Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and regression of textural surfaces. In this study, we present a novel sensor design to acquire multidimensional texture information. The surface texture's roughness and hardness were measured experimentally using sweeping and dabbing. Three machine learning models (SVM, RF, and MLP) showed excellent classification accuracy for the roughness and hardness of surface textures. We show that the combination of pressure and accelerometer data, collected from a standard machined specimen using the whisker sensor, improves classification accuracy. Further, we experimentally validate that the sensor can classify texture with roughness depths as low as $2.5\mu m$ at an accuracy of $90\%$ or more and segregate materials based on their roughness and hardness. We present a novel metric to consider while designing a whisker sensor to guarantee the quality of texture data acquisition beforehand. The machine learning model performance was validated against the data collected from the laser sensor from the same set of surface textures. As part of our work, we are releasing two-dimensional texture data: roughness and hardness to the research community.

We present results on the number of linear regions of the functions that can be represented by artificial feedforward neural networks with maxout units. A rank-k maxout unit is a function computing the maximum of $k$ linear functions. For networks with a single layer of maxout units, the linear regions correspond to the upper vertices of a Minkowski sum of polytopes. We obtain face counting formulas in terms of the intersection posets of tropical hypersurfaces or the number of upper faces of partial Minkowski sums, along with explicit sharp upper bounds for the number of regions for any input dimension, any number of units, and any ranks, in the cases with and without biases. Based on these results we also obtain asymptotically sharp upper bounds for networks with multiple layers.

Intention deception involves computing a strategy which deceives the opponent into a wrong belief about the agent's intention or objective. This paper studies a class of probabilistic planning problems with intention deception and investigates how a defender's limited sensing modality can be exploited by an attacker to achieve its attack objective almost surely (with probability one) while hiding its intention. In particular, we model the attack planning in a stochastic system modeled as a Markov decision process (MDP). The attacker is to reach some target states while avoiding unsafe states in the system and knows that his behavior is monitored by a defender with partial observations. Given partial state observations for the defender, we develop qualitative intention deception planning algorithms that construct attack strategies to play against an action-visible defender and an action-invisible defender, respectively. The synthesized attack strategy not only ensures the attack objective is satisfied almost surely but also deceives the defender into believing that the observed behavior is generated by a normal/legitimate user and thus failing to detect the presence of an attack. We show the proposed algorithms are correct and complete and illustrate the deceptive planning methods with examples.

We introduce an explorative active learning (AL) algorithm based on Gaussian process regression and marginalized graph kernel (GPR-MGK) to explore chemical space with minimum cost. Using high-throughput molecular dynamics simulation to generate data and graph neural network (GNN) to predict, we constructed an active learning molecular simulation framework for thermodynamic property prediction. In specific, targeting 251,728 alkane molecules consisting of 4 to 19 carbon atoms and their liquid physical properties: densities, heat capacities, and vaporization enthalpies, we use the AL algorithm to select the most informative molecules to represent the chemical space. Validation of computational and experimental test sets shows that only 313 (0.124\% of the total) molecules were sufficient to train an accurate GNN model with $\rm R^2 > 0.99$ for computational test sets and $\rm R^2 > 0.94$ for experimental test sets. We highlight two advantages of the presented AL algorithm: compatibility with high-throughput data generation and reliable uncertainty quantification.

Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges, particularly when it comes to incorporating special task requirements into the planning as well as the aerial robot's dynamics. In this work, we study a case where an aerial manipulator shall hand over a parcel from a moving mobile robot in a time-optimal manner. Rather than setting up the approach trajectory manually, which makes it difficult to determine the optimal total travel time to accomplish the desired task within dynamic limits, we propose an optimization framework, which combines discrete mechanics and complementarity constraints (DMCC) together. In the proposed framework, the system dynamics is constrained with the discrete variational Lagrangian mechanics that provides reliable estimation results also according to our experiments. The handover opportunities are automatically determined and arranged based on the desired complementarity constraints. Finally, the performance of the proposed framework is verified with numerical simulations and hardware experiments with our self-designed aerial manipulators.

Explainable artificial intelligence (XAI) methods lack ground truth. In its place, method developers have relied on axioms to determine desirable properties for their explanations' behavior. For high stakes uses of machine learning that require explainability, it is not sufficient to rely on axioms as the implementation, or its usage, can fail to live up to the ideal. As a result, there exists active research on validating the performance of XAI methods. The need for validation is especially magnified in domains with a reliance on XAI. A procedure frequently used to assess their utility, and to some extent their fidelity, is an ablation study. By perturbing the input variables in rank order of importance, the goal is to assess the sensitivity of the model's performance. Perturbing important variables should correlate with larger decreases in measures of model capability than perturbing less important features. While the intent is clear, the actual implementation details have not been studied rigorously for tabular data. Using five datasets, three XAI methods, four baselines, and three perturbations, we aim to show 1) how varying perturbations and adding simple guardrails can help to avoid potentially flawed conclusions, 2) how treatment of categorical variables is an important consideration in both post-hoc explainability and ablation studies, and 3) how to identify useful baselines for XAI methods and viable perturbations for ablation studies.

Contextualized word embeddings can lead to state-of-the-art performances in natural language understanding. Recently, a pre-trained deep contextualized text encoder such as BERT has shown its potential in improving natural language tasks including abstractive summarization. Existing approaches in dialogue summarization focus on incorporating a large language model into summarization task trained on large-scale corpora consisting of news articles rather than dialogues of multiple speakers. In this paper, we introduce self-supervised methods to compensate shortcomings to train a dialogue summarization model. Our principle is to detect incoherent information flows using pretext dialogue text to enhance BERT's ability to contextualize the dialogue text representations. We build and fine-tune an abstractive dialogue summarization model on a shared encoder-decoder architecture using the enhanced BERT. We empirically evaluate our abstractive dialogue summarizer with the SAMSum corpus, a recently introduced dataset with abstractive dialogue summaries. All of our methods have contributed improvements to abstractive summary measured in ROUGE scores. Through an extensive ablation study, we also present a sensitivity analysis to critical model hyperparameters, probabilities of switching utterances and masking interlocutors.

In this work, we address the problem of generating speech from silent lip videos for any speaker in the wild. In stark contrast to previous works, our method (i) is not restricted to a fixed number of speakers, (ii) does not explicitly impose constraints on the domain or the vocabulary and (iii) deals with videos that are recorded in the wild as opposed to within laboratory settings. The task presents a host of challenges, with the key one being that many features of the desired target speech, like voice, pitch and linguistic content, cannot be entirely inferred from the silent face video. In order to handle these stochastic variations, we propose a new VAE-GAN architecture that learns to associate the lip and speech sequences amidst the variations. With the help of multiple powerful discriminators that guide the training process, our generator learns to synthesize speech sequences in any voice for the lip movements of any person. Extensive experiments on multiple datasets show that we outperform all baselines by a large margin. Further, our network can be fine-tuned on videos of specific identities to achieve a performance comparable to single-speaker models that are trained on $4\times$ more data. We conduct numerous ablation studies to analyze the effect of different modules of our architecture. We also provide a demo video that demonstrates several qualitative results along with the code and trained models on our website: \url{http://cvit.iiit.ac.in/research/projects/cvit-projects/lip-to-speech-synthesis}}

The processing of legal texts has been developing as an emerging field in natural language processing (NLP). Legal texts contain unique jargon and complex linguistic attributes in vocabulary, semantics, syntax, and morphology. Therefore, the development of text simplification (TS) methods specific to the legal domain is of paramount importance for facilitating comprehension of legal text by ordinary people and providing inputs to high-level models for mainstream legal NLP applications. While a recent study proposed a rule-based TS method for legal text, learning-based TS in the legal domain has not been considered previously. Here we introduce an unsupervised simplification method for legal texts (USLT). USLT performs domain-specific TS by replacing complex words and splitting long sentences. To this end, USLT detects complex words in a sentence, generates candidates via a masked-transformer model, and selects a candidate for substitution based on a rank score. Afterward, USLT recursively decomposes long sentences into a hierarchy of shorter core and context sentences while preserving semantic meaning. We demonstrate that USLT outperforms state-of-the-art domain-general TS methods in text simplicity while keeping the semantics intact.

An outstanding image-text retrieval model depends on high-quality labeled data. While the builders of existing image-text retrieval datasets strive to ensure that the caption matches the linked image, they cannot prevent a caption from fitting other images. We observe that such a many-to-many matching phenomenon is quite common in the widely-used retrieval datasets, where one caption can describe up to 178 images. These large matching-lost data not only confuse the model in training but also weaken the evaluation accuracy. Inspired by visual and textual entailment tasks, we propose a multi-modal entailment classifier to determine whether a sentence is entailed by an image plus its linked captions. Subsequently, we revise the image-text retrieval datasets by adding these entailed captions as additional weak labels of an image and develop a universal variable learning rate strategy to teach a retrieval model to distinguish the entailed captions from other negative samples. In experiments, we manually annotate an entailment-corrected image-text retrieval dataset for evaluation. The results demonstrate that the proposed entailment classifier achieves about 78% accuracy and consistently improves the performance of image-text retrieval baselines.