We develop a hierarchical controller for head-to-head autonomous racing. We first introduce a formulation of a racing game with realistic safety and fairness rules. A high-level planner approximates the original formulation as a discrete game with simplified state, control, and dynamics to easily encode the complex safety and fairness rules and calculates a series of target waypoints. The low-level controller takes the resulting waypoints as a reference trajectory and computes high-resolution control inputs by solving an alternative formulation with simplified objectives and constraints. We consider two approaches for the low-level planner, constructing two hierarchical controllers. One approach uses multi-agent reinforcement learning (MARL), and the other solves a linear-quadratic Nash game (LQNG) to produce control inputs. The controllers are compared against three baselines: an end-to-end MARL controller, a MARL controller tracking a fixed racing line, and an LQNG controller tracking a fixed racing line. Quantitative results show that the proposed hierarchical methods outperform their respective baseline methods in terms of head-to-head race wins and abiding by the rules. The hierarchical controller using MARL for low-level control consistently outperformed all other methods by winning over 88% of head-to-head races and more consistently adhered to the complex racing rules. Qualitatively, we observe the proposed controllers mimicking actions performed by expert human drivers such as shielding/blocking, overtaking, and long-term planning for delayed advantages. We show that hierarchical planning for game-theoretic reasoning produces competitive behavior even when challenged with complex rules and constraints.

With large-scale adaption to biometric based applications, security and privacy of biometrics is utmost important especially when operating in unsupervised online mode. This work proposes a novel approach for generating new artificial fingerprints also called proxy fingerprints that are natural looking, non-invertible, revocable and privacy preserving. These proxy biometrics can be generated from original ones only with the help of a user-specific key. Instead of using the original fingerprint, these proxy templates can be used anywhere with same convenience. The manuscripts walks through an interesting way in which proxy fingerprints of different types can be generated and how they can be combined with use-specific keys to provide revocability and cancelability in case of compromise. Using the proposed approach a proxy dataset is generated from samples belonging to Anguli fingerprint database. Matching experiments were performed on the new set which is 5 times larger than the original, and it was found that their performance is at par with 0 FAR and 0 FRR in the stolen key, safe key scenarios. Other parameters on revocability and diversity are also analyzed for protection performance.

Deep neural networks (DNN) are prone to miscalibrated predictions, often exhibiting a mismatch between the predicted output and the associated confidence scores. Contemporary model calibration techniques mitigate the problem of overconfident predictions by pushing down the confidence of the winning class while increasing the confidence of the remaining classes across all test samples. However, from a deployment perspective, an ideal model is desired to (i) generate well-calibrated predictions for high-confidence samples with predicted probability say >0.95, and (ii) generate a higher proportion of legitimate high-confidence samples. To this end, we propose a novel regularization technique that can be used with classification losses, leading to state-of-the-art calibrated predictions at test time; From a deployment standpoint in safety-critical applications, only high-confidence samples from a well-calibrated model are of interest, as the remaining samples have to undergo manual inspection. Predictive confidence reduction of these potentially ``high-confidence samples'' is a downside of existing calibration approaches. We mitigate this by proposing a dynamic train-time data pruning strategy that prunes low-confidence samples every few epochs, providing an increase in "confident yet calibrated samples". We demonstrate state-of-the-art calibration performance across image classification benchmarks, reducing training time without much compromise in accuracy. We provide insights into why our dynamic pruning strategy that prunes low-confidence training samples leads to an increase in high-confidence samples at test time.

With the steady emergence of community question answering (CQA) platforms like Quora, StackExchange, and WikiHow, users now have an unprecedented access to information on various kind of queries and tasks. Moreover, the rapid proliferation and localization of these platforms spanning geographic and linguistic boundaries offer a unique opportunity to study the task requirements and preferences of users in different socio-linguistic groups. In this study, we implement an entity-embedding model trained on a large longitudinal dataset of multi-lingual and task-oriented question-answer pairs to uncover and quantify the (i) prevalence and distribution of various online tasks across linguistic communities, and (ii) emerging and receding trends in task popularity over time in these communities. Our results show that there exists substantial variance in task preference as well as popularity trends across linguistic communities on the platform. Findings from this study will help Q&A platforms better curate and personalize content for non-English users, while also offering valuable insights to businesses looking to target non-English speaking communities online.

Can we make virtual characters in a scene interact with their surrounding objects through simple instructions? Is it possible to synthesize such motion plausibly with a diverse set of objects and instructions? Inspired by these questions, we present the first framework to synthesize the full-body motion of virtual human characters performing specified actions with 3D objects placed within their reach. Our system takes as input textual instructions specifying the objects and the associated intentions of the virtual characters and outputs diverse sequences of full-body motions. This is in contrast to existing work, where full-body action synthesis methods generally do not consider object interactions, and human-object interaction methods focus mainly on synthesizing hand or finger movements for grasping objects. We accomplish our objective by designing an intent-driven full-body motion generator, which uses a pair of decoupled conditional variational autoencoders (CVAE) to learn the motion of the body parts in an autoregressive manner. We also optimize for the positions of the objects with six degrees of freedom (6DoF) such that they plausibly fit within the hands of the synthesized characters. We compare our proposed method with the existing methods of motion synthesis and establish a new and stronger state-of-the-art for the task of intent-driven motion synthesis. Through a user study, we further show that our synthesized full-body motions appear more realistic to the participants in more than 80% of scenarios compared to the current state-of-the-art methods, and are perceived to be as good as the ground truth on several occasions.

This paper presents a corpus annotated for the task of direct-speech extraction in Croatian. The paper focuses on the annotation of the quotation, co-reference resolution, and sentiment annotation in SETimes news corpus in Croatian and on the analysis of its language-specific differences compared to English. From this, a list of the phenomena that require special attention when performing these annotations is derived. The generated corpus with quotation features annotations can be used for multiple tasks in the field of Natural Language Processing.

Concept bottleneck models (CBMs) (Koh et al. 2020) are interpretable neural networks that first predict labels for human-interpretable concepts relevant to the prediction task, and then predict the final label based on the concept label predictions.We extend CBMs to interactive prediction settings where the model can query a human collaborator for the label to some concepts. We develop an interaction policy that, at prediction time, chooses which concepts to request a label for so as to maximally improve the final prediction. We demonstrate thata simple policy combining concept prediction uncertainty and influence of the concept on the final prediction achieves strong performance and outperforms a static approach proposed in Koh et al. (2020) as well as active feature acquisition methods proposed in the literature. We show that the interactiveCBM can achieve accuracy gains of 5-10% with only 5 interactions over competitive baselines on the Caltech-UCSDBirds, CheXpert and OAI datasets.

With the ever-growing popularity of the field of NLP, the demand for datasets in low resourced-languages follows suit. Following a previously established framework, in this paper, we present the UNER dataset, a multilingual and hierarchical parallel corpus annotated for named-entities. We describe in detail the developed procedure necessary to create this type of dataset in any language available on Wikipedia with DBpedia information. The three-step procedure extracts entities from Wikipedia articles, links them to DBpedia, and maps the DBpedia sets of classes to the UNER labels. This is followed by a post-processing procedure that significantly increases the number of identified entities in the final results. The paper concludes with a statistical and qualitative analysis of the resulting dataset.

This article presents the application of the Universal Named Entity framework to generate automatically annotated corpora. By using a workflow that extracts Wikipedia data and meta-data and DBpedia information, we generated an English dataset which is described and evaluated. Furthermore, we conducted a set of experiments to improve the annotations in terms of precision, recall, and F1-measure. The final dataset is available and the established workflow can be applied to any language with existing Wikipedia and DBpedia. As part of future research, we intend to continue improving the annotation process and extend it to other languages.

This paper presents a cross-lingual sentiment analysis of news articles using zero-shot and few-shot learning. The study aims to classify the Croatian news articles with positive, negative, and neutral sentiments using the Slovene dataset. The system is based on a trilingual BERT-based model trained in three languages: English, Slovene, Croatian. The paper analyses different setups using datasets in two languages and proposes a simple multi-task model to perform sentiment classification. The evaluation is performed using the few-shot and zero-shot scenarios in single-task and multi-task experiments for Croatian and Slovene.