arXiv subjects

Akshay Narayan

Publications and source records attributed to Akshay Narayan.

9 recordsLinked to original sources

arXiv2026

Radio-to-Pose Information for Gauge-Drift Correction in Cooperative Localization

Cooperative localization uses odometry and inter-robot measurements to estimate the motion of a robot team. These measurements describe only relative geometry, but the team's estimated position and orientation can drift together over time, i.e., gauge drift. In this work, we study correction of this gauge drift using a radio attenuation map registered in the same world coordinate frame used for robot poses. Specifically, we propose Radio-to-Pose Information (RPI), an interface that converts power residuals and their pose derivatives into a Gaussian information matrix and vector pair. RPI builds on the insight that received power is sensitive to shared displacement in the world map. The pose estimator uses the interface together with odometry and inter-robot measurements to update poses and minimize uncertainty. We characterize the shared motions detectable from the map and observed links. For an uncertain shared map, RPI keeps correlations across robots and time and reproduces joint Gaussian pose estimates and covariances. Across $1000$ simulated Gaussian trials, RPI matches the results of joint estimation. Across 32 paired trials with a registered map, RPI reduces common-position RMSE from $0.542$m to $0.140$m in a $50\times50$m arena compared with a baseline that uses radio only to weight relative measurements.

cs.RO↗

arXiv2026

Prediction bias in biological ageing markers

Biological ageing markers have attracted growing interest, with models estimating age from organ imaging or blood biomarkers. An estimated age above chronological age or the age-specific population expectation is assumed to reflect accelerated ageing and poorer health. Previous research has supported this assumption through positive associations between disease and age gaps or acceleration. However, in this study, we identified a widespread health-dependent prediction bias in ageing markers that affects their key interpretation and application. Specifically, we investigated five ageing markers derived from retinal images, brain MRI, chest radiographs, abdominal CT, and blood tests, and evaluated them using association analyses. We observed the well-recognised phenomenon of regression to the mean (RTM) in the four organ-image based markers, whereby estimated ages were shifted towards the mean age of the training cohort. More importantly, we revealed that the strength of RTM varied with health status, with stronger RTM in unhealthy than in healthy individuals. This differential RTM introduced a health-dependent prediction bias that persisted after calibration and systematically altered associations across age subgroups, suggesting that whole cohort associations may not reflect those observed within individual age subgroups. Additionally, we showed that the tested ageing markers, including PhenoAge derived from blood biomarkers, had limited ability to distinguish health status at the individual level. These findings call for careful interpretation of biological ageing markers and their use in clinical studies, and highlight the need for further development and validation before these ageing markers can reliably inform individual health assessments.

q-bio.QM↗

arXiv2026

When Do Reactive Notebooks Fail to React?

Computational notebooks are convenient for programmers, but can easily become confusing and inconsistent due to the ability to incrementally edit a program that is running. Recent reactive notebook systems, such as Ipyflow, Marimo and Observable, strive to keep notebook state in sync with the current cell code by re-executing a minimal set of cells upon modification. However, each system defines reactivity a different way. Additionally, within any definition, we find simple notebook modifications that can break each system. Overall, these inconsistencies make it difficult for users to construct a mental model of their reactive notebook's implementation. This paper proposes Rex, a fine-grained test suite to discuss and assess reactivity capabilities within reactive notebook systems. We evaluate Rex on three existing reactive notebook systems and classify their failures with the aims of (i) helping programmers understand when reactivity fails and (ii) helping notebook implementations improve.

cs.HC↗

arXiv2026

Assistants, Not Architects: The Role of LLMs in Networked Systems Design

Designing the architecture of modern networked systems requires navigating a large, combinatorial space of hardware, systems, and configuration choices with complex cross-layer interactions. Architects must balance competing objectives such as performance, cost, and deployability while satisfying compatibility and resource constraints, often relying on scattered rules-of-thumb drawn from benchmarks, papers, documentation, and expert experience. This raises a natural question: can large language models (LLMs) reliably perform this kind of architectural reasoning? We find that they cannot. While LLMs produce plausible configurations, they frequently miss critical constraints, encode incorrect assumptions, and exhibit ``stickiness'' to familiar patterns. A natural workaround--iterative validation via simulation or experimentation--is often prohibitively expensive at scale and, in many cases, infeasible, particularly when comparing hardware-dependent alternatives. Motivated by this gap, we present Kepler, a lightweight reasoning framework for architecture design that combines structured, expert-driven specifications with SMT-based optimization. Kepler encodes architecturally significant properties--requirements, incompatibilities, and qualitative trade-offs--about systems, hardware, and workloads as constraints, and synthesizes feasible designs that optimize user-defined objectives. It operates at an abstract level, capturing ``rules-of-thumb'' rather than detailed system behavior, enabling tractable reasoning while preserving key interactions, and provides explanations for its decisions. Through experiments and case studies, we show that Kepler uncovers interactions missed by LLMs and supports systematic, explainable design exploration.

cs.NI↗

arXiv2024

Towards Regulatable AI Systems: Technical Gaps and Policy Opportunities

There is increasing attention being given to how to regulate AI systems. As governing bodies grapple with what values to encapsulate into regulation, we consider the technical half of the question: To what extent can AI experts vet an AI system for adherence to regulatory requirements? We investigate this question through the lens of two public sector procurement checklists, identifying what we can do now, what should be possible with technical innovation, and what requirements need a more interdisciplinary approach.

cs.AI↗

arXiv2023

Bringing Reconfigurability to the Network Stack

Reconfiguring the network stack allows applications to specialize the implementations of communication libraries depending on where they run, the requests they serve, and the performance they need to provide. Specializing applications in this way is challenging because developers need to choose the libraries they use when writing a program and cannot easily change them at runtime. This paper introduces Bertha, which allows these choices to be changed at runtime without limiting developer flexibility in the choice of network and communication functions. Bertha allows applications to safely use optimized communication primitives (including ones with deployment limitations) without limiting deployability. Our evaluation shows cases where this results in 16x higher throughput and 63% lower latency than current portable approaches while imposing minimal overheads when compared to a hand-optimized versions that use deployment-specific communication primitives.

cs.NI↗

arXiv2021

Site-to-Site Internet Traffic Control

Queues allow network operators to control traffic: where queues build, they can enforce scheduling and shaping policies. In the Internet today, however, there is a mismatch between where queues build and where control is most effectively enforced; queues build at bottleneck links that are often not under the control of the data sender. To resolve this mismatch, we propose a new kind of middlebox, called Bundler. Bundler uses a novel inner control loop between a sendbox (in the sender's site) and a receivebox (in the receiver's site) to determine the aggregate rate for the bundle, leaving the end-to-end connections and their control loops intact. Enforcing this sending rate ensures that bottleneck queues that would have built up from the bundle's packets now shift from the bottleneck to the sendbox. The sendbox then exercises control over its traffic by scheduling packets to achieve higher-level objectives. We have implemented Bundler in Linux and evaluated it with real-world and emulation experiments. We find that Bundler allows the sender-chosen policy to be effective: when configured to implement Stochastic Fairness Queueing (SFQ), it improves median flow completion time (FCT) by between 28% and 97% across various scenarios.

cs.NI↗

arXiv2020

Hierarchical Reinforcement Learning in StarCraft II with Human Expertise in Subgoals Selection

This work is inspired by recent advances in hierarchical reinforcement learning (HRL) (Barto and Mahadevan 2003; Hengst 2010), and improvements in learning efficiency from heuristic-based subgoal selection, experience replay (Lin 1993; Andrychowicz et al. 2017), and task-based curriculum learning (Bengio et al. 2009; Zaremba and Sutskever 2014). We propose a new method to integrate HRL, experience replay and effective subgoal selection through an implicit curriculum design based on human expertise to support sample-efficient learning and enhance interpretability of the agent's behavior. Human expertise remains indispensable in many areas such as medicine (Buch, Ahmed, and Maruthappu 2018) and law (Cath 2018), where interpretability, explainability and transparency are crucial in the decision making process, for ethical and legal reasons. Our method simplifies the complex task sets for achieving the overall objectives by decomposing them into subgoals at different levels of abstraction. Incorporating relevant subjective knowledge also significantly reduces the computational resources spent in exploration for RL, especially in high speed, changing, and complex environments where the transition dynamics cannot be effectively learned and modelled in a short time. Experimental results in two StarCraft II (SC2) (Vinyals et al. 2017) minigames demonstrate that our method can achieve better sample efficiency than flat and end-to-end RL methods, and provides an effective method for explaining the agent's performance.

cs.AI↗

arXiv2020

Elasticity Detection: A Building Block for Internet Congestion Control

This paper introduces Nimbus, a robust technique to detect whether the cross traffic competing with a flow is "elastic", and shows that this elasticity detector improves congestion control. If cross traffic is inelastic, then a sender can control queueing delays while achieving high throughput, but in the presence of elastic traffic, it may lose throughput if it attempts to control packet delay. To estimate elasticity, Nimbus modulates the flow's sending rate with sinusoidal pulses that create small traffic fluctuations at the bottleneck link, and measures the frequency response of the rate of the cross traffic. Our results on emulated and real-world paths show that congestion control using elasticity detection achieves throughput comparable to Cubic, but with delays that are 50-70 ms lower when cross traffic is inelastic. Nimbus detects the nature of the cross traffic more accurately than Copa, and is usable as a building block by other end-to-end algorithms.

cs.NI↗