IRisPath: Enhancing Off-Road Navigation with Robust IR-RGB Fusion for Improved Day and Night Traversability

Autonomous off-road navigation is required for applications in agriculture, construction, search and rescue and defence. Traditional on-road autonomous methods struggle with dynamic terrains, leading to poor vehicle control on off-road. Recent deep-learning models have used perception sensors along with kinesthetic feedback for navigation on such terrains. However, this approach has out-of-domain uncertainty. Factors like change in weather and time of day impacts the performance of the model. We propose a multi modal fusion network FuseIsPath capable of using LWIR and RGB images to provide robustness against dynamic weather and light conditions. To aid further works in this domain, we also open-source a day-night dataset with LWIR and RGB images along with pseudo-labels for traversability. In order to co-register the two images we developed a novel method for targetless extrinsic calibration of LWIR, LiDAR and RGB cameras with translation accuracy of 1.7cm and rotation accuracy of 0.827degree.

TipsC: Tips and Corrections for programming MOOCs

With the widespread adoption of MOOCs in academic institutions, it has become imperative to come up with better techniques to solve the tutoring and grading problems posed by programming courses. Programming being the new 'writing', it becomes a challenge to ensure that a large section of the society is exposed to programming. Due to the gradient in learning abilities of students, the course instructor must ensure that everyone can cope up with the material, and receive adequate help in completing assignments while learning along the way. We introduce TipsC for this task. By analyzing a large number of correct submissions, TipsC can search for correct codes resembling a given incorrect solution. Without revealing the actual code, TipsC then suggests changes in the incorrect code to help the student fix logical runtime errors. In addition, this also serves as a cluster visualization tool for the instructor, revealing different patterns in user submissions. We evaluated the effectiveness of TipsC's clustering algorithm on data collected from previous offerings of an introductory programming course conducted at IIT Kanpur where the grades were given by human TAs. The results show the weighted average variance of marks for clusters when similar submissions are grouped together is 47% less compared to the case when all programs are grouped together.