Author name cluster

Kenny Chen

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7 papers

2 author rows

IJCAI Conference 2024 Conference Paper

Attribution Quality Metrics with Magnitude Alignment

Chase Walker
Dominic Simon
Kenny Chen
Rickard Ewetz

Attribution algorithms play an instrumental role in human interpretation of AI models. The methods measure the importance of the input features to the model output decision, which can be displayed as an attribution map for image classifiers. Perturbation tests are the state-of-the-art approach to evaluate the quality of an attribution map. Unfortunately, we observe that perturbation tests fail to consider attribution magnitude, which translates into inconsistent quality scores. In this paper, we propose Magnitude Aligned Scoring (MAS), a new attribution quality metric that measures the alignment between the magnitude of the attributions and the model response. In particular, the metric accounts for both the relative ordering and the magnitude of the pixels within an attribution. In the experimental evaluation, we compare the MAS metric with existing metrics across a wide range of models, datasets, attributions, and evaluations. The results demonstrate that the MAS metric is 4x more sensitive to attribution changes, 2x more consistent, and 1. 6x more invariant to baseline modifications. Our code and the referenced appendix are publicly available via https: //github. com/chasewalker26/Magnitude-Aligned-Scoring.

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AAAI Conference 2024 Conference Paper

Integrated Decision Gradients: Compute Your Attributions Where the Model Makes Its Decision

Chase Walker
Sumit Jha
Kenny Chen
Rickard Ewetz

Attribution algorithms are frequently employed to explain the decisions of neural network models. Integrated Gradients (IG) is an influential attribution method due to its strong axiomatic foundation. The algorithm is based on integrating the gradients along a path from a reference image to the input image. Unfortunately, it can be observed that gradients computed from regions where the output logit changes minimally along the path provide poor explanations for the model decision, which is called the saturation effect problem. In this paper, we propose an attribution algorithm called integrated decision gradients (IDG). The algorithm focuses on integrating gradients from the region of the path where the model makes its decision, i.e., the portion of the path where the output logit rapidly transitions from zero to its final value. This is practically realized by scaling each gradient by the derivative of the output logit with respect to the path. The algorithm thereby provides a principled solution to the saturation problem. Additionally, we minimize the errors within the Riemann sum approximation of the path integral by utilizing non-uniform subdivisions determined by adaptive sampling. In the evaluation on ImageNet, it is demonstrated that IDG outperforms IG, Left-IG, Guided IG, and adversarial gradient integration both qualitatively and quantitatively using standard insertion and deletion metrics across three common models.

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ICRA Conference 2023 Conference Paper

Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction

Kenny Chen
Ryan Nemiroff
Brett T. Lopez

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or computationally costly for resource-constrained mobile robots. To this end, this paper presents Direct LiDAR-Inertial Odometry (DLIO), a lightweight LiDAR-inertial odometry algorithm with a new coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction. The key to our method lies in the construction of a set of analytical equations which are parameterized solely by time, enabling fast and parallelizable point-wise deskewing. This method is feasible only because of the strong convergence properties in our nonlinear geometric observer, which provides provably correct state estimates for initializing the sensitive IMU integration step. Moreover, by simultaneously performing motion correction and prior generation, and by directly registering each scan to the map and bypassing scan-to-scan, DLIO's condensed architecture is nearly 20% more computationally efficient than the current state-of-the-art with a 12% increase in accuracy. We demonstrate DLIO's superior localization accuracy, map quality, and lower computational overhead as compared to four state-of-the-art algorithms through extensive tests using multiple public benchmark and self-collected datasets.

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IROS Conference 2023 Conference Paper

Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping

Ryan Nemiroff
Kenny Chen
Brett T. Lopez

Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity. Accelerometer biases and scale factor errors from the IMU's initial calibration are often the major source of inaccuracies when aligning the robot's odometry frame with the inertial frame, especially for low-grade IMUs. Practically, one would simultaneously estimate the true gravity vector, accelerometer biases, and scale factor to improve measurement quality but these quantities are not observable unless the IMU is sufficiently excited. While several methods estimate accelerometer bias and gravity, they do not explicitly address the observability issue nor do they estimate scale factor. We present a fixed-lag factor-graph-based estimator to address both of these issues. In addition to estimating accelerometer scale factor, our method mitigates limited observability by optimizing over a time window an order of magnitude larger than existing methods with significantly lower computational burden. The proposed method, which estimates accelerometer intrinsics and gravity separately from the other states, is enabled by a novel, velocity-agnostic measurement model for intrinsics and gravity, as well as a new method for gravity vector optimization on $S^{2}$. Accurate IMU state prediction, gravity-alignment, and roll/pitch drift correction are experimentally demonstrated on public and self-collected datasets in diverse environments.

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IROS Conference 2022 Conference Paper

Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments

Amanda Bouman
Joshua Ott
Sung-Kyun Kim
Kenny Chen
Mykel J. Kochenderfer
Brett T. Lopez
Ali-Akbar Agha-Mohammadi
Joel W. Burdick

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated area swept out by its sensor footprint is maximized. Because this problem exhibits a diminishing returns property known as submodularity, we choose to formulate it as a tree-based sequential decision making process. This formulation allows us to evaluate the effects of the robot's actions on future world coverage states, while simultaneously accounting for traversability risk and the dynamic constraints of the robot. To quickly find near-optimal solutions, we propose an effective approximation to the coverage sensor model which adapts to the local environment. Our method was extensively tested across various complex environments and served as the local exploration algorithm for a competing entry in the DARPA Subterranean Challenge.

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IROS Conference 2021 Conference Paper

Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints

Kenny Chen
Alexandra Pogue
Brett T. Lopez
Ali-Akbar Agha-Mohammadi
Ankur Mehta

Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues with scale acquisition and implementation overhead still plague these systems. To this end, this work presents an unsupervised learning framework that is able to predict at-scale depth maps and egomotion, in addition to camera intrinsics, from a sequence of monocular images via a single network. Our method incorporates both spatial and temporal geometric constraints to resolve depth and pose scale factors, which are enforced within the supervisory reconstruction loss functions at training time. Only unlabeled stereo sequences are required for training the weights of our single-network architecture, which reduces overall implementation overhead as compared to previous methods. Our results demonstrate strong performance when compared to the current state-of-the-art on multiple sequences of the KITTI driving dataset and can provide faster training times with its reduced network complexity.

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IROS Conference 2020 Conference Paper

Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance

Alexander Schperberg
Kenny Chen
Stephanie Tsuei
Michael Jewett
Joshua Hooks
Stefano Soatto
Ankur Mehta
Dennis W. Hong

In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navigation through cluttered environments. Our algorithm combines an object detection pipeline with a recurrent neural network (RNN) which infers the covariance of state estimates through each step of our MPC's finite time horizon. The RNN model is trained on a dataset that comprises of robot and landmark poses generated from camera images and inertial measurement unit (IMU) readings via a state-of-the-art visualinertial odometry framework. To detect and extract object locations for avoidance, we use a custom-trained convolutional neural network model in conjunction with a feature extractor to retrieve 3D centroid and radii boundaries of nearby obstacles. The robustness of our methods is validated on complex quadruped robot dynamics and can be generally applied to most robotic platforms, demonstrating autonomous behaviors that can plan fast and collision-free paths towards a goal point.

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