arXiv subjects

Ravi Prakash

Publications and source records attributed to Ravi Prakash.

At least 19 recordsLinked to original sources

arXiv2026

OCTN: Neural OCT Representations for Robot-Guided Precision Intervention

Optical coherence tomography (OCT) offers compact, contactless, micron-scale imaging suitable for intraoperative guidance, but native OCT volumes are discretely sampled, anisotropic, and currently inefficient for downstream geometric reasoning and robot integration. We present OCTN (pronounced "octane"), an implicit neural representation framework that converts volumetric OCT scans into a continuous, differentiable, and spatially faithful tissue-intensity field. OCTN uses a two-stage hybrid training strategy that combines supervision from acquired voxels with inter-slice interpolations, preserving B-scan fidelity while improving continuity in sparsely sampled regions. For versatility, we first show that OCTN enables fast volumetric reasoning by storing the learned tissue representation natively on the GPU, supporting intensity-based spatial queries with up to 43x speedup over conventional CPU processing. We then demonstrate OCTN-enabled OCT-guided robotic laser surgery where the continuous tissue representation supports implicit surface discovery and surface-constrained path planning via multiple optimization strategies, including Newton- and SGD-based optimization. Next, OCTN enables reconstruction of dense volumetric structure from sparsely acquired B-scans, while reducing acquisition time by 4x and preserving clinically relevant structures. Across the newly generated Duke TissueOCT dataset and public OCT datasets, OCTN achieves robust, high-fidelity reconstruction with PSNR > 30 dB and training time < 10 s, while preserving surface consistency within 10 $\mu$m Chamfer distance relative to baseline reconstruction. The TissueOCT dataset and code are publicly available at raprakashvi.github.io/octn

cs.RO↗

arXiv2026

Gripper-aware Vision Language Action Models

Vision language action models (VLAs) have advanced general purpose robotic grasping and manipulation by enabling robots to interpret visual observations and natural language instructions to generate executable action sequences. However, existing VLAs often implicitly assume gripper invariance, despite grasping strategies being inherently embodiment-dependent. Different gripper types, such as parallel-jaw and suction, usually require distinct interaction strategies to achieve the same grasping objective. Moreover, current datasets for VLAs predominantly rely on parallel-jaw grippers, limiting gripper-aware learning. To address this gap, we introduce MiGA, a multi-gripper-aware dataset spanning five distinct gripper types across multiple robots with 103,000 demonstrations, explicitly capturing strategy divergence under shared task objectives. We further propose GVLA, which combines a new multi-gripper tokenizer with adapter-based policy routing. Our new gripper encoding induces structured embedding information that balances parameter sharing and strategy differentiation, while layer-wise probing confirms meaningful gripper-conditioned representations for VLAs. Intensive experiments in both simulation and real-world robots show that our GVLA outperforms the current baselines across evaluated settings. Our method also improves zero-shot generalization or few-shot adaptation to new objects or unseen tasks, and enable more efficient gripper adaptation.

cs.RO↗

arXiv2026

Embodied Passive Aeroacoustic Perception Enables Relative Sensing and Pursuit Between Aerial Robots

Aerial robots generate structured aeroacoustic fields during flight, yet these signals have been underexplored as a source of onboard relative perception, particularly under the strong ego-acoustic interference generated during simultaneous flight in various outdoor conditions. We introduce embodied passive aeroacoustic perception, a sensing paradigm in which an aerial robot infers actionable relative-state information from the naturally generated sound of flight while operating within its own evolving aeroacoustic field. We present SonicFly, a passive aeroacoustic perception framework that enables one unmanned aerial vehicle to estimate and follow another using only the leader's intrinsic flight sound, without active acoustic signaling, inter-robot communication, GPS sharing, or external sensing infrastructure. The system uses a lightweight four-microphone array, rotorcraft-informed acoustic representations, a neural bearing-range estimator, and confidence-gated filtering for closed-loop flight. Through acoustic characterization, onboard localization, and outdoor pursuit experiments, we show that multirotor aeroacoustic signals contain sufficient information to support relative perception despite strong ego-acoustic interference, environmental variability, and changing flight geometry. During acoustic-only pursuit, SonicFly achieved a mean distance-maintenance error of 1.34 m across diverse outdoor trajectories and operating conditions. Analysis of the acoustic channel reveals design principles governing embodied passive aeroacoustic perception, including the roles of harmonic structure, spectral separability, and spatial acoustic cues in determining observability. Our results establish the feasibility of embodied passive aeroacoustic perception for aerial robots and suggest that naturally generated behavioral signals can serve as information for robotic perception and coordination.

cs.RO↗

arXiv2026

Asymmetric information scrambling and eigenstate thermalization in inhomogeneous XXZ spin chains

Deterministic spatial inhomogeneity has become increasingly relevant in experimentally engineered quantum many-body systems, where interaction gradients can strongly influence nonequilibrium dynamics. Motivated by this, we investigate out-of-time-ordered correlators (OTOCs) and their connection to the eigenstate thermalization hypothesis (ETH) in inhomogeneous XXZ spin chains. Using a deterministic spatially varying interaction profile, we show that finite interaction gradients ($\delta>0$) induce a pronounced left--right asymmetry in information scrambling, as quantified by OTOCs. This asymmetry persists even when the system exhibits spectral signatures of quantum chaos, with operators on the strongly interacting side exhibiting suppressed scrambling. To elucidate the origin of the asymmetric finite-size long-time saturation value of OTOCs, we employ two complementary approaches. First, we analyze the diagonal matrix elements of the OTOC observables in the energy eigenbasis within the ETH framework. Second, we derive an analytical expression for the finite-size saturation value based on the overlap between the Hamiltonian and the OTOC observables, which explicitly incorporates the spatial interaction profile. The analytical prediction is fully consistent with the numerical results and provides a microscopic explanation for how deterministic interaction gradients generate the observed asymmetry in the long-time saturation of OTOCs.

quant-ph↗

arXiv2026

Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution

Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in large-scale models demonstrate promising capabilities for reasoning in robotic tasks. However, existing benchmarks for grasping primarily focus on isolated, visual-based grasp pose detection, failing to capture the complexity of grasping tasks that require multi-step reasoning and semantic understanding during execution. To address this gap, we propose GCA-Bench, a benchmark featuring challenging \textit{grasping with complex action} scenarios that involve both scene-level reasoning and semantic constraints. GCA-Bench enables the evaluation of recent large foundation models under the same settings. To demonstrate the effectiveness of our new benchmark, we implement a diverse set of baselines, ranging from traditional grasp detection pipelines to end-to-end learning methods. Empirical studies achieve success rates below 70\% on complex grasping scenarios, underscoring critical limitations. In addition, we propose new evaluation metrics, analyze critical failure models, and provide insights to guide the development of more robust and generalizable grasping strategies.

cs.RO↗

arXiv2026

Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems

We present STT-LfD, a unified Learning from Demonstration (LfD) framework that integrates motion learning with control for unknown Euler-Lagrange systems. Unlike traditional decoupled approaches that track a fixed reference, the proposed method treats demonstrations as a data-driven safety specification. Using heteroscedastic Gaussian Processes, STT-LfD learns Spatiotemporal Tubes (STTs) as an intent envelope that capture time-varying precision requirements of a task. A closed-form feedback controller then enforces these learned constraints while respecting actuator limits, without requiring explicit system identification. The approach preserves the temporal structure of demonstrations, remains computationally efficient, and avoids explicit system identification. Hardware experiments on a mobile robot and a 7-DOF manipulator show that it outperforms baselines in robustness to disturbances and computational speed.

cs.RO↗

arXiv2026

HJ-SafeDMP: Hamilton-Jacobi Reachability-Guided Dynamic Movement Primitives for Provably Safe Robot Motion

Robots deployed in safety-critical environments must execute motions that are simultaneously robust to disturbances and provably safe from collisions. Dynamic Movement Primitives (DMPs) offer inherent stability, temporal flexibility, and efficient trajectory generalization from single demonstrations, but they lack formal safety certificates. Conversely, Hamilton-Jacobi (HJ) Reachability analysis provides a principled framework for computing worst-case safety margins and forward-invariant safe sets, but classical grid-based methods suffer from the curse of dimensionality and are impractical for real-time control. This paper introduces HJ-SafeDMP, a framework that integrates DMPs with learned HJ Reachability-based safety value functions to achieve provably safe, robust, and computationally efficient robot motion. We learn a Control Barrier Value Function (CBVF) from offline demonstration data using a model-free, finite-difference HJ recursion and deploy it as a real-time safety filter via a closed-form control law that modulates the DMP output. Unlike optimization-based CBF-QP approaches, our method achieves safety filtering without online quadratic program solves, preserving the computational efficiency of DMPs. We further incorporate an expectile-based offline learning objective that avoids querying out-of-distribution actions, and a conformal prediction calibration step that provides finite-sample probabilistic safety coverage. Experimental evaluation on a 7-DOF robot manipulator demonstrates that HJ-SafeDMP achieves formal safety guarantees with orders-of-magnitude faster execution than optimization-based baselines, while maintaining the robustness and adaptability of DMPs for human-robot interaction.

cs.RO↗

arXiv2026

Probing chaos and thermalization through out-of-time-ordered correlators in random field spin chains

Out-of-time-ordered correlators (OTOCs) have emerged as a diagnostic of information scrambling and quantum chaos in many-body systems. We investigate the imprints of chaos in the dynamics of OTOCs in the Heisenberg spin-$1/2$ chain with random fields. The system is parameterized to exhibit a crossover from integrable to chaotic dynamics. We demonstrate numerically that the approach to saturation of the OTOC can distinguish between integrable and chaotic regimes, with a power-law $(1/t)$ relaxation for integrable systems and a higher-degree power-law decay $(1/t^\alpha; \alpha \ge 1)$ followed by an exponential relaxation for the chaotic regime. We further show that long-range spectral statistics, such as the number variance, are more effective in characterizing quantum chaos in the regime near saturation of OTOC. We also demonstrate that the relaxation and initial scrambling regimes exhibit distinct and universal features, with the former being sensitive and the latter being robust against different realizations of random-fields. The long-time saturation of OTOC also fluctuates with different realizations, and its exact expression is derived through the Eigenstate Thermalization Hypothesis.

quant-ph↗

arXiv2026

SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI

Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives (DMPs) offer inherent stability and generalization from single demonstrations, they lack formal safety guarantees. Conversely, formal methods like Control Barrier Functions (CBFs) provide provable safety but often rely on computationally expensive, real-time optimization, hindering their use in high-frequency control. This paper introduces SafeDMPs, a novel framework that resolves this trade-off. We integrate the closed-form efficiency and dynamic robustness of DMPs with a provably safe, non-optimization-based control law derived from Spatio-Temporal Tubes (STTs). This synergy allows us to generate motions that are not only robust to perturbations and adaptable to new goals, but also guaranteed to avoid static and dynamic obstacles. Our approach achieves a closed-form solution for a problem that traditionally requires online optimization. Experimental results on a 7-DOF robot manipulator demonstrate that SafeDMPs is orders of magnitude faster and more accurate than optimization-based baselines, making it an ideal solution for real-time, safe, and collaborative robotics.

cs.RO↗

arXiv2026

AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers

Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of objects to determine interactable regions. However, extending this learning capability to a scene is significantly more complicated, as incorporating object- and scene-level semantics is not straightforward. In this work, we introduce AffordBridge, a large-scale dataset with 291,637 functional interaction annotations across 685 high-resolution indoor scenes in the form of point clouds. Our affordance annotations are complemented by RGB images that are linked to the same instances within the scenes. Building upon our dataset, we propose AffordMatcher, an affordance learning method that establishes coherent semantic correspondences between image-based and point cloud-based instances for keypoint matching, enabling a more precise identification of affordance regions based on cues, so-called visual signifiers. Experimental results on our dataset demonstrate the effectiveness of our approach compared to other methods.

cs.CV↗

arXiv2026

Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies

Offline safe reinforcement learning (RL) seeks reward-maximizing policies from static datasets under strict safety constraints. Existing methods often rely on soft expected-cost objectives or iterative generative inference, which can be insufficient for safety-critical real-time control. We propose Safe Flow Q-Learning (SafeFQL), which extends FQL to safe offline RL by combining a Hamilton--Jacobi reachability-inspired safety value function with an efficient one-step flow policy. SafeFQL learns the safety value via a self-consistency Bellman recursion, trains a flow policy by behavioral cloning, and distills it into a one-step actor for reward-maximizing safe action selection without rejection sampling at deployment. Empirically, SafeFQL trades modestly higher offline training cost for substantially lower inference latency than diffusion-style safe generative baselines, which is advantageous for real-time safety-critical deployment. Across boat navigation, and Safety Gymnasium MuJoCo tasks, SafeFQL matches or exceeds prior offline safe RL performance while substantially reducing constraint violations.

cs.LG↗

arXiv2026

Homogenized moderately wrinkled shell theory from 3D Koiter's linear elasticity

In this paper we derive, by two$-$scale convergence, periodically wrinked shell models starting from three dimensional linear elasticity, depending of the behaviour of the small parameter $\varepsilon>0$ and $p>1$, differents theories appear. We assume that the mid-surface of the shell is given by $\displaystyle \psi(x_1,x_2)+\varepsilon^p\theta\left(\frac{x_1}{\varepsilon},\frac{x_2}{\varepsilon}\right)\vect{a}_{3}(x_1,x_2)$, where $\theta$ is $[0,1)^2$-periodic function and $p=2$. We also assume that the strain energy of the shell has the Koiter's model.

math.AP↗

arXiv2026

Eigenstate Thermalization and Spectral Imprints of the Hamiltonian in Local Observables

The Eigenstate Thermalization Hypothesis explains thermalization in isolated quantum systems through the statistical properties of observables in the energy eigenbasis. We investigate the crossover from integrability to chaos in the spin-$1/2$ XXZ chain, establishing a direct correspondence between the spectral correlations of the Hamiltonian and local observables expressed in the energy eigenbasis as a signature of ergodicity breaking. By introducing a local perturbation that drives the system from integrability to chaos, we track the standard ETH indicators and the eigenstate entanglement entropy. We introduce a submatrix-based framework for analyzing local observables in the energy eigenbasis. By extracting real-symmetric blocks along the diagonal of the local observables represented in eigenbasis, we show that these submatrices exhibit both the short-range and long-range spectral features of the Hamiltonian. Remarkably, this correspondence persists even in a partially ergodic regime, indicating that the emergence of chaos is already encoded locally within the observables' matrix structure and that small blocks are sufficient to capture the underlying spectral correlations.

quant-ph↗

arXiv2026

Meaning over Motion: A Semantic-First Approach to 360{\deg} Viewport Prediction

Ultra-high-resolution 360-degree video streaming is severely constrained by the massive bandwidth required to deliver immersive experiences. Current viewport prediction techniques predominately rely on kinematics or low-level visual saliency, treating users as passive physical objects governed by inertia. This theoretical limitation leads to the "Saccade Trap" -- a critical failure mode where predictors fail to anticipate rapid, meaning-driven shifts in attention, causing rebuffering stalls exactly when user engagement is highest. To resolve this, we propose Semantically-Adaptive Conformal Tiling with Associative Lookahead, a novel framework that integrates cognitive intent into network control. Unlike "one-size-fits-all" approaches, our method utilizes an architectural inversion strategy: heavy semantic reasoning is offloaded to the server to generate lightweight association graphs, which guide a low-latency client-side controller. We construct a personalized Multi-Modal Prediction Set that dynamically tightens safety margins during stable fixation to maximize efficiency, while simultaneously pre-fetching non-adjacent tiles containing semantically linked objects (Associative Lookahead). This mechanism effectively converts the "calm" of fixation into a preparation phase for the next interaction. Trace-driven evaluation on the 360-AV-HM dataset demonstrates that this approach successfully mitigates the Saccade Trap, reducing stall duration by $\ge$ 20% and lowering effective bandwidth consumption by $\ge$ 18% compared to state-of-the-art trajectory-based baselines.

cs.MM↗

arXiv2026

Listen to the Unexpected: Self-Supervised Surprise Detection for Efficient Viewport Prediction

Adaptive streaming of 360-degree video relies on viewport prediction to allocate bandwidth efficiently. Current approaches predominantly use visual saliency or historical gaze patterns, neglecting the role of spatial audio in guiding user attention. This paper presents a self-learning framework for detecting "surprising" auditory events -- moments that deviate from learned temporal expectations -- and demonstrates their utility for viewport prediction. The proposed architecture combines $SE(3)$-equivariant graph neural networks with recurrent temporal modeling, trained via a dual self-supervised objective. A key feature is the natural modeling of temporal attention decay: surprise is high at event onset but diminishes as the listener adapts. Experiments on the AVTrack360 dataset show that integrating audio surprise with visual cues reduces bitrate waste by up to 18% compared to visual-only methods.

cs.MM↗

arXiv2025

PalpAid: Multimodal Pneumatic Tactile Sensor for Tissue Palpation

The tactile properties of tissue, such as elasticity and stiffness, often play an important role in surgical oncology when identifying tumors and pathological tissue boundaries. Though extremely valuable, robot-assisted surgery comes at the cost of reduced sensory information to the surgeon, with vision being the primary. Sensors proposed to overcome this sensory desert are often bulky, complex, and incompatible with the surgical workflow. We present PalpAid, a multimodal pneumatic tactile sensor to restore touch in robot-assisted surgery. PalpAid is equipped with a microphone and pressure sensor, converting contact force into an internal pressure differential. The pressure sensor acts as an event detector, while the acoustic signature assists in tissue identification. We show the design, fabrication, and assembly of sensory units with characterization tests for robustness to use, repetition cycles, and integration with a robotic system. Finally, we demonstrate the sensor's ability to classify 3D-printed hard objects with varying infills and soft ex vivo tissues. We envision PalpAid to be easily retrofitted with existing surgical/general robotic systems, allowing soft tissue palpation.

eess.SP↗

arXiv2025

V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions

Ensuring safety in autonomous systems requires controllers that aim to satisfy state-wise constraints without relying on online interaction.While existing Safe Offline RL methods typically enforce soft expected-cost constraints, they struggle to ensure strict state-wise safety. Conversely, Control Barrier Functions (CBFs) offer a principled mechanism to enforce forward invariance, but often rely on expert-designed barrier functions or knowledge of the system dynamics. We introduce Value-Guided Offline Control Barrier Functions (V-OCBF), a framework that learns a neural CBF entirely from offline demonstrations. Unlike prior approaches, V-OCBF does not assume access to the dynamics model; instead, it derives a recursive finite-difference barrier update, enabling model-free learning of a barrier that propagates safety information over time. Moreover, V-OCBF incorporates an expectile-based objective that avoids querying the barrier on out-of-distribution actions and restricts updates to the dataset-supported action set. The learned barrier is then used with a Quadratic Program (QP) formulation to synthesize real-time safe control. Across multiple case studies, V-OCBF yields substantially fewer safety violations than baseline methods while maintaining strong task performance, highlighting its scalability for offline synthesis of safety-critical controllers without online interaction or hand-engineered barriers.

cs.AI↗

arXiv2025

Closed Form HJB Solution for Continuous-Time Optimal Control of a Non-Linear Input-Affine System

Designing optimal controllers for nonlinear dynamical systems often relies on reinforcement learning and adaptive dynamic programming (ADP) to approximate solutions of the Hamilton Jacobi Bellman (HJB) equation. However, these methods require iterative training and depend on an initially admissible policy. This work introduces a new analytical framework that yields closed-form solutions to the HJB equation for a class of continuous-time nonlinear input-affine systems with known dynamics. Unlike ADP-based approaches, it avoids iterative learning and numerical approximation. Lyapunov theory is used to prove the asymptotic stability of the resulting closed-loop system, and theoretical guarantees are provided. The method offers a closed-form control policy derived from the HJB framework, demonstrating improved computational efficiency and optimal performance on state-of-the-art optimal control problems in the literature.

math.OC↗