Abstract

This paper presents a novel image-based path- planning and execution framework for vision-based control of a robot in a human centered environment. The proposed method involves applying Rapidly-exploring Random Tree (RRT) ex- ploration to perform Image-Based Visual Servoing (IBVS) while satisfying multiple task constraints by exploiting robot redundancy. The methodology incorporates data-set of robot’s workspace images for path-planning and design a controller based on visual servoing framework. This method is generic enough to include constraints like Field-of-View (FoV) limits, joint limits, obstacles, various singularities, occlusions etc. in the planning stage itself using task function approach and thereby avoiding them during the execution. The use of path- planning eliminates many of the inherent limitations of IBVS with eye-in-hand configuration and makes the use of visual servoing practical for dynamic and complex environments. Several experiments have been performed on a UR5 robotic manipulator to demonstrate that it is an effective and robust way to guide a robot in such environments.

Abstract

In this paper, we present an algorithmic framework which computes the collision-free velocities for the robot in a human shared dynamic and uncertain environment. We extend the concept of Inverse Velocity Obstacle (IVO) to a probabilistic variant to handle the state estimation and motion uncertainties that arise due to the other participants of the environment. These uncertainties are modeled as non-parametric probability distributions. In our PIVO: Probabilistic Inverse Velocity Obstacle, we propose the collision-free navigation as an optimization problem by reformulating the velocity conditions of IVO as chance constraints that takes the uncertainty into account. The space of collision-free velocities that result from the presented optimization scheme are associated to a confidence measure as a specified probability. We demonstrate the efficacy of our PIVO through numerical simulations and demonstrating its ability to generate safe trajectories under highly uncertain environments.

Abstract

In IoT applications, sensors produce raw data, and smart solutions consume the processed data. IoT driven smart solutions typically use data that is aggregated, filtered and processed to drive the smart solution. Such aggregated data has different semantics in comparison to raw sensor data, and it needs to be customized simultaneously for different application requirements. There is a need for proper data logistics for the movement of data from the sensors producing raw data to smart solutions consuming solution relevant data. In this paper, we present a data logistics system that includes (i) architecture to support the movement of data from sensors to smart applications, and (ii) event-driven solution to trigger workflows of smart solution. Workflows in our solution supports the data fulfillment requirements for the enactment of smart solutions

Abstract

Visual Question Answering (VQA) has emerged as an important problem spanning Computer Vision, Natural Language Processing and Artificial Intelligence (AI). In conventional VQA, one may ask questions about an image which can be answered purely based on its content. For example, given an image with people in it, a typical VQA question may inquire about the number of people in the image. More recently, there is growing interest in answering questions which require commonsense knowledge involving common nouns (e.g., cats, dogs, microphones) present in the image. In spite of this progress, the important problem of answering questions requiring world knowledge about named entities (e.g., Barack Obama, White House, United Nations) in the image has not been addressed in prior research. We address this gap in this paper, and introduce KVQA – the first dataset for the task of (world) knowledge-aware VQA. KVQA consists of 183K question-answer pairs involving more than 18K named entities and 24K images. Questions in this dataset require multi-entity, multi-relation, and multi-hop reasoning over large Knowledge Graphs (KG) to arrive at an answer. To the best of our knowledge, KVQA is the largest dataset for exploring VQA over KG. Further, we also provide baseline performances using state-of-the-art methods on KVQA.

Abstract

This paper describes our system (Fermi) for Task 4: Hyper-partisan News detection of SemEval-2019. We use simple text classification algorithms by transforming the input features to a reduced feature set. We aim to find the right number of features useful for efficient classification and explore multiple training models to evaluate the performance of these text classification algorithms. Our team - Fermi’s model achieved an accuracy of 59.10% and an F1 score of 69.5% on the official test data set. In this paper, we provide a detailed description of the approach as well as the results obtained in the task.

Abstract

We present a data set of 1460 Hindi-English code-mixed tweets consisting of 20,949 tokens labelled with Proposition Bank labels marking their semantic roles. We created verb frames for complex predicates present in the corpus and formulated mappings from Paninian dependency labels to Proposition Bank labels. With the help of these mappings and the dependency tree, we propose a baseline rule based system for Semantic Role Labelling of Hindi-English code-mixed data. We obtain an accuracy of 96.74% for Argument Identification and are able to further classify 73.93% of the labels correctly. While there is relevant ongoing research on Semantic Role Labelling (SRL) and on building tools for code-mixed social media data, this is the first attempt at labelling semantic roles in Hindi-English codemixed data, to the best of our knowledge.

Abstract

This paper presents the results of the experiments done as a part of MADAR Shared Task in WANLP 2019 on Arabic Fine-Grained Dialect Identification. Dialect Identification is one of the prominent tasks in the field of Natural language processing where the subsequent language modules can be improved based on it. We explored the use of different features like char, word n-gram, language model probabilities, etc on different classifiers. Results show that these features help to improve dialect classification accuracy. Results also show that traditional machine learning classifier tends to perform better when compared to

Abstract

We present a system for automating Semantic Role Labelling of Hindi-English code-mixed tweets. We explore the issues posed by noisy, user generated code-mixed social media data. We also compare the individual effect of various linguistic features used in our system. Our proposed model is a 2-step system for automated labelling which gives an overall accuracy of 84% for Argument Classification, marking a 10% increase over the existing rulebased baseline model. This is the first attempt at building a statistical Semantic Role Labeller for Hindi-English code-mixed data, to the best of our knowledge

Abstract

This paper describes the Neural Machine Translation systems of IIIT-Hyderabad (LTRC-MT) for WAT 2019 Hindi-English shared task. We experimented with both Recurrent Neural Networks & Transformer architectures. We also show the results of our experiments of training NMT models using additional data via backtranslation.

Abstract

Cuff-less blood pressure (BP) is essential for continuous health monitoring to prevent diseases such as hypertension. Due to the discomfort caused by inflation and deflation of the cuff, it is not possible to monitor continuously. Although pulse transit time (PTT) based approach is commonly used, other parameters also vary with BP. Multi-parameter models are developed using regression analysis, to estimate systolic blood pressure (SBP) and diastolic blood pressure (DBP). Hence, the correlation of multiple extracted features with the blood pressure is proved. To achieve this, simultaneous electrocardiogram (ECG) and photoplethysmographic (PPG) along with respective BP data were collected. The developed algorithm uses wavelet transformation on ECG and PPG signals for detection of the occurrence of essential wave points precisely, even in the presence of artifacts. Pulse wave analysis (PWA) is performed to create a feature vector. From the experimental results, it is found that, the SBP model gives mean error of 0.4916 mmHg, with standard deviation of 6.3986 mmHg, whereas for DBP model, mean error is 0.2527 mmHg and standard deviation is 3.2835 mmHg which is acceptable as per the British Hypertension Society (BHS) and Association for the Advancement of Medical Instruments (AAMI) standards. After the removal of BP oddities, mean absolute error improves from 5.625 to 3.854 mmHg for SBP and from 2.564 to 2.144 mmHg for DBP.