While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manip-ulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range of long-horizon tasks feasible in un-structured and dynamic environments. While the applications are broad and interesting, there are a plethora of chal-lenges in developing these systems such as coordination be-tween the base and arm, reliance on onboard perception for perceiving and interacting with the environment, and most importantly, simultaneously integrating all these parts to-gether. Prior works approach the problem using disentangled modular skills for mobility and manipulation that are trivially tied together. This causes several limitations such as compounding errors, delays in decision-making, and no whole-body coordination. In this work, we present a re-active mobile manipulation framework that uses an active visual system to consciously perceive and react to its en-vironment. Similar to how humans leverage whole-body and hand-eye coordination, we develop a mobile manipu-lator that exploits its ability to move and see, more specifically - to move in order to see and to see in order to move. This allows it to not only move around and interact with its environment but also, choose “when” to perceive “what” using an active visual system. We observe that such an agent learns to navigate around complex cluttered sce-narios while displaying agile whole-body coordination using only ego-vision without needing to create environment maps. Videos are available at https://spin-robot.github.io

Suspect Identification is one of the most pivotal aspects of a forensic and criminal investigation. A significant amount of time and skill is devoted to creating sketches for it and requires a fair amount of recollections from the witness to provide a useful sketch. We devise a method that aims to automate the process of suspect identification and model this problem by iteratively retrieving images from feedback provided by the user. Compared to standard image retrieval tasks, interactive facial image retrieval is specifically more challenging due to the high subjectivity involved in describing a person’s facial attributes and appropriately evolving with the preferences put forward by the user. Our method uses a relatively simpler form of supervision by utilizing the user’s feedback to label images as either similar or dissimilar to their mental image of the suspect based on which we propose a loss function using the contrastive learning paradigm that is optimized in an online fashion. We validate the efficacy of our proposed approach using a carefully designed testbed to simulate user feedback and a large-scale user study. We empirically show that our method iteratively improves personalization, leading to faster convergence and enhanced recommendation relevance, thereby, improving user satisfaction. Our proposed framework is being designed for real-time use in the metropolitan crime investigation department, and thus is also equipped with a user-friendly web interface with a real-time experience for suspect retrieval.

Targeted image retrieval has long been a challenging problem since each person has a different perception of different features leading to inconsistency among users in describing the details of a particular image. Due to this, each user needs a system personalized according to the way they have structured the image in their mind. One important application of this task is suspect identification in forensic investigations where a witness needs to identify the suspect from an existing criminal database. Existing methods require the attributes for each image or suffer from poor latency during training and inference. We propose a new approach to tackle this problem through explicit relevance feedback by introducing a novel loss function and a corresponding scoring function. For this, we leverage contrastive learning on the user feedback to generate the next set of suggested images while improving the level of personalization with each user feedback iteration.

Lip synchronization and talking face generation have gained a specific interest from the research community with the advent and need of digital communication in different fields. Prior works propose several elegant solutions to this problem. However, they often fail to create realistic-looking videos that account for people's expressions and emotions. To mitigate this, we build a talking face generation framework conditioned on a categorical emotion to generate videos with appropriate expressions, making them more real-looking and convincing. With a broad range of six emotions i.e., anger, disgust, fear, happiness, neutral, and sad, we show that our model generalizes across identities, emotions, and languages.

Visual Question Generation (VQG) is the task of generating natural questions based on an image. Popular methods in the past have explored image-to-sequence architectures trained with maximum likelihood which have demonstrated meaningful generated questions given an image and its associated ground-truth answer. VQG becomes more challenging if the image contains rich contextual information describing its different semantic categories. In this paper, we try to exploit the different visual cues and concepts in an image to generate questions using a variational autoencoder (VAE) without ground-truth answers. Our approach solves two major shortcomings of existing VQG systems: (i) minimize the level of supervision and (ii) replace generic questions with category relevant generations. Most importantly, by eliminating expensive answer annotations, the required supervision is weakened. Using different categories enables us to exploit different concepts as the inference requires only the image and the category. Mutual information is maximized between the image, question, and answer category in the latent space of our VAE. A novel category consistent cyclic loss is proposed to enable the model to generate consistent predictions with respect to the answer category, reducing redundancies and irregularities. Additionally, we also impose supplementary constraints on the latent space of our generative model to provide structure based on categories and enhance generalization by encapsulating decorrelated features within each dimension. Through extensive experiments, the proposed model, C3VQG outperforms state-of-the-art VQG methods with weak supervision.