arXiv subjects

Mihir Chauhan

Publications and source records attributed to Mihir Chauhan.

12 recordsLinked to original sources

arXiv2026

HEROIC: Heterogeneous Evidential Reasoning for Open-Vocabulary Identification and Cross-Robot Collaboration

Multi-agent heterogeneous air-ground robot teams are attractive for open world search, with applications for reconnaissance, urban search and rescue missions (USAR), disaster response and recovery, and hazardous environments. These two platforms have different failure modes: aerial robots cover ground quickly but cannot resolve small or occluded targets from altitude, while ground robots can identify objects-of-interest, such as people or hazardous objects, at close range but cover less area. Existing language-tasked teams either have roles fixed prior, or have a language model assign them from hand-written capability tags, so the team is unable to know when within a mission an asset is no longer useful. We present HEROIC, a decentralized heterogeneous multi-agent open-vocabulary search coordination framework that requires agents to communicate in natural language only. HEROIC's initial agent role assignment is derived from sensor properties and a scale law to determine whether targets can be detected with a high confidence. From the mission's natural language prompt alone, this law assigns aerial flight altitudes and sweep spacing. When this calculated height falls below the altitude for safe flight, aerial agents re-task themselves from searcher to aerial triage, escort, and route guide for ground agents. Both robots maintain an evidential belief over the search area (bearing rays for positive evidence, a log-odds posterior for negative evidence) and gate any arrival on close-range verification. In full-stack experiments, HEROIC reaches the target 84% of the time across all 6 scenes, compares to 35-54% for vision-language frontier baselines, frontier-based search, lawnmower, and random-walk running the same perception, all while being 2-4x sooner to arrive at the target.

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arXiv2026

Noctif3R: Feed-Forward Monocular Real-Time SLAM for Photon-Limited Scenes on Embedded Hardware

Robots carrying out tasks in dark environments need to localize from a single RGB camera, in light so low that the per-pixel signal approaches the sensor's own noise, on a power-constrained onboard computer, in real time. Each of these constraints has matured pipelines, but the intersection does not. Offline low-light reconstruction now recovers structure below -4 dB but is far too slow to run in real time, while the real-time monocular systems a robot can actually carry (DROID-SLAM, DPV-SLAM, etc.) degrade or fail when SNR gets low. We measured how they fail: across the nine lowest darkness levels of our scenes, DROID-SLAM returns a full-length trajectory carrying no information about the camera's motion on all nine, VGGT-SLAM and CUT3R on eight, pi^3 on seven, and DPV-SLAM on four. We present SYS, a monocular pipeline built on a low-light feed-forward pointmap front end with an explicit match gate, which returns three tracked trajectories and no uninformative ones, at the lowest error of any method where it tracks (24-47% of the no-information ceiling against 56-73% for the strongest baseline), and at the narrowest coverage. On a real robot video take in which 86.5% of delivered frames are entirely black, every configuration of ours stops after the lit beginning, while DROID-SLAM and DPV-SLAM each emit a pose for all 1178 frames. Our method contribution is an embedded execution path for the Jetson AGX Orin: running the map, keyframes and backend at 384 pixels with tracking at 256, together with two fixes to the per-frame pose solve, is a replicated Pareto improvement, 1.28x throughput at 0.964x error on one scene and 1.42x at 0.68x on a second, with 47% less peak GPU memory and 29% less energy per pose. We evaluate on a calibrated, bit-exact regenerable noise ladder, on relabelled real-world dark exposures, and on a new dark-room video ladder recorded from a Boston Dynamics Spot robot.

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arXiv2026

Mollified Value Learning

Offline goal-conditioned reinforcement learning (GCRL) learns goal-reaching behaviors from static datasets, but accurate value estimation remains challenging under limited state-action coverage. Existing physics-informed approaches address this by imposing pointwise distance-like geometric constraints derived from Hamilton--Jacobi--Bellman (HJB) optimality principles, often through first-order partial differential equations such as the Eikonal equation. However, enforcing local consistency through explicit differential structure can become unstable in complex, high-dimensional environments. Our key insight is to instead reinterpret distance-like constraints as an expectation over a local spatial measure. By aggregating constraints over this measure rather than evaluating them pointwise, the objective acts as a spatial mollifier, inducing distance-like value geometry without requiring expensive differential operators. We refer to this as Mollified Value Learning (MVL). Experiments across navigation and high-dimensional robotic manipulation tasks show that MVL learns structured, value representations, improving goal-reaching performance, when used with implicit value representation learning methods. Open-source codes are available at https://github.com/HrishikeshVish/MVL.

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arXiv2026

HAVEN: Hierarchical Adversary-aware Visibility-Enabled Navigation with Cover Utilization using Deep Transformer Q-Networks

Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from urban driving and warehouse automation to defense and surveillance. Classical path planning approaches and memoryless reinforcement learning often fail under limited fields of view (FoVs) and occlusions, committing to unsafe or inefficient maneuvers. We propose a hierarchical navigation framework that integrates a Deep Transformer Q-Network (DTQN) as a high-level subgoal selector with a modular low-level controller for waypoint execution. The DTQN consumes short histories of task-aware features, encoding odometry, goal direction, obstacle proximity, and visibility cues, and outputs Q-values to rank candidate subgoals. Visibility-aware candidate generation introduces masking and exposure penalties, rewarding the use of cover and anticipatory safety. A low-level potential field controller then tracks the selected subgoal, ensuring smooth short-horizon obstacle avoidance. We validate our approach in 2D simulation and extend it directly to a 3D Unity-ROS environment by projecting point-cloud perception into the same feature schema, enabling transfer without architectural changes. Results show consistent improvements over classical planners and RL baselines in success rate, safety margins, and time to goal, with ablations confirming the value of temporal memory and visibility-aware candidate design. These findings highlight a generalizable framework for safe navigation under uncertainty, with broad relevance across robotic platforms.

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arXiv2024

LAViTeR: Learning Aligned Visual and Textual Representations Assisted by Image and Caption Generation

Pre-training visual and textual representations from large-scale image-text pairs is becoming a standard approach for many downstream vision-language tasks. The transformer-based models learn inter and intra-modal attention through a list of self-supervised learning tasks. This paper proposes LAViTeR, a novel architecture for visual and textual representation learning. The main module, Visual Textual Alignment (VTA) will be assisted by two auxiliary tasks, GAN-based image synthesis and Image Captioning. We also propose a new evaluation metric measuring the similarity between the learnt visual and textual embedding. The experimental results on two public datasets, CUB and MS-COCO, demonstrate superior visual and textual representation alignment in the joint feature embedding space

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arXiv2024

Self-Supervised Learning Based Handwriting Verification

We present SSL-HV: Self-Supervised Learning approaches applied to the task of Handwriting Verification. This task involves determining whether a given pair of handwritten images originate from the same or different writer distribution. We have compared the performance of multiple generative, contrastive SSL approaches against handcrafted feature extractors and supervised learning on CEDAR AND dataset. We show that ResNet based Variational Auto-Encoder (VAE) outperforms other generative approaches achieving 76.3% accuracy, while ResNet-18 fine-tuned using Variance-Invariance-Covariance Regularization (VICReg) outperforms other contrastive approaches achieving 78% accuracy. Using a pre-trained VAE and VICReg for the downstream task of writer verification we observed a relative improvement in accuracy of 6.7% and 9% over ResNet-18 supervised baseline with 10% writer labels.

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arXiv2024

Vision-Language Model Based Handwriting Verification

Handwriting Verification is a critical in document forensics. Deep learning based approaches often face skepticism from forensic document examiners due to their lack of explainability and reliance on extensive training data and handcrafted features. This paper explores using Vision Language Models (VLMs), such as OpenAI's GPT-4o and Google's PaliGemma, to address these challenges. By leveraging their Visual Question Answering capabilities and 0-shot Chain-of-Thought (CoT) reasoning, our goal is to provide clear, human-understandable explanations for model decisions. Our experiments on the CEDAR handwriting dataset demonstrate that VLMs offer enhanced interpretability, reduce the need for large training datasets, and adapt better to diverse handwriting styles. However, results show that the CNN-based ResNet-18 architecture outperforms the 0-shot CoT prompt engineering approach with GPT-4o (Accuracy: 70%) and supervised fine-tuned PaliGemma (Accuracy: 71%), achieving an accuracy of 84% on the CEDAR AND dataset. These findings highlight the potential of VLMs in generating human-interpretable decisions while underscoring the need for further advancements to match the performance of specialized deep learning models.

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arXiv2021

Ultra Efficient Transfer Learning with Meta Update for Cross Subject EEG Classification

The pattern of Electroencephalogram (EEG) signal differs significantly across different subjects, and poses challenge for EEG classifiers in terms of 1) effectively adapting a learned classifier onto a new subject, 2) retaining knowledge of known subjects after the adaptation. We propose an efficient transfer learning method, named Meta UPdate Strategy (MUPS-EEG), for continuous EEG classification across different subjects. The model learns effective representations with meta update which accelerates adaptation on new subject and mitigate forgetting of knowledge on previous subjects at the same time. The proposed mechanism originates from meta learning and works to 1) find feature representation that is broadly suitable for different subjects, 2) maximizes sensitivity of loss function for fast adaptation on new subject. The method can be applied to all deep learning oriented models. Extensive experiments on two public datasets demonstrate the effectiveness of the proposed model, outperforming current state of the arts by a large margin in terms of both adapting on new subject and retain knowledge of learned subjects.

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arXiv2020

Attention based Writer Independent Handwriting Verification

The task of writer verification is to provide a likelihood score for whether the queried and known handwritten image samples belong to the same writer or not. Such a task calls for the neural network to make it's outcome interpretable, i.e. provide a view into the network's decision making process. We implement and integrate cross-attention and soft-attention mechanisms to capture the highly correlated and salient points in feature space of 2D inputs. The attention maps serve as an explanation premise for the network's output likelihood score. The attention mechanism also allows the network to focus more on relevant areas of the input, thus improving the classification performance. Our proposed approach achieves a precision of 86\% for detecting intra-writer cases in CEDAR cursive "AND" dataset. Furthermore, we generate meaningful explanations for the provided decision by extracting attention maps from multiple levels of the network.

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arXiv2019

Explanation based Handwriting Verification

Deep learning system have drawback that their output is not accompanied with ex-planation. In a domain such as forensic handwriting verification it is essential to provideexplanation to jurors. The goal of handwriting verification is to find a measure of confi-dence whether the given handwritten samples are written by the same or different writer.We propose a method to generate explanations for the confidence provided by convolu-tional neural network (CNN) which maps the input image to 15 annotations (features)provided by experts. Our system comprises of: (1) Feature learning network (FLN),a differentiable system, (2) Inference module for providing explanations. Furthermore,inference module provides two types of explanations: (a) Based on cosine similaritybetween categorical probabilities of each feature, (b) Based on Log-Likelihood Ratio(LLR) using directed probabilistic graphical model. We perform experiments using acombination of feature learning network (FLN) and each inference module. We evaluateour system using XAI-AND dataset, containing 13700 handwritten samples and 15 cor-responding expert examined features for each sample. The dataset is released for publicuse and the methods can be extended to provide explanations on other verification taskslike face verification and bio-medical comparison. This dataset can serve as the basis and benchmark for future research in explanation based handwriting verification. The code is available on github.

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arXiv2018

Hybrid Feature Learning for Handwriting Verification

We propose an effective Hybrid Deep Learning (HDL) architecture for the task of determining the probability that a questioned handwritten word has been written by a known writer. HDL is an amalgamation of Auto-Learned Features (ALF) and Human-Engineered Features (HEF). To extract auto-learned features we use two methods: First, Two Channel Convolutional Neural Network (TC-CNN); Second, Two Channel Autoencoder (TC-AE). Furthermore, human-engineered features are extracted by using two methods: First, Gradient Structural Concavity (GSC); Second, Scale Invariant Feature Transform (SIFT). Experiments are performed by complementing one of the HEF methods with one ALF method on 150000 pairs of samples of the word "AND" cropped from handwritten notes written by 1500 writers. Our results indicate that HDL architecture with AE-GSC achieves 99.7% accuracy on seen writer dataset and 92.16% accuracy on shuffled writer dataset which out performs CEDAR-FOX, as for unseen writer dataset, AE-SIFT performs comparable to this sophisticated handwriting comparison tool.

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arXiv2015

LiFi - Let There Be Light

The paper proclaims a summary of Li-Fi technology. It is an efficient data communication mechanism involving visible light as a medium of transmission. This monograph introduces the concept of Li-Fi and its working model. Furthermore, it discusses its benefits, shortcomings and examines ways to mitigate the drawbacks. Additionally, it analyzes its present applications and explores its future scope in the competitive wireless network market.

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