Recent advances in batch (offline) reinforcement learning have shown promising results in learning from available offline data and proved offline reinforcement learning to be an essential toolkit in learning control policies in a model-free setting. An offline reinforcement learning algorithm applied to a dataset collected by a suboptimal non-learning-based algorithm can result in a policy that outperforms the behavior agent used to collect the data. Such a scenario is frequent in robotics, where existing automation is collecting operational data. Although offline learning techniques can learn from data generated by a sub-optimal behavior agent, there is still an opportunity to improve the sample complexity of existing offline reinforcement learning algorithms by strategically introducing human demonstration data into the training process. To this end, we propose a novel approach that uses uncertainty estimation to trigger the injection of human demonstration data and guide policy training towards optimal behavior while reducing overall sample complexity. Our experiments show that this approach is more sample efficient when compared to a naive way of combining expert data with data collected from a sub-optimal agent. We augmented an existing offline reinforcement learning algorithm Conservative Q-Learning with our approach and performed experiments on data collected from MuJoCo and OffWorld Gym learning environments.

The automatic segmentation of blood vessels in fundus images can help analyze the condition of retinal vasculature, which is crucial for identifying various systemic diseases like hypertension, diabetes, etc. Despite the success of Deep Learning-based models in this segmentation task, most of them are heavily parametrized and thus have limited use in practical applications. This paper proposes IterMiUnet, a new lightweight convolution-based segmentation model that requires significantly fewer parameters and yet delivers performance similar to existing models. The model makes use of the excellent segmentation capabilities of Iternet architecture but overcomes its heavily parametrized nature by incorporating the encoder-decoder structure of MiUnet model within it. Thus, the new model reduces parameters without any compromise with the network's depth, which is necessary to learn abstract hierarchical concepts in deep models. This lightweight segmentation model speeds up training and inference time and is potentially helpful in the medical domain where data is scarce and, therefore, heavily parametrized models tend to overfit. The proposed model was evaluated on three publicly available datasets: DRIVE, STARE, and CHASE-DB1. Further cross-training and inter-rater variability evaluations have also been performed. The proposed model has a lot of potential to be utilized as a tool for the early diagnosis of many diseases.

We exploit the complementary strengths of vision and proprioception to achieve point goal navigation in a legged robot. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully exploit this capability, we need the high-level path planner in the navigation system to be aware of the walking capabilities of the low-level locomotion policy on varying terrains. We achieve this by using proprioceptive feedback to estimate the safe operating limits of the walking policy, and to sense unexpected obstacles and terrain properties like smoothness or softness of the ground that may be missed by vision. The navigation system uses onboard cameras to generate an occupancy map and a corresponding cost map to reach the goal. The FMM (Fast Marching Method) planner then generates a target path. The velocity command generator takes this as input to generate the desired velocity for the locomotion policy using as input additional constraints, from the safety advisor, of unexpected obstacles and terrain determined speed limits. We show superior performance compared to wheeled robot (LoCoBot) baselines, and other baselines which have disjoint high-level planning and low-level control. We also show the real-world deployment of our system on a quadruped robot with onboard sensors and compute. Videos at https://navigation-locomotion.github.io/camera-ready

Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However, fixing a set of pre-programmed gaits limits the generality of locomotion. Recent animal motor studies show that these conventional gaits are only prevalent in ideal flat terrain conditions while real-world locomotion is unstructured and more like bouts of intermittent steps. What principles could lead to both structured and unstructured patterns across mammals and how to synthesize them in robots? In this work, we take an analysis-by-synthesis approach and learn to move by minimizing mechanical energy. We demonstrate that learning to minimize energy consumption plays a key role in the emergence of natural locomotion gaits at different speeds in real quadruped robots. The emergent gaits are structured in ideal terrains and look similar to that of horses and sheep. The same approach leads to unstructured gaits in rough terrains which is consistent with the findings in animal motor control. We validate our hypothesis in both simulation and real hardware across natural terrains. Videos at https://energy-locomotion.github.io

Successful real-world deployment of legged robots would require them to adapt in real-time to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper presents Rapid Motor Adaptation (RMA) algorithm to solve this problem of real-time online adaptation in quadruped robots. RMA consists of two components: a base policy and an adaptation module. The combination of these components enables the robot to adapt to novel situations in fractions of a second. RMA is trained completely in simulation without using any domain knowledge like reference trajectories or predefined foot trajectory generators and is deployed on the A1 robot without any fine-tuning. We train RMA on a varied terrain generator using bioenergetics-inspired rewards and deploy it on a variety of difficult terrains including rocky, slippery, deformable surfaces in environments with grass, long vegetation, concrete, pebbles, stairs, sand, etc. RMA shows state-of-the-art performance across diverse real-world as well as simulation experiments. Video results at https://ashish-kmr.github.io/rma-legged-robots/

Standardized body region labelling of individual images provides data that can improve human and computer use of medical images. A CNN-based classifier was developed to identify body regions in CT and MRI. 17 CT (18 MRI) body regions covering the entire human body were defined for the classification task. Three retrospective databases were built for the AI model training, validation, and testing, with a balanced distribution of studies per body region. The test databases originated from a different healthcare network. Accuracy, recall and precision of the classifier was evaluated for patient age, patient gender, institution, scanner manufacturer, contrast, slice thickness, MRI sequence, and CT kernel. The data included a retrospective cohort of 2,934 anonymized CT cases (training: 1,804 studies, validation: 602 studies, test: 528 studies) and 3,185 anonymized MRI cases (training: 1,911 studies, validation: 636 studies, test: 638 studies). 27 institutions from primary care hospitals, community hospitals and imaging centers contributed to the test datasets. The data included cases of all genders in equal proportions and subjects aged from a few months old to +90 years old. An image-level prediction accuracy of 91.9% (90.2 - 92.1) for CT, and 94.2% (92.0 - 95.6) for MRI was achieved. The classification results were robust across all body regions and confounding factors. Due to limited data, performance results for subjects under 10 years-old could not be reliably evaluated. We show that deep learning models can classify CT and MRI images by body region including lower and upper extremities with high accuracy.

Deep convolutional networks have been quite successful at various image classification tasks. The current methods to explain the predictions of a pre-trained model rely on gradient information, often resulting in saliency maps that focus on the foreground object as a whole. However, humans typically reason by dissecting an image and pointing out the presence of smaller concepts. The final output is often an aggregation of the presence or absence of these smaller concepts. In this work, we propose MACE: a Model Agnostic Concept Extractor, which can explain the working of a convolutional network through smaller concepts. The MACE framework dissects the feature maps generated by a convolution network for an image to extract concept based prototypical explanations. Further, it estimates the relevance of the extracted concepts to the pre-trained model's predictions, a critical aspect required for explaining the individual class predictions, missing in existing approaches. We validate our framework using VGG16 and ResNet50 CNN architectures, and on datasets like Animals With Attributes 2 (AWA2) and Places365. Our experiments demonstrate that the concepts extracted by the MACE framework increase the human interpretability of the explanations, and are faithful to the underlying pre-trained black-box model.

Success stories of applied machine learning can be traced back to the datasets and environments that were put forward as challenges for the community. The challenge that the community sets as a benchmark is usually the challenge that the community eventually solves. The ultimate challenge of reinforcement learning research is to train real agents to operate in the real environment, but until now there has not been a common real-world RL benchmark. In this work, we present a prototype real-world environment from OffWorld Gym -- a collection of real-world environments for reinforcement learning in robotics with free public remote access. Close integration into existing ecosystem allows the community to start using OffWorld Gym without any prior experience in robotics and takes away the burden of managing a physical robotics system, abstracting it under a familiar API. We introduce a navigation task, where a robot has to reach a visual beacon on an uneven terrain using only the camera input and provide baseline results in both the real environment and the simulated replica. To start training, visit https://gym.offworld.ai.

Hierarchies are an effective way to boost sample efficiency in reinforcement learning, and computational efficiency in classical planning. However, acquiring hierarchies via hand-design (as in classical planning) is suboptimal, while acquiring them via end-to-end reward based training (as in reinforcement learning) is unstable and still prohibitively expensive. In this paper, we pursue an alternate paradigm for acquiring such hierarchical abstractions (or visuo-motor subroutines), via use of passive first person observation data. We use an inverse model trained on small amounts of interaction data to pseudo-label the passive first person videos with agent actions. Visuo-motor 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 visuo-motor subroutines from passive first-person videos. We demonstrate the utility of our acquired visuo-motor 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 with videos, code and data: https://ashishkumar1993.github.io/subroutines/.

This paper develops the FastRNN and FastGRNN algorithms to address the twin RNN limitations of inaccurate training and inefficient prediction. Previous approaches have improved accuracy at the expense of prediction costs making them infeasible for resource-constrained and real-time applications. Unitary RNNs have increased accuracy somewhat by restricting the range of the state transition matrix's singular values but have also increased the model size as they require a larger number of hidden units to make up for the loss in expressive power. Gated RNNs have obtained state-of-the-art accuracies by adding extra parameters thereby resulting in even larger models. FastRNN addresses these limitations by adding a residual connection that does not constrain the range of the singular values explicitly and has only two extra scalar parameters. FastGRNN then extends the residual connection to a gate by reusing the RNN matrices to match state-of-the-art gated RNN accuracies but with a 2-4x smaller model. Enforcing FastGRNN's matrices to be low-rank, sparse and quantized resulted in accurate models that could be up to 35x smaller than leading gated and unitary RNNs. This allowed FastGRNN to accurately recognize the "Hey Cortana" wakeword with a 1 KB model and to be deployed on severely resource-constrained IoT microcontrollers too tiny to store other RNN models. FastGRNN's code is available at https://github.com/Microsoft/EdgeML/.