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Abstract

Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries involved, requiring a deep understanding of the local geometry to generate grasps efficiently on the specified constrained regions. Existing methods only explore settings involving table-top/small objects and require augmented datasets to train, limiting their performance on complex objects. We propose CGDF: Constrained Grasp Diffusion Fields, a diffusion-based grasp generative model that generalizes to objects with arbitrary geometries, as well as generates dense grasps on the target regions. CGDF uses a part-guided diffusion approach that enables it to get high sample efficiency in constrained grasping without explicitly training on massive constraint-augmented datasets. We provide qualitative and quantitative comparisons using analytical metrics and in simulation, in both unconstrained and constrained settings to show that our method can generalize to generate stable grasps on complex objects, especially useful for dual-arm manipulation settings, while existing methods struggle to do so. More results, code and an extended version of the paper can be found on the project page: https://constrained-grasp-diffusion.github.io/

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This work presents a novel approach to identifying possible early accident-prone zones in a large city-scale road network using geo-tagged collision alert data from a vehicle fleet. The alert data has been collected for a year from 200 city buses installed with the Advanced Driver Assistance System (ADAS). To the best of our knowledge, no research paper has used ADAS alerts to identify the early accident prone zones. A nonparametric technique called Kernel Density Estimation (KDE) is employed to model the distribution of alert data across stratified time intervals. A novel recall-based measure is introduced to assess the degree of support provided by our density-based approach for existing, manually determined accident-prone zones (‘blackspots’) provided by civic authorities. This shows that our KDE approach significantly outperforms existing approaches in terms of the recall-based measure. Introducing a novel linear assignment Earth Mover Distance based measure to predict previously unidentified accident-prone zones. The results and findings support the feasibility of utilizing alert data from vehicle fleets to aid civic planners in assessing accident-zone trends and deploying traffic calming measures, thereby improving overall road safety and saving lives.

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Exploring and quantifying semantic relatedness is central to representing language and holds significant implications across various NLP tasks. While earlier NLP research primarily focused on semantic similarity, often within the English language context, we instead investigate the broader phenomenon of semantic relatedness. In this paper, we present SemRel, a new semantic relatedness dataset collection annotated by native speakers across 13 languages: Afrikaans, Algerian Arabic, Amharic, English, Hausa, Hindi, Indonesian, Kinyarwanda, Marathi, Moroccan Arabic, Modern Standard Arabic, Spanish, and Telugu. These languages originate from five distinct language families and are predominantly spoken in Africa and Asia – regions characterised by a relatively limited availability of NLP resources. Each instance in the SemRel datasets is a sentence pair associated with a score that represents the degree of semantic textual relatedness between the two sentences. The scores are obtained using a comparative annotation framework. We describe the data collection and annotation processes, challenges when building the datasets, baseline experiments, and their impact and utility in NLP.

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We present the first shared task on Semantic Textual Relatedness (STR). While earlier shared tasks primarily focused on semantic similarity, we instead investigate the broader phenomenon of semantic relatedness across 14 languages: Afrikaans, Algerian Arabic, Amharic, English, Hausa, Hindi, Indonesian, Kinyarwanda, Marathi, Moroccan Arabic, Modern Standard Arabic, Punjabi, Spanish, and Telugu. These languages originate from five distinct language families and are predominantly spoken in Africa and Asia – regions characterised by the relatively limited availability of NLP resources. Each instance in the datasets is a sentence pair associated with a score that represents the degree of semantic textual relatedness between the two sentences. Participating systems were asked to rank sentence pairs by their closeness in meaning (i.e., their degree of semantic relatedness) in the 14 languages in three main tracks: (a) supervised, (b) unsupervised, and (c) crosslingual. The task attracted 163 participants. We received 70 submissions in total (across all tasks) from 51 different teams, and 38 system description papers. We report on the best-performing systems as well as the most common and the most effective approaches for the three different tracks.

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The spot size variation due to mechanical jitter is calculated for the Hermite Gaussian (HG) incoherent beam combination system. It is observed that the spot size increases with an increase in mechanical jitter and higher modes HG beams experience less mechanical jitter effect compared to lower mode HG beams.

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Street lights are ubiquitous public infrastructure in urban areas that can be leveraged for smart city applications. In this paper, we present an electric vehicle charging station (EVCS) that communicates using Wi-SUN network integrated on a network of streetlights, and using oneM2M middleware. The proposed architecture follows the level 2 charging standards and the open charge point protocol (OCPP), ensuring compatibility and interoperability across diverse charging infrastructures. By seamlessly incorporating Wi-SUN network and oneM2M middleware, our architecture enables efficient communication and interaction with a wide array of devices and services. The utilization of the oneM2M platform further enhances the integration by establishing a seamless connection between the EVCS and the broader smart city infrastructure. We have fabricated a proof-of-concept system that consists of the EVCS connected to a Wi-SUN network integrated with the streetlight network in the institute campus. The performance of our solution was evaluated by measuring the latency associated with authentication and billing for EV users. We report the average latency observed over several iterations of charging to be 0.7±0.2 s (excluding the time required for charging). We also measured the Wi-SUN communication range in the campus environment with trees and buildings and found the maximum range to be around 370 m.

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This paper presents the myEye2Wheeler dataset, a unique resource of real-world gaze behaviour of two-wheeler drivers navigating complex Indian traffic. Most datasets are from four-wheeler drivers on well-planned roads and homoge- neous traffic. Our dataset offers a critical lens into the unique visual attention patterns and corresponding driving decision- making of Indian two-wheeler drivers. The analysis demon- strates that existing saliency models, like TASED-Net, perform less effectively on the myEye-2Wheeler dataset compared to when applied on the European 4-wheeler eye tracking datasets (DR(Eye)VE), highlighting the need for models specifically tailored to the traffic conditions. By introducing the dataset, we not only fill a significant gap in two-wheeler driver behaviour research in India but also emphasise the critical need for developing context-specific saliency models. The larger aim is to improve road safety for two-wheeler users and lane-planning for this cost-effective mode of transpor