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Safety Envelopes using Light Curtains with Probabilistic Guarantees

by Siddharth Ancha / November 19, 2021

The safety envelope (in green) is an imaginary surface that separates the robot from all obstacles in its environment. As long as the robot never intersects the safety envelope, it is guaranteed to not collide with any obstacle. Our task is to estimate this envelope.…

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machine learning Research

Analyzing and Improving the Optimization Landscape of Noise-Contrastive Estimation

November 5, 2021

Example of an extremely flat loss landscape on Gaussian mean estimation: starting from the noise Q (orange), the NCE loss (blue) flattens out quickly before reaching the ground truth distribution P* (green). Introduction Density estimation is the task of estimating…

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machine learning natural language processing Research

Compression, Transduction, and Creation: A Unified Framework for Evaluating Natural Language Generation

October 29, 2021

Figure 1: Our framework classifies language generation tasks into compression, transduction, and creation (left), and unifies the evaluation (middle) of key quality aspects with the common operation of information alignment (right). TL;DR: Evaluating natural language generation (NLG) is hard. Our…

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machine learning Research

When Curation Becomes Creation: Algorithms, microcontent, and the vanishing distinction between platforms and creators

October 1, 2021

[This blog post was cross-posted in the Approximately Correct Blog on 7/2/2021.] To appear in Communications of the ACM (CACM) and available on acm.org. Ever since social activity on the Internet began migrating from the wilds of the open web…

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machine learning natural language processing Research

The Limitations of Limited Context for Constituency Parsing

September 17, 2021

Compare the above two sentences “I drink coffee with milk” and “I drink coffee with friends”. They only differ at their very last words, but their parses differ at earlier places, too. Now imagine you read sentences like these. How…

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machine learning Research

Strategic Instrumental Variable Regression: Recovering Causal Relationships from Strategic Responses

August 27, 2021

In social domains, machine learning algorithms often prompt individuals to strategically modify their observable attributes to receive more favorable predictions. As a result, the distribution the predictive model is trained on may differ from the one it operates on in…

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machine learning Research

A Unifying, Game-Theoretic Framework for Imitation Learning

July 30, 2021

Imitation learning (IL) is the problem of finding a policy that is as close as possible to an expert’s policy. IL algorithms can be grouped broadly into (a) online, (b) offline, and (c) interactive methods. By taking a game-theoretic perspective…

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machine learning Research

Document Grounded Generation

June 25, 2021

Figure 1: Document Grounded Generation – An example of a conversation that is grounded in the given document (text in green shows information from the document that was used to generate the response). Natural language generation (NLG) systems are increasingly…

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machine learning Research

See, Hear, Explore: Curiosity via Audio-Visual Association

June 11, 2021

See, Hear, Explore: We propose a formulation of curiosity that encourages the agent to explore novel associations between modalities, such as audio and vision. In Habitat, the photorealistic navigation simulator shown above, our method allows for more efficient exploration than…

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machine learning Research

Decentralized Multi-Robot Active Search

June 4, 2021

Active Search (Active Sensing) in robotics refers to the problem of searching for objects of interest in an unknown environment by making data-collection decisions. Active Search has many applications including the search and rescue of human survivors following disasters, detecting…

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