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Nilanjan Chakraborty

Publications and source records attributed to Nilanjan Chakraborty.

At least 19 recordsLinked to original sources

Berry--Esseen bounds and bootstrap approximations for the Hilbert-space norm of $U$-statistics

We establish non-asymptotic Berry--Esseen bounds and bootstrap approximations for the Hilbert-space norm of nondegenerate $U$-statistics. Our triangular-array framework allows the kernel to take values in a separable Hilbert space $H_n$ that may vary with the sample size, thereby covering both infinite-dimensional spaces and Euclidean spaces of increasing dimension. The Gaussian approximation combines a Hilbert-space version of Stein's method with refined control of the higher-order terms in the Hoeffding decomposition. Its error depends on fourth moments of the kernel and on the spectral geometry of the covariance operator of the Hájek projection, particularly the proportion of squared spectral mass lying outside the leading eigendirection. Consequently, the theory accommodates singular and approximately low-rank covariance operators, provided that sufficient spectral mass remains beyond the leading direction. For $H_n=\mathbb{R}^{d_n}$, we obtain dimension-explicit bounds under coordinatewise fourth-moment conditions. We also establish approximation bounds for the empirical, Gaussian-weighted, and jackknife multiplier bootstraps, yielding tests with asymptotically correct size and consistency against alternatives at covariance-dependent separation rates. For testing the vector of pairwise Kendall's tau coefficients, a matching minimax lower bound shows that the resulting separation rate is minimax rate-optimal over dense Gaussian correlation alternatives.

math.ST

Robotic Nanoparticle Synthesis via Solution-based Processes

We present a screw geometry-based manipulation planning framework for the robotic automation of solution-based synthesis, exemplified through the preparation of gold and magnetite nanoparticles. The synthesis protocols are inherently long-horizon, multi-step tasks, requiring skills such as pick-and-place, pouring, turning a knob, and periodic visual inspection to detect reaction completion. A central challenge is that some skills, notably pouring, transferring containers with solutions, and turning a knob, impose geometric and kinematic constraints on the end-effector motion. To address this, we use a programming by demonstration paradigm where the constraints can be extracted from a single demonstration. This combination of screw-based motion representation and demonstration-driven specification enables domain experts, such as chemists, to readily adapt and reprogram the system for new experimental protocols and laboratory setups without requiring expertise in robotics or motion planning. We extract sequences of constant screws from demonstrations, which compactly encode the motion constraints while remaining coordinate-invariant. This representation enables robust generalization across variations in grasp placement and allows parameterized reuse of a skill learned from a single example. By composing these screw-parameterized primitives according to the synthesis protocol, the robot autonomously generates motion plans that execute the complete experiment over repeated runs. Our results highlight that screw-theoretic planning, combined with programming by demonstration, provides a rigorous and generalizable foundation for long-horizon laboratory automation, thereby enabling fundamental kinematics to have a translational impact on the use of robots in developing scalable solution-based synthesis protocols.

cs.RO

Testing Microbiome Community Differences in High Dimensions: A Bootstrap Approach for Compositional Data

Understanding differences in microbial community structure is critical for uncovering risk factors and mechanisms underlying diseases such as colorectal cancer and preterm birth. Microbiome data present unique statistical challenges because they are compositional in nature, violating assumptions of many classical inference procedures. We propose an empirical bootstrap framework that enables robust hypothesis testing for equality of microbial community means across groups, including two-sample, paired, and multi-sample settings. The method accounts for the simplex structure of microbiome data and provides valid inference even in high-dimensional regimes. Through applications to two large-scale studies, fecal microbiota in colorectal adenoma and cancer patients, and vaginal microbiota in pregnancy with preterm birth outcomes-we demonstrate that our approach identifies clinically meaningful differences that conventional methods fail to detect, such as age-related differences in adenoma prevalence and race-associated disparities in vaginal microbiome composition. These results highlight the potential of resampling-based inference for advancing microbiome research, improving reproducibility, and uncovering clinically relevant microbial signatures.

stat.ME

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control

Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints, and each represents a well-developed field. Despite addressing similar problems, their connection remains largely unexplored. This paper bridges this gap by formally proving the equivalence between these two methodologies for sampled-data, first-order systems, considering both single and multiple constraint scenarios. By demonstrating this equivalence, we provide a unified perspective on these techniques. This unification has theoretical and practical implications, facilitating the cross-application of robustness guarantees and algorithmic improvements between complementarity and CBF frameworks. We discuss these synergistic benefits and motivate future work in the comparison of the methods in more general cases.

cs.RO

Manipulation Planning for Construction Activities with Repetitive Tasks

In this paper, we study the problem of manipulation skill acquisition for performing construction activities consisting of repetitive tasks (e.g., building a wall or installing ceiling tiles). Our approach involves setting up a simulated construction activity in a Virtual Reality (VR) environment, where the user can provide demonstrations of the object manipulation skills needed to perform the construction activity. We then exploit the screw geometry of motion to approximate the demonstrated motion as a sequence of constant screw motions. For performing the construction activity, we generate the sequence of manipulation task instances and then compute the joint space motion plan corresponding to each instance using Screw Linear Interpolation (ScLERP) and Resolved Motion Rate Control (RMRC). We evaluate our framework by executing two representative construction tasks: constructing brick walls and installing multiple ceiling tiles. Each task is performed using only a single demonstration, a pick-and-place action for the bricks, and a single ceiling tile installation. Our experiments with a 7-DoF robot in both simulation and hardware demonstrate that the approach generalizes robustly to arbitrarily long construction activities that involve repetitive motions and demand precision, even when provided with just one demonstration. For instance, we can construct walls of arbitrary layout and length by leveraging a single demonstration of placing one brick on top of another.

cs.RO

A Unified Complementarity-based Approach for Rigid-Body Manipulation and Motion Prediction

Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate these regimes or rely on simplified contact representations, particularly when modeling non-convex or distributed contact patches. Such approximations limit the fidelity of contact-mode transitions and hinder the robust execution of contact-rich behaviors in real time. This paper presents a unified discrete-time modeling framework for robotic manipulation that consistently captures both free motion and frictional contact within a single mathematical formalism (Unicomp). Building on complementarity-based rigid-body dynamics, we formulate free-space motion and contact interactions as coupled linear and nonlinear complementarity problems, enabling principled transitions between contact modes without enforcing fixed-contact assumptions. For planar patch contact, we derive a frictional contact model from the maximum power dissipation principle in which the set of admissible contact wrenches is represented by an ellipsoidal limit surface. This representation captures coupled force-moment effects, including torsional friction, while remaining agnostic to the underlying pressure distribution across the contact patch. The resulting formulation yields a discrete-time predictive model that relates generalized velocities and contact wrenches through quadratic constraints and is suitable for real-time optimization-based planning. Experimental results show that the proposed approach enables stable, physically consistent behavior at interactive speeds across tasks, from planar pushing to contact-rich whole-body maneuvers.

cs.RO

Transferring Kinesthetic Demonstrations across Diverse Objects for Manipulation Planning

Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we need to simultaneously ensure that the implicit motion constraints are satisfied (glass held upright while moving), that the motion is collision-free, and that the task is successful (e.g., liquid is poured into the target container). We solve this problem by identifying the positions of critical locations and associating a reference frame (called "motion transfer frames") on the manipulated object and the target, selected based on their geometries and the task at hand. By tracking and transferring the path of the motion transfer frames, we generate motion plans for arbitrary task instances with objects of different geometries and poses. We show results from simulation as well as robot experiments on physical objects to evaluate the effectiveness of our solution. A video supplement is available on YouTube: https://youtu.be/RuG9zMXnfR8

cs.RO

Experimental Characterization of Fingertip Trajectory following for a 3-DoF Series-Parallel Hybrid Robotic Finger

Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While task-space planning and control have been extensively studied for larger, arm-scale manipulators, demonstrations of precise task-space trajectory tracking in compact, multi-DoF robotic fingers remain scarce. In this paper, we present the physical prototyping and experimental characterization of a three-degree-of-freedom, linkage-driven, series-parallel robotic finger with analytic forward kinematics and a closed-form Jacobian. A resolved motion rate control (RMRC) scheme is implemented to achieve closed-loop task-space trajectory tracking. We experimentally evaluate the fingertip tracking performance across a variety of trajectories, including straight lines, circles, and more complex curves, and report millimeter-level accuracy. To the best of our knowledge, this work provides one of the first systematic experimental demonstrations of precise task-space trajectory tracking in a linkage-driven robotic finger, thereby establishing a benchmark for future designs aimed at dexterous in-hand manipulation.

cs.RO

Assumption-lean Inference for Network-linked Data

We consider statistical inference for network-linked regression problems, where covariates may include network summary statistics computed for each node. In settings involving network data, it is often natural to posit that latent variables govern connection probabilities in the graph. Since the presence of these latent features makes classical regression assumptions even less tenable, we propose an assumption-lean framework for linear regression with jointly exchangeable regression arrays. We establish an analog of the Aldous-Hoover representation for such arrays, which may be of independent interest. Moreover, we consider two different projection parameters as potential targets and establish conditions under which asymptotic normality and bootstrap consistency hold when commonly used network statistics, including local subgraph frequencies and spectral embeddings, are used as covariates. In the case of linear regression with local count statistics, we show that a bias-corrected estimator allows one to target a more natural inferential target under weaker sparsity conditions compared to the OLS estimator. Our inferential tools are illustrated using both simulated data and real data related to the academic climate of elementary schools.

stat.ME

Statistical Inference for Subgraph Frequencies of Exchangeable Hyperedge Models

In statistical network analysis, models for binary adjacency matrices satisfying vertex exchangeability are commonly used. However, such models may fail to capture key features of the data-generating process when interactions, rather than nodes, are fundamental units. We study statistical inference for subgraph counts under an exchangeable hyperedge model. We introduce several classes of subgraph statistics for hypergraphs and develop inferential tools for subgraph frequencies that account for edge multiplicity. We show that a subclass of these subgraph statistics is robust to the deletion of low-degree nodes, enabling inference in settings where low-degree nodes are more likely to be missing. We also examine a more traditional notion of subgraph frequency that ignores multiplicity, showing that while inference based on limiting distributions is feasible in some cases, a non-degenerate limiting distribution may not exist in others. Empirically, we assess our methods through simulations and newly collected real-world hypergraph data on academic and movie collaborations, where our inferential tools outperform traditional approaches based on binary adjacency matrices.

stat.ME

Synthesizing Grasps and Regrasps for Complex Manipulation Tasks

In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire path, and the object may need to be regrasped. Additionally, geometric data for objects from a sensor are usually available in the form of point clouds. The problem of computing grasps and regrasps from point-cloud representation of objects for complex manipulation tasks is a key problem in endowing robots with manipulation capabilities beyond pick-and-place. In this paper, we formalize the problem of grasping/regrasping for complex manipulation tasks with objects represented by (partial) point clouds and present an algorithm to solve it. We represent a complex manipulation task as a sequence of constant screw motions. Using a manipulation plan skeleton as a sequence of constant screw motions, we use a grasp metric to find graspable regions on the object for every constant screw segment. The overlap of the graspable regions for contiguous screws are then used to determine when and how many times the object needs to be regrasped. We present experimental results on point cloud data collected from RGB-D sensors to illustrate our approach.

cs.RO

On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach

This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard. Optimization-based planners can tackle confined-space trajectory planning while being cognizant of robot constraints. However, introducing obstacles in this setting transforms the formulation into a non-convex problem (oftentimes with ill-posed bilinear constraints), which is non-trivial in a real-time setting. To this end, we present the FLIQC (Fast LInear Quadratic Complementarity based) motion planner. Our planner employs a novel motion model that captures the entire rigid robot as well as the obstacle geometry and ensures non-penetration between the surfaces due to the imposed constraint. We perform thorough comparative studies with the state-of-the-art, which demonstrate improved performance. Extensive simulation and hardware experiments validate our claim of generating continuous and reactive motion plans at 1 kHz for modern collaborative robots with constant minimal parameters.

cs.RO

Screw Geometry Meets Bandits: Incremental Acquisition of Demonstrations to Generate Manipulation Plans

In this paper, we study the problem of methodically obtaining a sufficient set of kinesthetic demonstrations, one at a time, such that a robot can be confident of its ability to perform a complex manipulation task in a given region of its workspace. Although Learning from Demonstrations has been an active area of research, the problems of checking whether a set of demonstrations is sufficient, and systematically seeking additional demonstrations have remained open. We present a novel approach to address these open problems using (i) a screw geometric representation to generate manipulation plans from demonstrations, which makes the sufficiency of a set of demonstrations measurable; (ii) a sampling strategy based on PAC-learning from multi-armed bandit optimization to evaluate the robot's ability to generate manipulation plans in a subregion of its task space; and (iii) a heuristic to seek additional demonstration from areas of weakness. Thus, we present an approach for the robot to incrementally and actively ask for new demonstration examples until the robot can assess with high confidence that it can perform the task successfully. We present experimental results on two example manipulation tasks, namely, pouring and scooping, to illustrate our approach. A short video on the method: https://youtu.be/R-qICICdEos

cs.RO

Provable Methods for Searching with an Imperfect Sensor

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between locations and search a location; we have a total time budget within which to conduct the search. We study the problem of computing a search path/strategy for the robot that maximizes the probability of detection of the target. Considering non-uniform travel times between points (e.g., based on the distance between them) is crucial for search and rescue applications; such problems have been investigated to a limited extent due to their inherent complexity. In this paper, we describe fast algorithms with performance guarantees for this search problem and some variants, complement them with complexity results, and perform experiments to observe their performance.

cs.RO

A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts

A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment contacts. In this paper, we study the problem of computing joint torques and grasping forces for time-optimal motion of an object, while ensuring that the grasp is not lost and any constraints on the motion of the object, either due to dynamics, environment contact, or no-slip requirements, are also satisfied. We present a second-order cone program (SOCP) formulation of the time-optimal trajectory planning problem that considers nonlinear friction cone constraints at the hand-object and object-environment contacts. Since SOCPs are convex optimization problems that can be solved optimally in polynomial time using interior point methods, we can solve the trajectory optimization problem efficiently. We present simulation results on three examples, including a non-prehensile manipulation task, which shows the generality and effectiveness of our approach.

cs.RO

Influence of preferential diffusion on the distribution of species in lean H2-air laminar premixed flames at different equivalence ratios

The influence of equivalence ratio on preferential diffusion effects and the resulting changes in the distributions of major species and their reaction rates have been analysed based on 2D simulations of lean ${\mathrm{H_2}}$-air laminar premixed flames, at $ϕ=0.4$ and $0.7$. The enhancements of burning rate, flame surface area, and stretch factor increase with decreasing equivalence ratio with the increase in stretch factor particularly prominent when the burning rate and flame area are evaluated based on normalised mass fraction variation of ${\mathrm{H_2}}$. The preferential diffusion effects have been demonstrated to lead to significant deviations of mass fractions of major species and their reaction rates from the corresponding 1D unstretched laminar premixed flame solution and local variations of equivalence ratio. This tendency is particularly strong for ${\mathrm{H_2}}$ among all the major species. Moreover, mass fractions of ${\mathrm{O_2}}$ and ${\mathrm{H_2O}}$ are found to assume super-adiabatic values at the super-adiabatic temperature zones and this trend is particularly strong for the $ϕ=0.4$ case. It has been demonstrated that the deviations of major species mass fractions and their reaction rates from their corresponding 1D unstretched laminar premixed flame values arise principally due to preferential diffusion effects induced by relative focussing/defocussing of species and heat at the positively and negatively curved regions with the nature of the deviations being opposite to each other depending on the sign of the curvature. The variations of normalised species mass fractions of $\mathrm{O_2}$ and $\mathrm{H_2O}$ are found to be significantly affected by the local equivalence ratio within the 2D laminar flame with $ϕ=0.4$ but these effects weaken with an increase in global equivalence ratio.

physics.flu-dyn

Containerized Vertical Farming Using Cobots

Containerized vertical farming is a type of vertical farming practice using hydroponics in which plants are grown in vertical layers within a mobile shipping container. Space limitations within shipping containers make the automation of different farming operations challenging. In this paper, we explore the use of cobots (i.e., collaborative robots) to automate two key farming operations, namely, the transplantation of saplings and the harvesting of grown plants. Our method uses a single demonstration from a farmer to extract the motion constraints associated with the tasks, namely, transplanting and harvesting, and can then generalize to different instances of the same task. For transplantation, the motion constraint arises during insertion of the sapling within the growing tube, whereas for harvesting, it arises during extraction from the growing tube. We present experimental results to show that using RGBD camera images (obtained from an eye-in-hand configuration) and one demonstration for each task, it is feasible to perform transplantation of saplings and harvesting of leafy greens using a cobot, without task-specific programming.

cs.RO

Task-Oriented Grasping with Point Cloud Representation of Objects

In this paper, we study the problem of task-oriented grasp synthesis from partial point cloud data using an eye-in-hand camera configuration. In task-oriented grasp synthesis, a grasp has to be selected so that the object is not lost during manipulation, and it is also ensured that adequate force/moment can be applied to perform the task. We formalize the notion of a gross manipulation task as a constant screw motion (or a sequence of constant screw motions) to be applied to the object after grasping. Using this notion of task, and a corresponding grasp quality metric developed in our prior work, we use a neural network to approximate a function for predicting the grasp quality metric on a cuboid shape. We show that by using a bounding box obtained from the partial point cloud of an object, and the grasp quality metric mentioned above, we can generate a good grasping region on the bounding box that can be used to compute an antipodal grasp on the actual object. Our algorithm does not use any manually labeled data or grasping simulator, thus making it very efficient to implement and integrate with screw linear interpolation-based motion planners. We present simulation as well as experimental results that show the effectiveness of our approach.

cs.RO