Data sanitization in the context of language modeling involves identifying sensitive content, such as personally identifiable information (PII), and redacting them from a dataset corpus. It is a common practice used in natural language processing (NLP) to maintain privacy. Nevertheless, the impact of data sanitization on the language understanding capability of a language model remains less studied. This paper empirically analyzes the effects of data sanitization across several benchmark language-modeling tasks including comprehension question answering (Q&A), entailment, sentiment analysis, and text classification. Our experiments cover a wide spectrum comprising finetuning small-scale language models, to prompting large language models (LLMs), on both original and sanitized datasets, and comparing their performance across the tasks. Interestingly, our results suggest that for some tasks such as sentiment analysis or entailment, the impact of redaction is quite low, typically around 1-5%, while for tasks such as comprehension Q&A there is a big drop of >25% in performance observed in redacted queries as compared to the original. For tasks that have a higher impact, we perform a deeper dive to inspect the presence of task-critical entities. Finally, we investigate correlation between performance and number of redacted entities, and also suggest a strategy to repair an already redacted dataset by means of content-based subsampling. Additional details are available at https://sites.google.com/view/datasan.

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may not suit the preferences of a particular customer. Moreover, such a system consists of multi-objective tasks comprising -- (i) Detection of misplaced objects and prediction of their potentially correct placements, (ii) Fine-grained manipulation for stable object grasping, and (iii) Room-to-room navigation for transferring objects in unseen environments. This work systematically tackles each component and integrates them into a complete object rearrangement pipeline. To validate our proposed system, we conduct multiple experiments on a real robotic platform involving multi-room object transfer, user preference-based placement, and complex pick-and-place tasks. Project page: https://sites.google.com/eng.ucsd.edu/home-robot

Multi-turn textual feedback-based fashion image retrieval focuses on a real-world setting, where users can iteratively provide information to refine retrieval results until they find an item that fits all their requirements. In this work, we present a novel memory-based method, called FashionNTM, for such a multi-turn system. Our framework incorporates a new Cascaded Memory Neural Turing Machine (CM-NTM) approach for implicit state management, thereby learning to integrate information across all past turns to retrieve new images, for a given turn. Unlike vanilla Neural Turing Machine (NTM), our CM-NTM operates on multiple inputs, which interact with their respective memories via individual read and write heads, to learn complex relationships. Extensive evaluation results show that our proposed method outperforms the previous state-of-the-art algorithm by 50.5%, on Multi-turn FashionIQ -- the only existing multi-turn fashion dataset currently, in addition to having a relative improvement of 12.6% on Multi-turn Shoes -- an extension of the single-turn Shoes dataset that we created in this work. Further analysis of the model in a real-world interactive setting demonstrates two important capabilities of our model -- memory retention across turns, and agnosticity to turn order for non-contradictory feedback. Finally, user study results show that images retrieved by FashionNTM were favored by 83.1% over other multi-turn models. Project page: https://sites.google.com/eng.ucsd.edu/fashionntm

Deep reinforcement learning approaches have been a popular method for visual navigation tasks in the computer vision and robotics community of late. In most cases, the reward function has a binary structure, i.e., a large positive reward is provided when the agent reaches goal state, and a negative step penalty is assigned for every other state in the environment. A sparse signal like this makes the learning process challenging, specially in big environments, where a large number of sequential actions need to be taken to reach the target. We introduce a reward shaping mechanism which gradually adjusts the reward signal based on distance to the goal. Detailed experiments conducted using the AI2-THOR simulation environment demonstrate the efficacy of the proposed approach for object-goal navigation tasks.