arXiv subjects

Erencem Ozbey

Publications and source records attributed to Erencem Ozbey.

4 recordsLinked to original sources

arXiv2026

StARS: Socially Appropriate Robot Actions via a Recommender System-Driven Approach

Social appropriateness in human-robot interaction (HRI) is not universal: different people can judge the same robot action differently in the same situation. To capture this inter-subject variability, we reformulate socially appropriate action generation as a preference modelling problem inspired by recommender systems, treating annotators as users, contexts/scenes as items, and appropriateness scores over a set of candidate robot actions as targets. We propose StARS, a novel model-agnostic framework that integrates collaborative filtering with learnable scene representations to generate user-specific appropriateness scores over candidate robot actions. StARS is model-agnostic: it can be integrated with various scene encoders and backbones, enabling personalisation without redesigning the underlying model. We evaluate StARS on two socially aware robotics datasets, MannersDB+ and SocNav1, and analyse robustness under sparse preference feedback. Across datasets and backbones, StARS consistently improves performance and agreement with annotators, supporting personalised action selection aligned with user norms. Our code is publicly available at https://github.com/Cambridge-AFAR/StARS.git.

cs.RO↗

arXiv2026

Belief-Adaptive MAP Detection for Molecular ISI Channels with Heteroscedastic Noise

Inter-symbol interference (ISI) with heteroscedastic (state-dependent) noise is a defining feature of molecular communication via diffusion (MCvD). However, such noise variance dependency across ISI states has not been systematically considered in prior detector designs. This letter introduces two decoding mechanisms, Belief-Adaptive Maximum A Posteriori (BA-MAP) and Soft BA-MAP, that explicitly incorporate state-dependent count means and variances of the molecular channel. The BA-MAP method derives per-symbol adaptive MAP thresholds based on the receiver's current state beliefs, whereas Soft BA-MAP computes mixture log-likelihood ratios by weighting all possible ISI states. Simulation and analyses confirm that the proposed detectors outperform conventional equalization and fixed-threshold methods, and approach ideal zero-decision-delay MAP detection with perfect ISI-state knowledge.

cs.IT↗

arXiv2025

Clustering Guided Residual Neural Networks for Multi-Tx Localization in Molecular Communications

Transmitter localization in Molecular Communication via Diffusion is a critical topic with many applications. However, accurate localization of multiple transmitters is a challenging problem due to the stochastic nature of diffusion and overlapping molecule distributions at the receiver surface. To address these issues, we introduce clustering-based centroid correction methods that enhance robustness against density variations, and outliers. In addition, we propose two clusteringguided Residual Neural Networks, namely AngleNN for direction refinement and SizeNN for cluster size estimation. Experimental results show that both approaches provide significant improvements with reducing localization error between 69% (2-Tx) and 43% (4-Tx) compared to the K-means.

cs.LG↗

arXiv2025

Dimensionally Reduced Open-World Clustering: DROWCULA

Working with annotated data is the cornerstone of supervised learning. Nevertheless, providing labels to instances is a task that requires significant human effort. Several critical real-world applications make things more complicated because no matter how many labels may have been identified in a task of interest, it could be the case that examples corresponding to novel classes may appear in the future. Not unsurprisingly, prior work in this, so-called, `open-world' context has focused a lot on semi-supervised approaches. Focusing on image classification, somehow paradoxically, we propose a fully unsupervised approach to the problem of determining the novel categories in a particular dataset. Our approach relies on estimating the number of clusters using Vision Transformers, which utilize attention mechanisms to generate vector embeddings. Furthermore, we incorporate manifold learning techniques to refine these embeddings by exploiting the intrinsic geometry of the data, thereby enhancing the overall image clustering performance. Overall, we establish new State-of-the-Art results on single-modal clustering and Novel Class Discovery on CIFAR-10, CIFAR-100, ImageNet-100, and Tiny ImageNet. We do so, both when the number of clusters is known or unknown ahead of time. The code is available at: https://github.com/DROWCULA/DROWCULA.

cs.CV↗