Abstract

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic maps for vision language navigation. In: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). IEEE; 2023 Aug.) showed that having instance-level information and the semantic understanding of an environment helps significantly improve performance for language-guided tasks. We extend this instance-level approach to 3D while increasing the pipeline's robustness and improving quantitative and qualitative results. Our method leverages foundational models for object recognition, image segmentation, and feature extraction. We propose a representation that results in a 3D point cloud map with instance-level embeddings, which bring in the semantic understanding that natural language commands can query. Quantitatively, the work improves upon the success rate of language-guided tasks. At the same time, we qualitatively observe the ability to identify instances more clearly and leverage the foundational models and language and image-aligned embeddings to identify objects that, otherwise, a closed-set approach wouldn't be able to identify.

Abstract

Smart grid system encompasses large power plants in the wholesale market and retail customers in the tariff market. An electricity broker liaises between the wholesale and tariff markets by procuring electricity from the power plants and selling it to subscribed customers. In our work, we address the prominent challenges in the smart grid system to achieve better efficiency. We discuss the wholesale market, for which we design efficient bidding strategies in periodic double auctions (PDAs), and the tariff market, which includes tariff contract generation strategies and peak demand mitigation strategies. We use the PowerTAC simulator as a test-bed; also utilise these strategies for our autonomous broker, VidyutVanika, which has been proven efficient in the PowerTAC tournaments.

Abstract

We consider a periodic double auction (PDA) wherein the main participants are wholesale suppliers and brokers representing retailers. The suppliers are represented by a composite supply curve and the brokers are represented by individual bids. Additionally, the brokers can also participate in small-scale selling by placing individual asks; hence, they act as prosumers. Specifically, in a PDA, the prosumers who are net buyers have multiple opportunities to buy or sell multiple units of a commodity with the aim of minimising the cost of buying across multiple rounds of the PDA. Formulating optimal bidding strategies for such a PDA setting involves planning across current and future rounds while taking into account the bidding strategies of other agents. In this work, we propose Markov perfect Nash equilibrium (MPNE) policies for a setup where multiple prosumers with knowledge of the composite supply curve compete to procure commodities. Thereafter, the MPNE policies are used to develop an algorithm called MPNE-BBS for the case wherein the prosumers need to re-construct an approximate composite supply curve using past auction information. The efficacy of the proposed algorithm is demonstrated on the PowerTAC wholesale market simulator against several baselines and state-of-the-art bidding policies.

Abstract

Continual learning has primarily focused on the issue of catastrophic forgetting and the associated stability-plasticity tradeoffs. However, little attention has been paid to the efficacy of continually learned representations, as representations are learned alongside classifiers throughout the learning process. Our primary contribution is empirically demonstrating that existing online continually trained deep networks produce inferior representations compared to a simple pre-defined random transforms. Our approach embeds raw pixels using a fixed random transform, approximating an RBF-Kernel initialized before any data is seen. We then train a simple linear classifier on top without storing any exemplars, processing one sample at a time in an online continual learning setting. This method, called RanDumb, significantly outperforms state-of-the-art continually learned representations across all standard online continual learning benchmarks. Our study reveals the significant limitations of representation learning, particularly in low-exemplar and online continual learning scenarios. Extending our investigation to popular exemplar-free scenarios with pretrained models, we find that training only a linear classifier on top of pretrained representations surpasses most continual fine-tuning and prompt-tuning strategies. Overall, our investigation challenges the prevailing assumptions about effective representation learning in online continual learning.

Abstract

Lyrics play a crucial role in affecting and reinforcing emotional states by providing meaning and emotional connotations that interact with the acoustic properties of the music. Specific lyrical themes and emotions may intensify existing negative states in listeners and may lead to undesirable outcomes, especially in listeners with mood disorders such as depression. Hence, it is important for such individuals to be mindful of their listening strategies. In this study, we examine online music consumption of individuals at risk of depression in light of lyrical themes and emotions. Lyrics obtained from the listening histories of 541 Last.fm users, divided into At-Risk and No-Risk based on their mental well-being scores, were analyzed using natural language processing techniques. Statistical analyses of the results revealed that individuals at risk for depression prefer songs with lyrics associated with low valence and low arousal. Additionally, lyrics associated with themes of denial, self-reference, and ambivalence were preferred. In contrast, themes such as liberation, familiarity, and activity are not as favored. This study opens up the possibility of an approach to assessing depression risk from the digital footprint of individuals and potentially developing personalized recommendation systems.

Abstract

This article proposes a framework for adaptive synchronization of uncertain underactuated Euler–Lagrange (EL) agents. The designed distributed controller can handle both state-dependent uncertain system dynamics terms and state-dependent uncertain interconnection terms among neighboring agents. No structural knowledge of such terms is required other than the standard properties of EL systems (positive definite mass matrix, bounded gravity, velocity-dependent friction bound, etc.). The study of stability relies on a suitable analysis of the nonactuated and the actuated synchronization errors, resulting in stable error dynamics perturbed by parametrized state-dependent uncertainty. This uncertainty is tackled via appropriate adaptation laws, giving stability in the uniform ultimate boundedness sense, in line with available literature on state-dependent uncertain system dynamics and/or state-dependent uncertain interconnections. An example with a network of boom cranes is used to validate the proposed approach.

Abstract

We present ParrotTTS, a modularized text-tospeech synthesis model leveraging disentangled self supervised speech representations. It can train a multi-speaker variant effectively using transcripts from a single speaker. ParrotTTS adapts to a new language in low resource setup and generalizes to languages not seen while training the self-supervised backbone. Moreover, without training on bilingual or parallel examples, ParrotTTS can transfer voices across languages while preserving the speaker-specific characteristics, e.g., synthesizing fluent Hindi speech using a French speaker’s voice and accent. We present extensive results in monolingual and multi-lingual scenarios. ParrotTTS outperforms state-of-theart multi-lingual text-to-speech (TTS) models using only a fraction of paired data as latter. Speech samples from ParrotTTS and code can be found at https://parrot-tts. github.io/tts/

Abstract

We introduce StethoSpeech, a silent speech interface that transforms flesh-conducted vibrations behind the ear into speech. This innovation is designed to improve social interactions for those with voice disorders, and furthermore enable discreet public communication. Unlike prior efforts, StethoSpeech does not require (a) paired-speech data for recorded vibrations and (b) a specialized device for recording vibrations, as it can work with an off-the-shelf clinical stethoscope. The novelty of our framework lies in the overall design, simulation of the ground-truth speech, and a sequence-to-sequence translation network, which works in the latent space. We present comprehensive experiments on the existing CSTR NAM TIMIT Plus corpus and our proposed StethoText: a large-scale synchronized database of non-audible murmur and text for speech research. Our results show that StethoSpeech provides natural-sounding and intelligible speech, significantly outperforming existing methods on several quantitative and qualitative metrics. Additionally, we showcase its capacity to extend its application to speakers not encountered during training and its effectiveness in challenging, noisy environments. Speech samples are available at https://stethospeech.github.io/StethoSpeech/.

Abstract

We propose a novel approach to significantly improve the intelligibility in the Non-Audible Murmur (NAM)-to-speech conversion task, leveraging self-supervision and sequence-tosequence (Seq2Seq) learning techniques. Unlike conventional methods that explicitly record ground-truth speech, our methodology relies on self-supervision and speech-to-speech synthesis to simulate ground-truth speech. Despite utilizing simulated speech, our method surpasses the current state-of-the-art (SOTA) by 29.08% improvement in the Mel-Cepstral Distortion (MCD) metric. Additionally, we present error rates and demonstrate our model’s proficiency to synthesize speech in novel voices of interest. Moreover, we present a methodology for augmenting the existing CSTR NAM TIMIT Plus corpus, setting a benchmark with a Word Error Rate (WER) of 42.57% to gauge the intelligibility of the synthesized speech. Speech samples can be found at https://nam2speech.github.io/NAM2Speech/

Abstract

Autism Spectrum Disorder (ASD) presents challenges in communication, social interaction, and sensory processing. This pilot study introduces a GOAL driven Recommendation Framework for personalized music interventions, leveraging music's therapeutic functions to address emotional, cognitive, and social needs in individuals with ASD was tested on an Indian population. Through participants music playlist compilation and data collected from online sources, a diverse dataset is curated. The recommendation system employs similarity metric to recommend music aligned with specific therapeutic goals. Evaluation metrics and behavioural changes indicate significant improvements in mood management, sleep regularization, focus, and sensory regulation. However, enhancements in communication and social skills are less conclusive. This study underscores the feasibility and effectiveness of personalized music recommendations in addressing therapeutic goals for individuals with ASD, emphasizing the need for further research to explore longitudinal outcomes to assess its impact on the quality of life of individuals with ASD.