arXiv subjects

Pranav Mahajan

Publications and source records attributed to Pranav Mahajan.

6 recordsLinked to original sources

arXiv2026

Quantitative Movement Testing: Measuring Chronic Pain Patient Movements from a Single Smartphone Video

Chronic pain diminishes quality of life by decreasing functional ability, yet objectively measuring this functional impact remains challenging in real-world settings. While optical motion capture provides high precision for assessing altered movement quality, it is costly and restricted to laboratory environments. We aimed to develop and validate Quantitative Movement Testing (QMT), a computer vision pipeline extracting 3D kinematic biomarkers from standard monocular smartphone video, balancing clinical accessibility with biomechanical accuracy. We validated the QMT pipeline, utilising deep learning-based 3D pose-estimation, against gold-standard optical motion capture in healthy controls (N=13). Following leave-one-subject-out calibration to correct systematic bias, we deployed QMT in two prospective clinical cohorts to assess real-world utility: a pre- and post-intervention trial for fibromyalgia patients, and a 30-day longitudinal at-home monitoring study of chronic sciatica patients and healthy controls. In laboratory validation, QMT extracted clinical kinematic metrics with high agreement to optical motion capture, yielding strong correlations (r > 0.85) and low mean absolute errors. QMT demonstrated high test-retest reliability (r > 0.86) in fibromyalgia patients and successfully tracked day-to-day movement fluctuations in chronic sciatica. While real-world home settings introduced higher measurement variance than lab settings, QMT found group-level differences between healthy controls and sciatica patients based entirely on remote recordings. Monocular 3D pose estimation offers a scalable alternative to traditional assessments. QMT provides an objective, accessible biomarker for tracking disease progression and treatment response in clinical trials, though further research is needed to optimise reliability in home environments.

cs.HC↗

arXiv2026

Soft $Q(\lambda)$: A multi-step off-policy method for entropy regularised reinforcement learning using eligibility traces

Soft Q-learning has emerged as a versatile model-free method for entropy-regularised reinforcement learning, optimising for returns augmented with a penalty on the divergence from a reference policy. Despite its success, the multi-step extensions of soft Q-learning remain relatively unexplored and limited to on-policy action sampling under the Boltzmann policy. In this brief research note, we first present a formal $n$-step formulation for soft Q-learning and then extend this framework to the fully off-policy case by introducing a novel Soft Tree Backup operator. Finally, we unify these developments into Soft $Q(\lambda)$, an elegant online, off-policy, eligibility trace framework that allows for efficient credit assignment under arbitrary behaviour policies. Our derivations propose a model-free method for learning entropy-regularised value functions that can be utilised in future empirical experiments.

cs.LG↗

arXiv2026

Mind the Gap: How Elicitation Protocols Shape the Stated-Revealed Preference Gap in Language Models

Recent work identifies a stated-revealed (SvR) preference gap in language models (LMs): a mismatch between the values models endorse and the choices they make in context. Existing evaluations rely heavily on binary forced-choice prompting, which entangles genuine preferences with artifacts of the elicitation protocol. We systematically study how elicitation protocols affect SvR correlation across 24 LMs. Allowing neutrality and abstention during stated preference elicitation allows us to exclude weak signals, substantially improving Spearman's rank correlation ($\rho$) between volunteered stated preferences and forced-choice revealed preferences. However, further allowing abstention in revealed preferences drives $\rho$ to near-zero or negative values due to high neutrality rates. Finally, we find that system prompt steering using stated preferences during revealed preference elicitation does not reliably improve SvR correlation on AIRiskDilemmas. Together, our results show that SvR correlation is highly protocol-dependent and that preference elicitation requires methods that account for indeterminate preferences.

cs.AI↗

arXiv2025

Discounting and Drug Seeking in Biological Hierarchical Reinforcement Learning

Despite a strong desire to quit, individuals with long-term substance use disorder (SUD) often struggle to resist drug use, even when aware of its harmful consequences. This disconnect between knowledge and compulsive behavior reflects a fundamental cognitive-behavioral conflict in addiction. Neurobiologically, differential cue-induced activity within striatal subregions, along with dopamine-mediated connectivity from the ventral to the dorsal striatum, contributes to compulsive drug-seeking. However, the functional mechanism linking these findings to behavioral conflict remains unclear. Another hallmark of addiction is temporal discounting: individuals with drug dependence exhibit steeper discount rates than non-users. Assuming the ventral-dorsal striatal organization reflects a gradient from cognitive to motor representations, addiction can be modeled within a hierarchical reinforcement learning (HRL) framework. However, integrating discounting into biologically grounded HRL remains an open challenge. In this work, we build on a model showing how action choices reinforced with drug rewards become insensitive to the negative consequences that follow. We address the integration of discounting by ensuring natural reward values converge across all levels in the HRL hierarchy, while drug rewards diverge due to their dopaminergic effects. Our results show that high discounting amplifies drug-seeking across the hierarchy, linking faster discounting with increased addiction severity and impulsivity. We demonstrate alignment with empirical findings on temporal discounting and propose testable predictions, establishing addiction as a disorder of hierarchical decision-making.

q-bio.NC↗

arXiv2025

Neural Associative Skill Memories for safer robotics and modelling human sensorimotor repertoires

Modern robots face challenges shared by humans, where machines must learn multiple sensorimotor skills and express them adaptively. Equipping robots with a human-like memory of how it feels to do multiple stereotypical movements can make robots more aware of normal operational states and help develop self-preserving safer robots. Associative Skill Memories (ASMs) aim to address this by linking movement primitives to sensory feedback, but existing implementations rely on hard-coded libraries of individual skills. A key unresolved problem is how a single neural network can learn a repertoire of skills while enabling fault detection and context-aware execution. Here we introduce Neural Associative Skill Memories (ASMs), a framework that utilises self-supervised predictive coding for temporal prediction to unify skill learning and expression, using biologically plausible learning rules. Unlike traditional ASMs which require explicit skill selection, Neural ASMs implicitly recognize and express skills through contextual inference, enabling fault detection across learned behaviours without an explicit skill selection mechanism. Compared to recurrent neural networks trained via backpropagation through time, our model achieves comparable qualitative performance in skill memory expression while using local learning rules and predicts a biologically relevant speed-accuracy trade-off during skill memory expression. This work advances the field of neurorobotics by demonstrating how predictive coding principles can model adaptive robot control and human motor preparation. By unifying fault detection, reactive control, skill memorisation and expression into a single energy-based architecture, Neural ASMs contribute to safer robotics and provide a computational lens to study biological sensorimotor learning.

cs.RO↗

arXiv2020

Quantifying Synchronization in a Biologically Inspired Neural Network

We present a collated set of algorithms to obtain objective measures of synchronisation in brain time-series data. The algorithms are implemented in MATLAB; we refer to our collated set of 'tools' as SyncBox. Our motivation for SyncBox is to understand the underlying dynamics in an existing population neural network, commonly referred to as neural mass models, that mimic Local Field Potentials of the visual thalamic tissue. Specifically, we aim to measure the phase synchronisation objectively in the model response to periodic stimuli; this is to mimic the condition of Steady-state-visually-evoked-potentials (SSVEP), which are scalp Electroencephalograph (EEG) corresponding to periodic stimuli. We showcase the use of SyncBox on our existing neural mass model of the visual thalamus. Following our successful testing of SyncBox, it is currently being used for further research on understanding the underlying dynamics in enhanced neural networks of the visual pathway

q-bio.QM↗