system comprises a deep learning model for acuity labeling that is integrated with a robot, that performs the preliminary assessment of injury severity in patients and assigns appropriate triage labels. Additionally, we have developed a frontend (graphical user interface) that is updated by the robots in real time and is accessible to the first responders. To validate the reliability of our proposed algorithmic triage protocol, we employed an off-the-shelf robot kit equipped with sensors for vital sign acquisition. A controlled laboratory simulation of an MCI was conducted to assess the system's performance and effectiveness in real-world scenarios resulting in a triage-level classification accuracy of 92%. This noteworthy achievement underscores the model's proficiency in discerning crucial patterns for accurate triage classification, showcasing its promising potential in healthcare applications.

DF-TransFusion: Multimodal Deepfake Detection via Lip-Audio Cross-Attention and Facial Self-Attention

With the rise in manipulated media, deepfake detection has become an imperative task for preserving the authenticity of digital content. In this paper, we present a novel multi-modal audio-video framework designed to concurrently process audio and video inputs for deepfake detection tasks. Our model capitalizes on lip synchronization with input audio through a cross-attention mechanism while extracting visual cues via a fine-tuned VGG-16 network. Subsequently, a transformer encoder network is employed to perform facial self-attention. We conduct multiple ablation studies highlighting different strengths of our approach. Our multi-modal methodology outperforms state-of-the-art multi-modal deepfake detection techniques in terms of F-1 and per-video AUC scores.

AffectEcho: Speaker Independent and Language-Agnostic Emotion and Affect Transfer for Speech Synthesis

Affect is an emotional characteristic encompassing valence, arousal, and intensity, and is a crucial attribute for enabling authentic conversations. While existing text-to-speech (TTS) and speech-to-speech systems rely on strength embedding vectors and global style tokens to capture emotions, these models represent emotions as a component of style or represent them in discrete categories. We propose AffectEcho, an emotion translation model, that uses a Vector Quantized codebook to model emotions within a quantized space featuring five levels of affect intensity to capture complex nuances and subtle differences in the same emotion. The quantized emotional embeddings are implicitly derived from spoken speech samples, eliminating the need for one-hot vectors or explicit strength embeddings. Experimental results demonstrate the effectiveness of our approach in controlling the emotions of generated speech while preserving identity, style, and emotional cadence unique to each speaker. We showcase the language-independent emotion modeling capability of the quantized emotional embeddings learned from a bilingual (English and Chinese) speech corpus with an emotion transfer task from a reference speech to a target speech. We achieve state-of-art results on both qualitative and quantitative metrics.

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms that tackle social navigation remains hard because it involves not just robotic agents moving in static environments but also dynamic human agents and their perceptions of the appropriateness of robot behavior. In contrast, clear, repeatable, and accessible benchmarks have accelerated progress in fields like computer vision, natural language processing and traditional robot navigation by enabling researchers to fairly compare algorithms, revealing limitations of existing solutions and illuminating promising new directions. We believe the same approach can benefit social navigation. In this paper, we pave the road towards common, widely accessible, and repeatable benchmarking criteria to evaluate social robot navigation. Our contributions include (a) a definition of a socially navigating robot as one that respects the principles of safety, comfort, legibility, politeness, social competency, agent understanding, proactivity, and responsiveness to context, (b) guidelines for the use of metrics, development of scenarios, benchmarks, datasets, and simulators to evaluate social navigation, and (c) a design of a social navigation metrics framework to make it easier to compare results from different simulators, robots and datasets.

DroNeRF: Real-time Multi-agent Drone Pose Optimization for Computing Neural Radiance Fields

We present a novel optimization algorithm called DroNeRF for the autonomous positioning of monocular camera drones around an object for real-time 3D reconstruction using only a few images. Neural Radiance Fields or NeRF, is a novel view synthesis technique used to generate new views of an object or scene from a set of input images. Using drones in conjunction with NeRF provides a unique and dynamic way to generate novel views of a scene, especially with limited scene capabilities of restricted movements. Our approach focuses on calculating optimized pose for individual drones while solely depending on the object geometry without using any external localization system. The unique camera positioning during the data-capturing phase significantly impacts the quality of the 3D model. To evaluate the quality of our generated novel views, we compute different perceptual metrics like the Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index Measure(SSIM). Our work demonstrates the benefit of using an optimal placement of various drones with limited mobility to generate perceptually better results.

SG-LSTM: Social Group LSTM for Robot Navigation Through Dense Crowds

With the increasing availability and affordability of personal robots, they will no longer be confined to large corporate warehouses or factories but will instead be expected to operate in less controlled environments alongside larger groups of people. In addition to ensuring safety and efficiency, it is crucial to minimize any negative psychological impact robots may have on humans and follow unwritten social norms in these situations. Our research aims to develop a model that can predict the movements of pedestrians and perceptually-social groups in crowded environments. We introduce a new Social Group Long Short-term Memory (SG-LSTM) model that models human groups and interactions in dense environments using a socially-aware LSTM to produce more accurate trajectory predictions. Our approach enables navigation algorithms to calculate collision-free paths faster and more accurately in crowded environments. Additionally, we also release a large video dataset with labeled pedestrian groups for the broader social navigation community. We show comparisons with different metrics on different datasets (ETH, Hotel, MOT15) and different prediction approaches (LIN, LSTM, O-LSTM, S-LSTM) as well as runtime performance.

AZTR: Aerial Video Action Recognition with Auto Zoom and Temporal Reasoning

We propose a novel approach for aerial video action recognition. Our method is designed for videos captured using UAVs and can run on edge or mobile devices. We present a learning-based approach that uses customized auto zoom to automatically identify the human target and scale it appropriately. This makes it easier to extract the key features and reduces the computational overhead. We also present an efficient temporal reasoning algorithm to capture the action information along the spatial and temporal domains within a controllable computational cost. Our approach has been implemented and evaluated both on the desktop with high-end GPUs and on the low power Robotics RB5 Platform for robots and drones. In practice, we achieve 6.1-7.4% improvement over SOTA in Top-1 accuracy on the RoCoG-v2 dataset, 8.3-10.4% improvement on the UAV-Human dataset and 3.2% improvement on the Drone Action dataset.

Fast Resolution Agnostic Neural Techniques to Solve Partial Differential Equations

Numerical approximations of partial differential equations (PDEs) are routinely employed to formulate the solution of physics, engineering and mathematical problems involving functions of several variables, such as the propagation of heat or sound, fluid flow, elasticity, electrostatics, electrodynamics, and more. While this has led to solving many complex phenomena, there are still significant limitations. Conventional approaches such as Finite Element Methods (FEMs) and Finite Differential Methods (FDMs) require considerable time and are computationally expensive. In contrast, machine learning-based methods such as neural networks are faster once trained, but tend to be restricted to a specific discretization. This article aims to provide a comprehensive summary of conventional methods and recent machine learning-based methods to approximate PDEs numerically. Furthermore, we highlight several key architectures centered around the neural operator, a novel and fast approach (1000x) to learning the solution operator of a PDE. We will note how these new computational approaches can bring immense advantages in tackling many problems in fundamental and applied physics.

PaCMO: Partner Dependent Human Motion Generation in Dyadic Human Activity using Neural Operators

We address the problem of generating 3D human motions in dyadic activities. In contrast to the concurrent works, which mainly focus on generating the motion of a single actor from the textual description, we generate the motion of one of the actors from the motion of the other participating actor in the action. This is a particularly challenging, under-explored problem, that requires learning intricate relationships between the motion of two actors participating in an action and also identifying the action from the motion of one actor. To address these, we propose partner conditioned motion operator (PaCMO), a neural operator-based generative model which learns the distribution of human motion conditioned by the partner's motion in function spaces through adversarial training. Our model can handle long unlabeled action sequences at arbitrary time resolution. We also introduce the "Functional Frechet Inception Distance" ($F^2ID$) metric for capturing similarity between real and generated data for function spaces. We test PaCMO on NTU RGB+D and DuetDance datasets and our model produces realistic results evidenced by the $F^2ID$ score and the conducted user study.