arXiv subjects

Abhijit Das

Publications and source records attributed to Abhijit Das.

At least 37 records · Page 2Linked to original sources

arXiv2025

Towards Obstacle-Avoiding Control of Planar Snake Robots Exploring Neuro-Evolution of Augmenting Topologies

This work aims to develop a resource-efficient solution for obstacle-avoiding tracking control of a planar snake robot in a densely cluttered environment with obstacles. Particularly, Neuro-Evolution of Augmenting Topologies (NEAT) has been employed to generate dynamic gait parameters for the serpenoid gait function, which is implemented on the joint angles of the snake robot, thus controlling the robot on a desired dynamic path. NEAT is a single neural-network based evolutionary algorithm that is known to work extremely well when the input layer is of significantly higher dimension and the output layer is of a smaller size. For the planar snake robot, the input layer consists of the joint angles, link positions, head link position as well as obstacle positions in the vicinity. However, the output layer consists of only the frequency and offset angle of the serpenoid gait that control the speed and heading of the robot, respectively. Obstacle data from a LiDAR and the robot data from various sensors, along with the location of the end goal and time, are employed to parametrize a reward function that is maximized over iterations by selective propagation of superior neural networks. The implementation and experimental results showcase that the proposed approach is computationally efficient, especially for large environments with many obstacles. The proposed framework has been verified through a physics engine simulation study on PyBullet. The approach shows superior results to existing state-of-the-art methodologies and comparable results to the very recent CBRL approach with significantly lower computational overhead. The video of the simulation can be found here: https://sites.google.com/view/neatsnakerobot

cs.RO↗

arXiv2025

A Survey on Improving Human Robot Collaboration through Vision-and-Language Navigation

Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of recent VLN advancements in robotics and outlines promising directions to improve multi-robot coordination. Despite progress, current models struggle with bidirectional communication, ambiguity resolution, and collaborative decision-making in the multi-agent systems. We review approximately 200 relevant articles to provide an in-depth understanding of the current landscape. Through this survey, we aim to provide a thorough resource that inspires further research at the intersection of VLN and robotics. We advocate that the future VLN systems should support proactive clarification, real-time feedback, and contextual reasoning through advanced natural language understanding (NLU) techniques. Additionally, decentralized decision-making frameworks with dynamic role assignment are essential for scalable, efficient multi-robot collaboration. These innovations can significantly enhance human-robot interaction (HRI) and enable real-world deployment in domains such as healthcare, logistics, and disaster response.

cs.RO↗

arXiv2025

Instruction-Directed MAC for Efficient Classical Communication in Scalable Multi-Chip Quantum Systems

Scalable quantum computing requires modular multi-chip architectures integrating multiple quantum cores interconnected through quantum-coherent and classical links. The classical communication subsystem is critical for coordinating distributed control operations and supporting quantum protocols such as teleportation. In this work, we consider a realization based on a wireless network-on-chip for implementing classical communication within cryogenic environments. Traditional token-based medium access control (MAC) protocols, however, incur latency penalties due to inefficient token circulation among inactive nodes. We propose the instruction-directed token MAC (ID-MAC), a protocol that leverages the deterministic nature of quantum circuit execution to predefine transmission schedules at compile time. By embedding instruction-level information into the MAC layer, ID-MAC restricts token circulation to active transmitters, thereby improving channel utilization and reducing communication latency. Simulations show that ID-MAC reduces classical communication time by up to 70% and total execution time by up to 30-70%, while also extending effective system coherence. These results highlight ID-MAC as a scalable and efficient MAC solution for future multi-chip quantum architectures.

quant-ph↗

arXiv2025

Assessing the Role of Communication in Modular Multi-Core Quantum Systems

The scalability of quantum computing is constrained by the physical and architectural limitations of monolithic quantum processors. Modular multi-core quantum architectures, which interconnect multiple quantum cores (QCs) via classical and quantum-coherent links, offer a promising alternative to address these challenges. However, transitioning to a modular architecture introduces communication overhead, where classical communication plays a crucial role in executing quantum algorithms by transmitting measurement outcomes and synchronizing operations across QCs. Understanding the impact of classical communication on execution time is therefore essential for optimizing system performance. In this work, we introduce \qcomm, an open-source simulator designed to evaluate the role of classical communication in modular quantum computing architectures. \qcomm{} provides a high-level execution and timing model that captures the interplay between quantum gate execution, entanglement distribution, teleportation protocols, and classical communication latency. We conduct an extensive experimental analysis to quantify the impact of classical communication bandwidth, interconnect types, and quantum circuit mapping strategies on overall execution time. Furthermore, we assess classical communication overhead when executing real quantum benchmarks mapped onto a cryogenically-controlled multi-core quantum system. Our results show that, while classical communication is generally not the dominant contributor to execution time, its impact becomes increasingly relevant in optimized scenarios -- such as improved quantum technology, large-scale interconnects, or communication-aware circuit mappings. These findings provide useful insights for the design of scalable modular quantum architectures and highlight the importance of evaluating classical communication as a performance-limiting factor in future systems.

quant-ph↗

arXiv2025

TRMAC: A Time-Reversal-based MAC Protocol for Wireless Networks within Computing Packages

As chiplet-based integration and many-core architectures become the norm in high-performance computing, on-chip wireless communication has emerged as a compelling alternative to traditional interconnects. However, scalable Medium Access Control (MAC) remains a fundamental challenge, particularly under dense traffic and limited spectral resources. This paper presents TRMAC, a novel cross-layer MAC protocol that exploits the spatial focusing capability of Time Reversal (TR) to enable multiple parallel transmissions over a shared frequency channel. By leveraging the quasi-deterministic nature of on-chip wireless channels, TRMAC pre-characterizes channel impulse responses to coordinate access using energy-based thresholds, eliminating the need for orthogonal resource allocation or centralized arbitration. Through detailed physical-layer simulation and system-level evaluation on diverse traffic, TRMAC demonstrates comparable or superior performance to existing multi-channel MAC protocols, achieving low latency, high throughput, and strong scalability across hundreds of cores. TRMAC provides a low-complexity, high-efficiency solution for future Wireless Networks-on-Chip (WNoCs), particularly in chiplet-based systems where spatial reuse and modularity are critical. With simulations we prove that TRMAC can be utilized for parallel transmissions with a single frequency channel with a similar throughput and latency as in using multiple frequency bands omitting the need for complex transceivers. This work establishes a new design direction for MAC protocols that are tightly integrated with the underlying channel physics to meet the demands of next-generation computing platforms.

cs.ET↗

arXiv2025

Nanoscale photonic neuron with biological signal processing

Computational hardware designed to mimic biological neural networks holds the promise to resolve the drastically growing global energy demand of artificial intelligence. A wide variety of hardware concepts have been proposed, and among these, photonic approaches offer immense strengths in terms of power efficiency, speed and synaptic connectivity. However, existing solutions have large circuit footprints limiting scaling potential and they miss key biological functions, like inhibition. We demonstrate an artificial nano-optoelectronic neuron with a circuit footprint size reduced by at least a factor of 100 compared to existing technologies and operating powers in the picowatt regime. The neuron can deterministically receive both exciting and inhibiting signals that can be summed and treated with a non-linear function. It demonstrates several biological relevant responses and memory timescales, as well as weighting of input channels. The neuron is compatible with commercial silicon technology, operates at multiple wavelengths and can be used for both computing and optical sensing. This work paves the way for two important research paths: photonic neuromorphic computing with nanosized footprints and low power consumption, and adaptive optical sensing, using the same architecture as a compact, modular front end

cond-mat.mes-hall↗

arXiv2025

Privacy-enhancing Sclera Segmentation Benchmarking Competition: SSBC 2025

This paper presents a summary of the 2025 Sclera Segmentation Benchmarking Competition (SSBC), which focused on the development of privacy-preserving sclera-segmentation models trained using synthetically generated ocular images. The goal of the competition was to evaluate how well models trained on synthetic data perform in comparison to those trained on real-world datasets. The competition featured two tracks: $(i)$ one relying solely on synthetic data for model development, and $(ii)$ one combining/mixing synthetic with (a limited amount of) real-world data. A total of nine research groups submitted diverse segmentation models, employing a variety of architectural designs, including transformer-based solutions, lightweight models, and segmentation networks guided by generative frameworks. Experiments were conducted across three evaluation datasets containing both synthetic and real-world images, collected under diverse conditions. Results show that models trained entirely on synthetic data can achieve competitive performance, particularly when dedicated training strategies are employed, as evidenced by the top performing models that achieved $F_1$ scores of over $0.8$ in the synthetic data track. Moreover, performance gains in the mixed track were often driven more by methodological choices rather than by the inclusion of real data, highlighting the promise of synthetic data for privacy-aware biometric development. The code and data for the competition is available at: https://github.com/dariant/SSBC_2025.

cs.CV↗

arXiv2025

On the Impact of Classical and Quantum Communication Networks Upon Modular Quantum Computing Architecture System Performance

Modular architectures are a promising approach to scaling quantum computers beyond the limits of monolithic designs. However, non-local communications between different quantum processors might significantly impact overall system performance. In this work, we investigate the role of the network infrastructure in modular quantum computing architectures, focusing on coherence loss due to communication constraints. We analyze the impact of classical network latency on quantum teleportation and identify conditions under which it becomes a bottleneck. Additionally, we study different network topologies and assess how communication resources affect the number and parallelization of inter-core communications. Finally, we conduct a full-stack evaluation of the architecture under varying communication parameters, demonstrating how these factors influence the overall system performance. The results show that classical communication does not become a bottleneck for systems exceeding one million qubits, given current technology assumptions, even with modest clock frequencies and parallel wired interconnects. Additionally, increasing quantum communication resources generally shortens execution time, although it may introduce additional communication overhead. The optimal number of quantum links between QCores depends on both the algorithm being executed and the chosen inter-core topology. Our findings offer valuable guidance for designing modular architectures, enabling scalable quantum computing.

quant-ph↗

arXiv2025

Exploring the Potential of Wireless-enabled Multi-Chip AI Accelerators

The insatiable appetite of Artificial Intelligence (AI) workloads for computing power is pushing the industry to develop faster and more efficient accelerators. The rigidity of custom hardware, however, conflicts with the need for scalable and versatile architectures capable of catering to the needs of the evolving and heterogeneous pool of Machine Learning (ML) models in the literature. In this context, multi-chiplet architectures assembling multiple (perhaps heterogeneous) accelerators are an appealing option that is unfortunately hindered by the still rigid and inefficient chip-to-chip interconnects. In this paper, we explore the potential of wireless technology as a complement to existing wired interconnects in this multi-chiplet approach. Using an evaluation framework from the state-of-the-art, we show that wireless interconnects can lead to speedups of 10% on average and 20% maximum. We also highlight the importance of load balancing between the wired and wireless interconnects, which will be further explored in future work.

cs.AR↗

arXiv2025

Neuromorphic Readout for Hadron Calorimeters

We simulate hadrons impinging on a homogeneous lead-tungstate (PbWO4) calorimeter to investigate how the resulting light yield and its temporal structure, as detected by an array of light-sensitive sensors, can be processed by a neuromorphic computing system. Our model encodes temporal photon distributions as spike trains and employs a fully connected spiking neural network to estimate the total deposited energy, as well as the position and spatial distribution of the light emissions within the sensitive material. The extracted primitives offer valuable topological information about the shower development in the material, achieved without requiring a segmentation of the active medium. A potential nanophotonic implementation using III-V semiconductor nanowires is discussed. It can be both fast and energy efficient.

hep-ex↗

arXiv2025

Communication Characterization of AI Workloads for Large-scale Multi-chiplet Accelerators

Next-generation artificial intelligence (AI) workloads are posing challenges of scalability and robustness in terms of execution time due to their intrinsic evolving data-intensive characteristics. In this paper, we aim to analyse the potential bottlenecks caused due to data movement characteristics of AI workloads on scale-out accelerator architectures composed of multiple chiplets. Our methodology captures the unicast and multicast communication traffic of a set of AI workloads and assesses aspects such as the time spent in such communications and the amount of multicast messages as a function of the number of employed chiplets. Our studies reveal that some AI workloads are potentially vulnerable to the dominant effects of communication, especially multicast traffic, which can become a performance bottleneck and limit their scalability. Workload profiling insights suggest to architect a flexible interconnect solution at chiplet level in order to improve the performance, efficiency and scalability of next-generation AI accelerators.

cs.AR↗

arXiv2025

ViM-Disparity: Bridging the Gap of Speed, Accuracy and Memory for Disparity Map Generation

In this work we propose a Visual Mamba (ViM) based architecture, to dissolve the existing trade-off for real-time and accurate model with low computation overhead for disparity map generation (DMG). Moreover, we proposed a performance measure that can jointly evaluate the inference speed, computation overhead and the accurateness of a DMG model. The code implementation and corresponding models are available at: https://github.com/MBora/ViM-Disparity.

cs.CV↗

arXiv2024

A Data-Driven Approach to Dataflow-Aware Online Scheduling for Graph Neural Network Inference

Graph Neural Networks (GNNs) have shown significant promise in various domains, such as recommendation systems, bioinformatics, and network analysis. However, the irregularity of graph data poses unique challenges for efficient computation, leading to the development of specialized GNN accelerator architectures that surpass traditional CPU and GPU performance. Despite this, the structural diversity of input graphs results in varying performance across different GNN accelerators, depending on their dataflows. This variability in performance due to differing dataflows and graph properties remains largely unexplored, limiting the adaptability of GNN accelerators. To address this, we propose a data-driven framework for dataflow-aware latency prediction in GNN inference. Our approach involves training regressors to predict the latency of executing specific graphs on particular dataflows, using simulations on synthetic graphs. Experimental results indicate that our regressors can predict the optimal dataflow for a given graph with up to 91.28% accuracy and a Mean Absolute Percentage Error (MAPE) of 3.78%. Additionally, we introduce an online scheduling algorithm that uses these regressors to enhance scheduling decisions. Our experiments demonstrate that this algorithm achieves up to $3.17\times$ speedup in mean completion time and $6.26\times$ speedup in mean execution time compared to the best feasible baseline across all datasets.

cs.LG↗

arXiv2024

KDC-MAE: Knowledge Distilled Contrastive Mask Auto-Encoder

In this work, we attempted to extend the thought and showcase a way forward for the Self-supervised Learning (SSL) learning paradigm by combining contrastive learning, self-distillation (knowledge distillation) and masked data modelling, the three major SSL frameworks, to learn a joint and coordinated representation. The proposed technique of SSL learns by the collaborative power of different learning objectives of SSL. Hence to jointly learn the different SSL objectives we proposed a new SSL architecture KDC-MAE, a complementary masking strategy to learn the modular correspondence, and a weighted way to combine them coordinately. Experimental results conclude that the contrastive masking correspondence along with the KD learning objective has lent a hand to performing better learning for multiple modalities over multiple tasks.

cs.CV↗

arXiv2024

Self-supervised Auxiliary Learning for Texture and Model-based Hybrid Robust and Fair Featuring in Face Analysis

In this work, we explore Self-supervised Learning (SSL) as an auxiliary task to blend the texture-based local descriptors into feature modelling for efficient face analysis. Combining a primary task and a self-supervised auxiliary task is beneficial for robust representation. Therefore, we used the SSL task of mask auto-encoder (MAE) as an auxiliary task to reconstruct texture features such as local patterns along with the primary task for robust and unbiased face analysis. We experimented with our hypothesis on three major paradigms of face analysis: face attribute and face-based emotion analysis, and deepfake detection. Our experiment results exhibit that better feature representation can be gleaned from our proposed model for fair and bias-less face analysis.

cs.CV↗

arXiv2024

A MAC Protocol with Time Reversal for Wireless Networks within Computing Packages

Wireless Network-on-Chip (WNoC) is a promising concept which provides a solution to overcome the scalability issues in prevailing networks-in-package for many-core processors. However, the electromagnetic propagation inside the chip package leads to energy reverberation, resulting in Inter-Symbol Interference (ISI) with high delay spreads. Time Reversal (TR) is a technique that benefits the unique time-invariant channel with rich multipath effects to focus the energy to the desired transceiver. TR mitigates both ISI and co-channel interference, hence providing parallel communications in both space and time. Thus, TR is a versatile candidate to improve the aggregate bandwidth of wireless on-chip networks provided that a Medium Access Control (MAC) is used to efficiently share the wireless medium. In this paper, we explore a simple yet resilient TR-based MAC protocol (TR-MAC) design for WNoC. We propose to manage multiple parallel transmissions with simultaneous spatial channels in the same time slot with TR precoding and focused energy detection at the transceiver. Our results show that TR-MAC can be employed in massive computing architectures with improved latency and throughput while matching with the stringent requirements of the physical layer.

cs.ET↗

arXiv2024

Multi-Objective Hardware-Mapping Co-Optimisation for Multi-DNN Workloads on Chiplet-based Accelerators

The need to efficiently execute different Deep Neural Networks (DNNs) on the same computing platform, coupled with the requirement for easy scalability, makes Multi-Chip Module (MCM)-based accelerators a preferred design choice. Such an accelerator brings together heterogeneous sub-accelerators in the form of chiplets, interconnected by a Network-on-Package (NoP). This paper addresses the challenge of selecting the most suitable sub-accelerators, configuring them, determining their optimal placement in the NoP, and mapping the layers of a predetermined set of DNNs spatially and temporally. The objective is to minimise execution time and energy consumption during parallel execution while also minimising the overall cost, specifically the silicon area, of the accelerator. This paper presents MOHaM, a framework for multi-objective hardware-mapping co-optimisation for multi-DNN workloads on chiplet-based accelerators. MOHaM exploits a multi-objective evolutionary algorithm that has been specialised for the given problem by incorporating several customised genetic operators. MOHaM is evaluated against state-of-the-art Design Space Exploration (DSE) frameworks on different multi-DNN workload scenarios. The solutions discovered by MOHaM are Pareto optimal compared to those by the state-of-the-art. Specifically, MOHaM-generated accelerator designs can reduce latency by up to $96\%$ and energy by up to $96.12\%$.

cs.AR↗

arXiv2024

MDIW-13: a New Multi-Lingual and Multi-Script Database and Benchmark for Script Identification

Script identification plays a vital role in applications that involve handwriting and document analysis within a multi-script and multi-lingual environment. Moreover, it exhibits a profound connection with human cognition. This paper provides a new database for benchmarking script identification algorithms, which contains both printed and handwritten documents collected from a wide variety of scripts, such as Arabic, Bengali (Bangla), Gujarati, Gurmukhi, Devanagari, Japanese, Kannada, Malayalam, Oriya, Roman, Tamil, Telugu, and Thai. The dataset consists of 1,135 documents scanned from local newspaper and handwritten letters as well as notes from different native writers. Further, these documents are segmented into lines and words, comprising a total of 13,979 and 86,655 lines and words, respectively, in the dataset. Easy-to-go benchmarks are proposed with handcrafted and deep learning methods. The benchmark includes results at the document, line, and word levels with printed and handwritten documents. Results of script identification independent of the document/line/word level and independent of the printed/handwritten letters are also given. The new multi-lingual database is expected to create new script identifiers, present various challenges, including identifying handwritten and printed samples and serve as a foundation for future research in script identification based on the reported results of the three benchmarks.

cs.CV↗