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Vijay Kumar

Publications and source records attributed to Vijay Kumar.

At least 19 recordsLinked to original sources
arXiv2026

EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking

Reliable relative localization between aerial and ground robots is a key requirement for tightly coordinated heterogeneous teams. This can be difficult to do using conventional frame-based cameras and fiducial markers because they are sensitive to motion blur, lighting variations, and payload constraints. This paper presents EVPeriscope, an event-based perception system that enables detection, localization and control of a quadrotor using an upward-facing event camera on a ground robot by detecting the high-frequency visual signature of its propellers. This system allows the quadrotor to function as an extended perception system for the ground robot when onboard sensors exhibit degradation or occlusion. We demonstrate the capabilities of this marsupial ground-aerial system via experiments in challenging field conditions with wind speeds of up to 15 mph, in both daylight and at night. We show that the system supports localization and closed-loop navigation through dense foliage where the ground robot's sensors are occluded. Our control system for the quadrotor operates at 200 Hz entirely with onboard sensing and computation. More details and experiment videos can be found on the project page: https://ongdexter.github.io/evperiscope.

cs.RO↗
arXiv2026

Swin Meets EfficientNet: Lightweight Architectures for GAN-Based Face Forensics

Modern generative models, such as GANs, diffusion architectures, and autoregressive systems, now produce facial images that are nearly indistinguishable from authentic photographs. This capability makes detecting forged images increasingly difficult, raising serious concerns about identity theft, fraud, and misinformation campaigns. Our research focuses specifically on GAN-generated synthetic faces, which underpin many face-centric deepfakes, and investigates efficient detection approaches using image analysis alone. Existing detection systems rely heavily on either convolutional neural networks (CNNs) or global vision transformers. While CNNs excel at identifying texture-based local features, they struggle with broader contextual understanding. Traditional Vision Transformer (ViT) models can capture long-range structures effectively, but demand substantial computational resources. Our work explores Swin-Transformer-based architectures across three implementations: a compact Swin Transformer trained from the ground up, ImageNet-1K pre-trained Swin-Tiny and Swin-Small models adapted for binary classification, and a novel hybrid combining EfficientNet-B0's convolutional processing with a Swin Transformer backend. We evaluated all models using the 140K Real and Fake Faces dataset, which includes StyleGAN-generated fake faces alongside authentic images from Flickr and DFDC, with balanced splits for training, validation, and testing. The EfficientNetB0+Swin hybrid achieved 99% accuracy and a 99.44% recall on 5,000 test images, outperforming both pure Swin variants and a previous CNN-only baseline on this dataset. Our results suggest that combining hierarchical CNN features with shifted-window self-attention provides an efficient and computationally lightweight method for detecting GAN-generated synthetic faces.

cs.CV↗
arXiv2026

Low-energy Muon-Nucleon scattering experiment: LUNE (White Paper)

The HIAF will provide high-intensity, high-quality muon beams with momenta from 0.5 to 7.5 GeV/c. This energy range is uniquely suited for precision muon scattering, bridging the gap between low-energy electron facilities and future high-energy lepton-ion colliders. In particular, HIAF will enable precision measurements with both positive and negative muon beams over a broad kinematic range, complementing existing electron-scattering facilities such as JLab, EicC and EIC. Based on HIAF muon source, the LUNE Collaboration has been established to address several fundamental questions in nuclear and particle physics, including the proton charge radius puzzle, nucleon electromagnetic structure, and the dynamics of quantum electrodynamics and hadronic interactions. The program proceeds in two phases, from elastic scattering to nucleon structure and beyond-Standard-Model searches. The experiment is expected to determine the proton charge radius with a precision of approximately 1.0\% using elastic muon-proton scattering. It will also perform systematic measurements of the proton electromagnetic form factors with both $\mu^+$ and $\mu^-$ beams, enabling precise studies of two-photon exchange effects and stringent tests of quantum electrodynamics. Beyond elastic scattering, LUNE will investigate TMD, gravitational form factors, and nuclear charge radii, providing new insights into the 3D structure of nucleons and nuclei. The experiment will further address important topics including Coulomb-distortion corrections, nuclear medium effects, and possible signatures of physics beyond the Standard Model. This white paper presents the scientific motivation, detector concept, expected performance, and long-term strategy of LUNE.

hep-ex↗
arXiv2026

Alphabet-Dependent Bounds for Pure Quantum $(r,\rho)$-Locally Recoverable Codes

A quantum $(r,\rho)$-locally recoverable code ($(r,\rho)$-qLRC) is a quantum code in which every qudit can be recovered from at most $r+\rho-1$ other qudits, even after $\rho-1$ additional erasures inside the recovery set. The bounds currently known for this class, namely the Singleton-like and the GG Singleton-like bounds, are alphabet independent and are therefore loose for small-to-moderate qudit dimensions. In this letter, we derive three alphabet-dependent upper bounds for pure $(r,\rho)$-qLRCs obtained through the Hermitian CSS construction: a Griesmer-like, a Plotkin-like, and a sphere-packing-like bound. We further establish the asymptotic hierarchy among these bounds and identify the relative-distance regions in which each of them yields the tightest rate constraint.

quant-ph↗
arXiv2026

Entanglement-Assisted Quantum Locally Recoverable Codes: Bounds, Optimal Constructions, and Achievability

This paper studies entanglement-assisted quantum locally recoverable codes (EA-qLRCs) built via a CSS-like stabilizer construction from pairs of classical locally recoverable codes (cLRCs), without requiring dual-containment. We define such codes through local recovery channels, give a sufficient stabilizer criterion for the construction, and derive Singleton-, Griesmer-, Plotkin-, and sphere-packing-like converse bounds on the parameters of the resulting pure CSS-like EA-qLRCs, along with a Cadambe--Mazumdar-like bound that, as in the classical case, lacks a closed form, plus a comparison of their relative tightness across finite-length and asymptotic regimes. We give necessary and sufficient conditions for a pure CSS-like EA-qLRC to attain the Singleton-like bound with equality; for the single-code case $\mathcal{C}_1=\mathcal{C}_2=\mathcal{C}$, this reduces to a simple condition on the hull dimension $s=\dim(\mathcal{C}\cap\mathcal{C}^\perp)$, which also fixes the entanglement count via $c=n-k-s$. We present CSS-like EA-qLRC constructions from classical LRC families---Tamo--Barg and cyclic codes---and characterize when these attain the Singleton-like bound, showing the cyclic families yield optimal codes while the Tamo--Barg construction, though valid, attains the bound only in the degenerate regime $k \le r$, where locality is vacuous. We complement these constructions with two Gilbert--Varshamov-like achievability bounds, via a classical parity-check augmentation and a sharper concatenated-code construction, and show both hold unconditionally for field size $q>3$ via a monomial-equivalence argument. Finally, we unify all bounds---converse and achievability alike---under a common maximally entangled regime, giving a single comparison of the achievable and forbidden rate--distance--locality region for CSS-like EA-qLRCs.

cs.IT↗
arXiv2026

Active movement of foraging sea turtles generates anomalous looping

Animals inhabiting diverse environments by moving across different spatial scales, from insects to birds, marine predators, mammals and even humans, often display apparently random movement paths. Over the past decade, novel biologging technologies have recorded these patterns in increasing detail, generating a wealth of experimental data. A central challenge is to understand such complex patterns by constructing data-driven mathematical models. Many animal movements depart from Brownian motion, as described by correlated random walks, L\'evy walks, or active particle dynamics. Yet, these movement models do not incorporate long-term non-Markovian memory extracted from experimental trajectories. Here, we construct a stochastic generalised Langevin equation from satellite tracking data for loggerhead sea turtles (Caretta caretta) foraging off the coast of West Africa. We find that these turtles exhibit active movement characterised by large-scale loops that are not explained by ocean currents or chirality. These loops maintain movement within a specific foraging region and, over intermediate timescales, generate superdiffusion similar to L\'evy walks. We thus identify a loop-based form of active anomalous search related to foraging patterns observed across a wide range of animal species, which may inspire robotic search strategies and AI-based metaheuristic optimisation algorithms.

cond-mat.stat-mech↗
arXiv2026

Learning Smooth SE(3) Trajectories under Left-Invariant Riemannian Metrics

Optimal trajectory generation for rigid-body motions on Lie groups can be formulated as a variational problem that minimizes energy functionals defined by Riemannian metrics. While closed-form solutions exist for special cases such as product metrics and rest-to-rest boundary conditions, solving the general problem with arbitrary boundary states and coupled rotational-translational metrics often requires computationally expensive numerical boundary value solvers. These limitations restrict the use of geometrically consistent trajectory generation in real-time robotic planning and control. This paper presents a learning-based framework for approximating higher-order smooth trajectories on SE(3) under general left-invariant Riemannian metrics. The method parameterizes body-twist trajectories using high-order polynomials and relies on a neural network to learn a subset of the polynomial coefficients and the trajectory duration. The remaining coefficients are analytically determined to enforce the boundary conditions. The training of the network is guided by losses derived from Euler-Lagrange optimality conditions, metric-weighted smoothness objectives, and feasibility constraints. The metric-conditioned framework enables generalization across diverse metric structures and motion conditions. Extensive numerical experiments demonstrate that the proposed approach generates smooth trajectories that closely approximate solutions from numerical optimization while achieving millisecond-level inference times. We demonstrate two practical applications of the proposed framework: real-time generation of diverse motion primitives with waypoint traversal, and refinement for quadrotor flight under dynamic conditions. These results suggest that learning-based motions with geometric structure can provide an efficient alternative to conventional optimization-based methods for trajectory generation on SE(3).

cs.RO↗
arXiv2026

EFLUX: Elastic Multi-Robot Formation Navigation and Adaptation with Agentic LLMs

Multi-robot teams operating in confined or cluttered environments must adapt both their formation geometry and group topology to navigate through complex obstacles. This adaptation requires two complementary behaviors: deformation, where the team continuously reshapes its geometry while remaining connected, and reconfiguration, where robots split into subgroups or merge back into a single formation. Existing methods often model these behaviors independently, connect them through handcrafted rules, or lack explicit geometric criteria for determining when each behavior should be invoked. However, challenging environments may require online changes in formation shape, connectivity, and effective team composition, making decoupled or rule-based approaches prone to suboptimal trajectories and deadlock. We propose EFLUX, a geometry-grounded LLM agentic framework for automatic and elastic multi-robot formation navigation. EFLUX extracts a structured scene representation and uses an LLM to reason jointly over both deformation actions, such as scaling and shearing, and reconfiguration actions, such as splitting and merging. These strategies are then translated into executable per-robot waypoints through a closed-loop generation, verification, and correction pipeline. Simulation and hardware experiments show that EFLUX enables safe, continuous, and elastic formation navigation in constrained environments, reducing deadlock and navigation failures compared with baselines while maintaining coherent multi-robot coordination.

cs.RO↗
arXiv2026

Petrov-Galerkin Variational Physics-Informed Neural Network Framework for Two-Dimensional Singularly Perturbed Problems

This study proposes a Petrov-Galerkin based Variational Physics-Informed Neural Network (VPINN) for efficiently solving two-dimensional singularly perturbed problems (SPPs) with one and two small perturbation parameters. The approach employs neural networks to construct the trial solution space, while tensor-product hat functions are adopted as test functions to enforce the variational form. To accurately resolve of sharp boundary layers, the variational form is implemented using a Petrov-Galerkin formulation. Dirichlet boundary conditions are imposed directly, while the source terms are computed using automatic differentiation. Computational experiments on standard two-dimensional problems demonstrate that the proposed method achieves high accuracy in both the maximum and L_2 norms. These results confirm the efficiency and robustness of the Petrov-Galerkin VPINN approach in accurately capturing the multiscale features of two-dimensional SPPs.

math.NA↗
arXiv2026

REBAR: Reference Ethical Benchmark for Autonomy Readiness

As autonomous systems grow more advanced, objective metrics to evaluate their ethical and legal compliance are critical for informing end users of their limitations and ensuring accountability of those who misuse them. Current ethical embodied AI frameworks remain mostly qualitative, focusing on system design (through safety guardrails or targeted red teaming), and the realized guardrails often directly disallow unsafe behavior without providing the user with an override or interpretable reason. Instead, there is a need for computable metrics through rigorous testing that allow a user to determine the applicability of the system to the task. To address this gap, we introduce the Reference Ethical Benchmark for Autonomy Readiness (REBAR), a quantitative test and evaluation framework for autonomous systems. REBAR maps operating metrics into a computable Autonomy Readiness Level (ARL) rubric that can quantify ethical performance. Key innovations of the framework include a neuro-symbolic Large Language Model (LLM) approach to calculate and explain the ethical difficulty of scenarios, LLM-driven at-scale generation of test instances, and a versatile, photorealistic simulation environment. By evaluating white-box autonomy solutions through this rigorous testing pipeline, REBAR delivers an objective and repeatable benchmark score, bridging the gap between abstract principles and verifiable, accountable autonomy.

cs.RO↗
arXiv2026

LMPath: Language-Mediated Priors and Path Generation for Aerial Exploration

Traditional autonomous UAV search missions rely on geometric coverage patterns that ignore the semantic context of the target, leading to significant time waste in large-scale environments. In this paper we present LMPath, a pipeline for generating language-mediated exploration priors for Unmanned Aerial Vehicle (UAV) search missions that leverages semantics. Given a basic geofence and an object of interest prompt, LMPath uses generative language models to determine what regions of the environment should contain that object and a foundation vision model ran over satellite imagery to segment sub-regions that form the exploration prior. This prior can then be used to generate UAV paths with various objectives, such as minimizing the expected time to locate the object of interest, maximizing the probability that the object is found given a limited travel distance, or narrowing down the search space to sub-regions that are most likely to contain the object. To demonstrate it's capabilities, we used LMPath to generate various UAV paths and ran them using a real UAV over large-scale environments. We also ran simulations to demonstrate how paths generated using LMPath outperform traditional path planning approaches for search missions.

cs.RO↗
arXiv2026

Retrieval Mechanisms Surpass Long-Context Scaling in Time Series Forecasting

Time Series Foundation Models (TSFMs) have borrowed the long context paradigm from natural language processing under the premise that feeding more history into the model improves forecast quality. But in stochastic domains, distant history is often just high-frequency noise, not signal. Hence, the proposed work tests whether this premise actually holds by running continuous context architectures (PatchTST included) through the ETTh1 benchmark. The obtained results contradict the premise: an inverse scaling law shows up clearly, with forecasting error rising as context gets longer. A 3,000-step window causes performance to drop by over 68%, evidence that attention mechanisms are poor at ignoring irrelevant historical volatility. Retrieval-Augmented Forecasting (RAFT) is evaluated as an alternative. RAFT achieves a mean squared error (MSE) of 0.379 with a fixed 720-step window and selective retrieval, outperforming both long-context configurations and zero-shot foundation models (Chronos, Moirai) despite requiring far less computation. In addition, the retrieval step injects only the most relevant historical segments as dynamic exogenous variables, which gives the model a context-informed inductive bias it cannot build on its own from raw sequences. Therefore, foundation models going forward need to shift architecturally toward selective retrieval.

cs.LG↗
arXiv2026

Ergodic and Discrete Time Crystal Phases in Periodically Kicked Many-Body Quantum Systems: An Analytical Study

We analytically study the time evolution of the expectation values of observables in periodically kicked many-body quantum systems. Starting from an initial state, we compute both the transient and the long-time properties of the observables. Our derivation explains the criteria and the mechanism that lead to the infinite-temperature statistical average of observables at long times, irrespective of the initial state. When the criteria are violated, the observables oscillate with time. These oscillations are subharmonic and robust to small perturbations, suggesting the emergence of a discrete time crystal phase. We demonstrate these features explicitly in periodically kicked nonintegrable spin chains. For a spin chain with two kicks per cycle, we show that the kicked chain can exhibit an ergodic or a discrete-time crystal phase for the same kicking strengths, depending on the initial state preparation. We complement our time-evolution study of observables with the spectral form factor of these kicked models.

cond-mat.stat-mech↗
arXiv2026

STAR-Filter: Efficient Convex Free-Space Approximation via Starshaped Set Filtering in Noisy Environments

Approximating collision-free space is fundamental to robot planning in complex environments. Convex geometric representations, such as polytopes and ellipsoids, are widely employed due to their structural properties, which can be easily integrated with convex optimization. Iterative optimization-based inflation methods can generate large volume polytopes in cluttered environments, but their efficiency degrades as the obstacle set becomes more complex or when sensor data are noisy. These methods are also sensitive to initialization and often rely on accurate geometric models. In this paper, we propose the STAR-Filter, a lightweight framework that employs starshaped set construction as a fast filter for convex region generation in collision-free space. By identifying obstacle points as active supporting constraints, the proposed method significantly reduces redundant computation while preserving feasibility and robustness to sensor noise. We provide theoretical and numerical analyses that characterize the structural properties of the starshaped set and proposed pipeline in environments of varying complexity. Simulation results show that the proposed framework achieves the lowest computation time and reduces conservativeness in polytope generation for real-world noisy and large-scale data. We demonstrate the effectiveness of the framework for Safe Flight Corridor (SFC) generation and agile quadrotor planning in noisy environments.

cs.RO↗
arXiv2026

Enabling End-to-End APT Emulation in Industrial Environments: Design and Implementation of the SIMPLE-ICS Testbed

Research on Advanced Persistent Threats (APTs) in industrial environments requires experimental platforms that support realistic end-to-end attack emulation across converged enterprise IT, operational technology (OT), and Industrial Internet of Things (IIoT) networks. However, existing industrial cybersecurity testbeds typically focus on isolated IT or OT domains or single-stage attacks, limiting their suitability for studying multi-stage APT campaigns. This paper presents the design, implementation, and validation of SIMPLE-ICS, a virtualised industrial enterprise testbed that enables emulation of multi-stage APT campaigns across IT, OT, and IIoT environments. The testbed architecture is based on the Purdue Enterprise Reference Architecture, NIST SP 800-82, and IEC 62443 zoning principles and integrates enterprise services, industrial control protocols, and digital twin based process simulation. A systematic methodology inspired by the V model is used to derive architectural requirements, attack scenarios, and validation criteria. An APT campaign designed to mimic the BlackEnergy campaign is emulated using MITRE ATTACK techniques spanning initial enterprise compromise, credential abuse, lateral movement, OT network infiltration, and process manipulation. The testbed supports the synchronised collection of network traffic, host-level logs, and operational telemetry across all segments. The testbed is validated on multi-stage attack trace observability, logging completeness across IT, OT, and IIoT domains, and repeatable execution of APT campaigns. The SIMPLE-ICS testbed provides an experimental platform for studying end-to-end APT behaviours in industrial enterprise networks and for generating multi-source datasets to support future research on campaign-level detection and correlation methods.

cs.CR↗
arXiv2026

Contextual Safety Reasoning and Grounding for Open-World Robots

Robots are increasingly operating in open-world environments where safe behavior depends on context: the same hallway may require different navigation strategies when crowded versus empty, or during an emergency versus normal operations. Traditional safety approaches enforce fixed constraints in user-specified contexts, limiting their ability to handle the open-ended contextual variability of real-world deployment. We address this gap via CORE, a safety framework that enables online contextual reasoning, grounding, and enforcement without prior knowledge of the environment (e.g., maps or safety specifications). CORE uses a vision-language model (VLM) to continuously reason about context-dependent safety rules directly from visual observations, grounds these rules in the physical environment, and enforces the resulting spatially-defined safe sets via control barrier functions. We provide probabilistic safety guarantees for CORE that account for perceptual uncertainty, and we demonstrate through simulation and real-world experiments that CORE enforces contextually appropriate behavior in unseen environments, significantly outperforming prior semantic safety methods that lack online contextual reasoning. Ablation studies validate our theoretical guarantees and underscore the importance of both VLM-based reasoning and spatial grounding for enforcing contextual safety in novel settings. We provide additional resources at https://zacravichandran.github.io/CORE.

cs.RO↗
arXiv2026

EVECTOR: An orchestrator for analysing attacks in electric vehicles charging system

Electric Vehicle (EV) charging infrastructure is critical for the widespread adoption of EVs, ensuring efficient and secure charging processes. Evaluating the security and performance of EV charging systems in real-world infrastructure poses significant challenges due to the diversity of information exchange between vehicles and charging stations/Electric Vehicle Supply Equipment (EVSE), including complex network protocols, scale of deployment and a variety of potential threats. Existing simulation frameworks are unable to handle complex security scenarios across these differing data exchange protocols. In this paper, we propose a novel EV orchestration framework: EVECTOR, which addresses the limitations of existing simulation systems by enabling both quantitative and qualitative analyses of EV charging scenarios. EVECTOR also provides a flexible attack orchestrator to simulate realistic attack behaviours on EV charging infrastructure. We validate the EVECTOR framework through two case studies: (a) cyber-physical attacks such as broken wire; and (b) cyber-specific attacks such as frame fuzzification. The case studies highlight the effectiveness of EVECTOR in providing deeper insights into the security and performance of EV charging systems.

cs.OH↗
arXiv2025

HALO: High-Altitude Language-Conditioned Monocular Aerial Exploration and Navigation

We demonstrate real-time high-altitude aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS) and an inertial measurement unit (IMU). Our system, named HALO, addresses two key challenges: (i) real-time dense 3D reconstruction using vision at large distances, and (ii) mapping and exploration of large-scale outdoor environments with accurate scene geometry and semantics. We demonstrate that HALO can plan informative paths that exploit this information to complete missions with multiple tasks specified in natural language. In simulation-based evaluation across large-scale environments of size up to 78,000 sq. m., HALO consistently completes tasks with less exploration time and achieves up to 68% higher competitive ratio in terms of the distance traveled compared to the state-of-the-art semantic exploration baseline. We use real-world experiments on a custom quadrotor platform to demonstrate that (i) all modules can run onboard the robot, and that (ii) in diverse environments HALO can support effective autonomous execution of missions covering up to 24,600 sq. m. area at an altitude of 40 m. Experiment videos and more details can be found on our project page: https://tyuezhan.github.io/halo/.

cs.RO↗