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Ongoing work
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Dynamics of peripheral vision during driving
Right after saccades (eye movements), human peripheral vision degrades. How can driver assistance systems incorporate this knowledge to provide
intelligent assistance when driver peripheral awareness is low?
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Research
(*) denotes equal contribution
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Mitigating Causal Confusion in Driving Agents via Gaze Supervision
A Biswas,
BA Pardhi,
C Chuck,
J Holtz,
S Niekum,
H Admoni, and
A Allievi
Aligning Robot Representations with Humans (ARRH) workshop at Conference on Robot Learning 2022
NVIDIA best paper award @ CoRL ARRH workshop
[Pre-print]
While driving, human drivers naturally exhibit an easily obtained, continuous signal that is highly correlated with causal elements of the state
space: eye gaze. How can we use it as a supervisory signal?
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DReyeVR: Democratizing Virtual Reality Driving Simulation for Behavioural & Interaction Research
G Silvera*,
A Biswas*, and
H Admoni
ACM/IEEE International Conference on Human-Robot Interaction (HRI) 2022,
Short Contributions Track
[arXiv]
[Simulator Github]
[Video]
We open-source DReyeVR, our VR-based driving simulator built with human-centric research in mind.
It's based on CARLA -- if CARLA is for algorithmic drivers, DReyeVR is for humans.
The hardware setup is affordable for many academic labs, costing under 5000 USD.
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SocNavBench: A Grounded Simulation Testing Framework for Evaluating Social Navigation
A Biswas,
A Wang,
G Silvera,
A Steinfeld, and
H Admoni
ACM Transactions on Human-Robot Interaction (THRI) 2021,
Special Issue: Test Methods for Human-Robot Teaming Performance Evaluations
[arXiv]
[Simulator]
[Baselines]
We introduce SocNavBench, a simulation framework for evaluating social navigation algorithms in a consistent and interpretable manner.
It has a simulator with photo-realistic capabilities, curated social navigation scenarios grounded in real-world pedestrian data, and a suite of metrics that is auto-computed.
Try it out to evaluate your own social navigation algorithms!
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Examining the Effects of Anticipatory Robot Assistance on Human Decision Making
B Newman*,
A Biswas*,
S Ahuja,
S Girdhar, and
H Admoni
International Conference on Social Robotics (ICSR) 2020
[Paper]
[Video]
Does preemptive robot assistance change human decision making?
We show in an experiment (N=99), that people's decision making in a selection task
does change in response to anticipatory robot assistance, but predicting the direction of change is difficult.
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Human Torso Pose Forecasting in the Real World
A Biswas,
H Admoni, and
A Steinfeld
Multi-modal Perception and Control Workshop, Robotics:Science and Systems (RSS) 2018
[Paper]
[More results]
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SketchParse: Towards Rich Descriptions for Poorly Drawn Sketches using Multi-Task Hierarchical Deep Networks
RK Sarvadevabhatla,
I Dwivedi,
A Biswas,
S Manocha, and
R V Babu
ACM Multimedia Conference (ACM MM) 2017
[arXiv]
[Code]
Can we use neural networks to semantically parse freehand sketches?
We show this is possible by "sketchifying" natural images to generate training data and employing a graphical model for generating descriptions.
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Development of an Assistive Stereo Vision System
T Shankar,
A Biswas, and
V Arun
International Convention on Rehabilitation Engineering & Assistive Technology, (i-CREATe) 2015
[Paper]
[News]
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First-order Meta-Learned Initialization for Faster Adaptation in Deep Reinforcement Learning
Abhijat Biswas, Shubham Agrawal
[Report]
First-derivative approximations to meta-learning updates perform just as well as second-derivative ones. Demonstrated on RL tasks
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Socially compliant path planning
Abhijat Biswas, Ting-Che Lin, and Sean Wang
[Report]
[Code]
[Video]
RTAA* + Social-LSTM based social navigation
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Automatic Extrinsic Calibration of Stereo Camera and 3D LiDAR
Abhijat Biswas, Aashi Manglik
[Poster]
We implement a method for estimation of MAV poses and dynamic parameters during flight.
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