Enabling Waypoint Generation for Collaborative Robots using LLMs and Mixed Reality

Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing direct communication using natural language. It uses large language models (LLM) for prompt processing, workspace understanding, and waypoint generation. It also employs Augmented Reality (AR) to provide visual feedback of the planned outcome. We showcase the effectiveness of our framework with a simple pick-and-place task, which we implement on a real robot. Moreover, we present an early concept of expressive robot behavior and skill generation that can be used to communicate with the user and learn new skills (e.g., object grasping).

Txt2Vid: Ultra-Low Bitrate Compression of Talking-Head Videos via Text

Video represents the majority of internet traffic today leading to a continuous technological arms race between generating higher quality content, transmitting larger file sizes and supporting network infrastructure. Adding to this is the recent COVID-19 pandemic fueled surge in the use of video conferencing tools. Since videos take up substantial bandwidth (~100 Kbps to few Mbps), improved video compression can have a substantial impact on network performance for live and pre-recorded content, providing broader access to multimedia content worldwide. In this work, we present a novel video compression pipeline, called Txt2Vid, which substantially reduces data transmission rates by compressing webcam videos ("talking-head videos") to a text transcript. The text is transmitted and decoded into a realistic reconstruction of the original video using recent advances in deep learning based voice cloning and lip syncing models. Our generative pipeline achieves two to three orders of magnitude reduction in the bitrate as compared to the standard audio-video codecs (encoders-decoders), while maintaining equivalent Quality-of-Experience based on a subjective evaluation by users (n=242) in an online study. The code for this work is available at https://github.com/tpulkit/txt2vid.git.

Pretrained Encoders are All You Need

Data-efficiency and generalization are key challenges in deep learning and deep reinforcement learning as many models are trained on large-scale, domain-specific, and expensive-to-label datasets. Self-supervised models trained on large-scale uncurated datasets have shown successful transfer to diverse settings. We investigate using pretrained image representations and spatio-temporal attention for state representation learning in Atari. We also explore fine-tuning pretrained representations with self-supervised techniques, i.e., contrastive predictive coding, spatio-temporal contrastive learning, and augmentations. Our results show that pretrained representations are at par with state-of-the-art self-supervised methods trained on domain-specific data. Pretrained representations, thus, yield data and compute-efficient state representations. https://github.com/PAL-ML/PEARL_v1

Personalizing Pre-trained Models

Self-supervised or weakly supervised models trained on large-scale datasets have shown sample-efficient transfer to diverse datasets in few-shot settings. We consider how upstream pretrained models can be leveraged for downstream few-shot, multilabel, and continual learning tasks. Our model CLIPPER (CLIP PERsonalized) uses image representations from CLIP, a large-scale image representation learning model trained using weak natural language supervision. We developed a technique, called Multi-label Weight Imprinting (MWI), for multi-label, continual, and few-shot learning, and CLIPPER uses MWI with image representations from CLIP. We evaluated CLIPPER on 10 single-label and 5 multi-label datasets. Our model shows robust and competitive performance, and we set new benchmarks for few-shot, multi-label, and continual learning. Our lightweight technique is also compute-efficient and enables privacy-preserving applications as the data is not sent to the upstream model for fine-tuning.

PAL: Intelligence Augmentation using Egocentric Visual Context Detection

Egocentric visual context detection can support intelligence augmentation applications. We created a wearable system, called PAL, for wearable, personalized, and privacy-preserving egocentric visual context detection. PAL has a wearable device with a camera, heart-rate sensor, on-device deep learning, and audio input/output. PAL also has a mobile/web application for personalized context labeling. We used on-device deep learning models for generic object and face detection, low-shot custom face and context recognition (e.g., activities like brushing teeth), and custom context clustering (e.g., indoor locations). The models had over 80\% accuracy in in-the-wild contexts (~1000 images) and we tested PAL for intelligence augmentation applications like behavior change. We have made PAL is open-source to further support intelligence augmentation using personalized and privacy-preserving egocentric visual contexts.

Uncertainty-Aware Boosted Ensembling in Multi-Modal Settings

Reliability of machine learning (ML) systems is crucial in safety-critical applications such as healthcare, and uncertainty estimation is a widely researched method to highlight the confidence of ML systems in deployment. Sequential and parallel ensemble techniques have shown improved performance of ML systems in multi-modal settings by leveraging the feature sets together. We propose an uncertainty-aware boosting technique for multi-modal ensembling in order to focus on the data points with higher associated uncertainty estimates, rather than the ones with higher loss values. We evaluate this method on healthcare tasks related to Dementia and Parkinson's disease which involve real-world multi-modal speech and text data, wherein our method shows an improved performance. Additional analysis suggests that introducing uncertainty-awareness into the boosted ensembles decreases the overall entropy of the system, making it more robust to heteroscedasticity in the data, as well as better calibrating each of the modalities along with high quality prediction intervals. We open-source our entire codebase at https://github.com/usarawgi911/Uncertainty-aware-boosting

Robustness to Missing Features using Hierarchical Clustering with Split Neural Networks

The problem of missing data has been persistent for a long time and poses a major obstacle in machine learning and statistical data analysis. Past works in this field have tried using various data imputation techniques to fill in the missing data, or training neural networks (NNs) with the missing data. In this work, we propose a simple yet effective approach that clusters similar input features together using hierarchical clustering and then trains proportionately split neural networks with a joint loss. We evaluate this approach on a series of benchmark datasets and show promising improvements even with simple imputation techniques. We attribute this to learning through clusters of similar features in our model architecture. The source code is available at https://github.com/usarawgi911/Robustness-to-Missing-Features

Uncertainty-Aware Multi-Modal Ensembling for Severity Prediction of Alzheimer's Dementia

Reliability in Neural Networks (NNs) is crucial in safety-critical applications like healthcare, and uncertainty estimation is a widely researched method to highlight the confidence of NNs in deployment. In this work, we propose an uncertainty-aware boosting technique for multi-modal ensembling to predict Alzheimer's Dementia Severity. The propagation of uncertainty across acoustic, cognitive, and linguistic features produces an ensemble system robust to heteroscedasticity in the data. Weighing the different modalities based on the uncertainty estimates, we experiment on the benchmark ADReSS dataset, a subject-independent and balanced dataset, to show that our method outperforms the state-of-the-art methods while also reducing the overall entropy of the system. This work aims to encourage fair and aware models. The source code is available at https://github.com/wazeerzulfikar/alzheimers-dementia

Why have a Unified Predictive Uncertainty? Disentangling it using Deep Split Ensembles

Understanding and quantifying uncertainty in black box Neural Networks (NNs) is critical when deployed in real-world settings such as healthcare. Recent works using Bayesian and non-Bayesian methods have shown how a unified predictive uncertainty can be modelled for NNs. Decomposing this uncertainty to disentangle the granular sources of heteroscedasticity in data provides rich information about its underlying causes. We propose a conceptually simple non-Bayesian approach, deep split ensemble, to disentangle the predictive uncertainties using a multivariate Gaussian mixture model. The NNs are trained with clusters of input features, for uncertainty estimates per cluster. We evaluate our approach on a series of benchmark regression datasets, while also comparing with unified uncertainty methods. Extensive analyses using dataset shits and empirical rule highlight our inherently well-calibrated models. Our work further demonstrates its applicability in a multi-modal setting using a benchmark Alzheimer's dataset and also shows how deep split ensembles can highlight hidden modality-specific biases. The minimal changes required to NNs and the training procedure, and the high flexibility to group features into clusters makes it readily deployable and useful. The source code is available at https://github.com/wazeerzulfikar/deep-split-ensembles

Multimodal Inductive Transfer Learning for Detection of Alzheimer's Dementia and its Severity

Alzheimer's disease is estimated to affect around 50 million people worldwide and is rising rapidly, with a global economic burden of nearly a trillion dollars. This calls for scalable, cost-effective, and robust methods for detection of Alzheimer's dementia (AD). We present a novel architecture that leverages acoustic, cognitive, and linguistic features to form a multimodal ensemble system. It uses specialized artificial neural networks with temporal characteristics to detect AD and its severity, which is reflected through Mini-Mental State Exam (MMSE) scores. We first evaluate it on the ADReSS challenge dataset, which is a subject-independent and balanced dataset matched for age and gender to mitigate biases, and is available through DementiaBank. Our system achieves state-of-the-art test accuracy, precision, recall, and F1-score of 83.3% each for AD classification, and state-of-the-art test root mean squared error (RMSE) of 4.60 for MMSE score regression. To the best of our knowledge, the system further achieves state-of-the-art AD classification accuracy of 88.0% when evaluated on the full benchmark DementiaBank Pitt database. Our work highlights the applicability and transferability of spontaneous speech to produce a robust inductive transfer learning model, and demonstrates generalizability through a task-agnostic feature-space. The source code is available at https://github.com/wazeerzulfikar/alzheimers-dementia