Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and the feet joints can help alleviate much of these issues by providing feedback information to robot controllers. Current state estimation methods are highly reliant on a conjunction of visual and inertial measurements to provide real-time estimates, thus being handicapped in perceptually poor environments. In this work, we show that by leveraging the kinematic chain model of the robot via a factor graph formulation, we can perform state estimation of the base and the leg joints using primarily proprioceptive inertial data. We perform state estimation using a combination of preintegrated IMU measurements, forward kinematic computations, and contact detections in a factor-graph based framework, allowing our state estimate to be constrained by the robot model. Experimental results in simulation and on hardware show that our approach out-performs current proprioceptive state estimation methods by 27% on average, while being generalizable to a variety of legged robot platforms. We demonstrate our results both quantitatively and qualitatively on a wide variety of trajectories.
In this work, we study the trade-off between the reliability and the investment cost of an unmanned aerial system (UAS) consisting of a set of unmanned aerial vehicles (UAVs) carrying radio access nodes, called portable access points (PAPs)), deployed to serve a set of ground nodes (GNs). Using the proposed algorithm, a given geographical region is equivalently represented as a set of circular regions, where each circle represents the coverage region of a PAP. Then, the steady-state availability of the UAS is analytically derived by modelling it as a continuous time birth-death Markov decision process (MDP). Numerical evaluations show that the investment cost to guarantee a given steady-state availability to a set of GNs can be reduced by considering the traffic demand and distribution of GNs.
Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents an efficient and consistent bundle adjustment method for lidar sensors. The method employs edge and plane features to represent the scene geometry, and directly minimizes the natural Euclidean distance from each raw point to the respective geometry feature. A nice property of this formulation is that the geometry features can be analytically solved, drastically reducing the dimension of the numerical optimization. To represent and solve the resultant optimization problem more efficiently, this paper then proposes a novel concept {\it point clusters}, which encodes all raw points associated to the same feature by a compact set of parameters, the {\it point cluster coordinates}. We derive the closed-form derivatives, up to the second order, of the BA optimization based on the point cluster coordinates and show their theoretical properties such as the null spaces and sparsity. Based on these theoretical results, this paper develops an efficient second-order BA solver. Besides estimating the lidar poses, the solver also exploits the second order information to estimate the pose uncertainty caused by measurement noises, leading to consistent estimates of lidar poses. Moreover, thanks to the use of point cluster, the developed solver fundamentally avoids the enumeration of each raw point (which is very time-consuming due to the large number) in all steps of the optimization: cost evaluation, derivatives evaluation and uncertainty evaluation. The implementation of our method is open sourced to benefit the robotics community and beyond.
Human behavior modeling deals with learning and understanding behavior patterns inherent in humans' daily routines. Existing pattern mining techniques either assume human dynamics is strictly periodic, or require the number of modes as input, or do not consider uncertainty in the sensor data. To handle these issues, in this paper, we propose a novel clustering approach for modeling human behavior (named, MTpattern) from time-series data. For mining frequent human behavior patterns effectively, we utilize a three-stage pipeline: (1) represent time series data into a sequence of regularly sampled equal-sized unit time intervals for better analysis, (2) a new distance measure scheme is proposed to cluster similar sequences which can handle temporal variation and uncertainty in the data, and (3) exploit an exemplar-based clustering mechanism and fine-tune its parameters to output minimum number of clusters with given permissible distance constraints and without knowing the number of modes present in the data. Then, the average of all sequences in a cluster is considered as a human behavior pattern. Empirical studies on two real-world datasets and a simulated dataset demonstrate the effectiveness of MTpattern with respect to internal and external measures of clustering.
Efficient trajectory generation in complex dynamic environment stills remains an open problem in the unmanned surface vehicle (USV) domain. In this paper, a cooperative trajectory planning algorithm for the coupled USV-UAV system is proposed, to ensure that USV can execute safe and smooth path in the process of autonomous advance in multi obstacle maps. Specifically, the unmanned aerial vehicle (UAV) plays the role as a flight sensor, and it provides real-time global map and obstacle information with lightweight semantic segmentation network and 3D projection transformation. And then an initial obstacle avoidance trajectory is generated by a graph-based search method. Concerning the unique under-actuated kinematic characteristics of the USV, a numerical optimization method based on hull dynamic constraints is introduced to make the trajectory easier to be tracked for motion control. Finally, a motion control method based on NMPC with the lowest energy consumption constraint during execution is proposed. Experimental results verify the effectiveness of whole system, and the generated trajectory is locally optimal for USV with considerable tracking accuracy.
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed sensor infrastructure, which is costly, time-consuming, and/or often infeasible at scale. Herein, we propose a novel vision-based localization pipeline for a specific use case: navigation support for end-users with blindness and low vision. Given a query image taken by an end-user on a mobile application, the pipeline leverages a visual place recognition (VPR) algorithm to find similar images in a reference image database of the target space. The geolocations of these similar images are utilized in downstream tasks that employ a weighted-average method to estimate the end-user's location and a perspective-n-point (PnP) algorithm to estimate the end-user's direction. Additionally, this system implements Dijkstra's algorithm to calculate a shortest path based on a navigable map that includes trip origin and destination. The topometric map used for localization and navigation is built using a customized graphical user interface that projects a 3D reconstructed sparse map, built from a sequence of images, to the corresponding a priori 2D floor plan. Sequential images used for map construction can be collected in a pre-mapping step or scavenged through public databases/citizen science. The end-to-end system can be installed on any internet-accessible device with a camera that hosts a custom mobile application. For evaluation purposes, mapping and localization were tested in a complex hospital environment. The evaluation results demonstrate that our system can achieve localization with an average error of less than 1 meter without knowledge of the camera's intrinsic parameters, such as focal length.
Social media platforms have become new battlegrounds for anti-social elements, with misinformation being the weapon of choice. Fact-checking organizations try to debunk as many claims as possible while staying true to their journalistic processes but cannot cope with its rapid dissemination. We believe that the solution lies in partial automation of the fact-checking life cycle, saving human time for tasks which require high cognition. We propose a new workflow for efficiently detecting previously fact-checked claims that uses abstractive summarization to generate crisp queries. These queries can then be executed on a general-purpose retrieval system associated with a collection of previously fact-checked claims. We curate an abstractive text summarization dataset comprising noisy claims from Twitter and their gold summaries. It is shown that retrieval performance improves 2x by using popular out-of-the-box summarization models and 3x by fine-tuning them on the accompanying dataset compared to verbatim querying. Our approach achieves Recall@5 and MRR of 35% and 0.3, compared to baseline values of 10% and 0.1, respectively. Our dataset, code, and models are available publicly: https://github.com/varadhbhatnagar/FC-Claim-Det/
Hate speech detection is a common downstream application of natural language processing (NLP) in the real world. In spite of the increasing accuracy, current data-driven approaches could easily learn biases from the imbalanced data distributions originating from humans. The deployment of biased models could further enhance the existing social biases. But unlike handling tabular data, defining and mitigating biases in text classifiers, which deal with unstructured data, are more challenging. A popular solution for improving machine learning fairness in NLP is to conduct the debiasing process with a list of potentially discriminated words given by human annotators. In addition to suffering from the risks of overlooking the biased terms, exhaustively identifying bias with human annotators are unsustainable since discrimination is variable among different datasets and may evolve over time. To this end, we propose an automatic misuse detector (MiD) relying on an explanation method for detecting potential bias. And built upon that, an end-to-end debiasing framework with the proposed staged correction is designed for text classifiers without any external resources required.
Cross-silo federated learning utilizes a few hundred reliable data silos with high-speed access links to jointly train a model. While this approach becomes a popular setting in federated learning, designing a robust topology to reduce the training time is still an open problem. In this paper, we present a new multigraph topology for cross-silo federated learning. We first construct the multigraph using the overlay graph. We then parse this multigraph into different simple graphs with isolated nodes. The existence of isolated nodes allows us to perform model aggregation without waiting for other nodes, hence reducing the training time. We further propose a new distributed learning algorithm to use with our multigraph topology. The intensive experiments on public datasets show that our proposed method significantly reduces the training time compared with recent state-of-the-art topologies while ensuring convergence and maintaining the model's accuracy.
Voice communication using the air conduction microphone in noisy environments suffers from the degradation of speech audibility. Bone conduction microphones (BCM) are robust against ambient noises but suffer from limited effective bandwidth due to their sensing mechanism. Although existing audio super resolution algorithms can recover the high frequency loss to achieve high-fidelity audio, they require considerably more computational resources than available in low-power hearable devices. This paper proposes the first-ever real-time on-chip speech audio super resolution system for BCM. To accomplish this, we built and compared a series of lightweight audio super resolution deep learning models. Among all these models, ATS-UNet is the most cost-efficient because the proposed novel Audio Temporal Shift Module (ATSM) reduces the network's dimensionality while maintaining sufficient temporal features from speech audios. Then we quantized and deployed the ATS-UNet to low-end ARM micro-controller units for real-time embedded prototypes. Evaluation results show that our system achieved real-time inference speed on Cortex-M7 and higher quality than the baseline audio super resolution method. Finally, we conducted a user study with ten experts and ten amateur listeners to evaluate our method's effectiveness to human ears. Both groups perceived a significantly higher speech quality with our method when compared to the solutions with the original BCM or air conduction microphone with cutting-edge noise reduction algorithms.