arXiv subjects

Rohan Banerjee

Publications and source records attributed to Rohan Banerjee.

8 recordsLinked to original sources

arXiv2026

Partial Reversibility and Counterdiabatic Driving in Nearly Integrable Systems

Adiabatic (or reversible) processes are the key concept unifying our understanding of thermodynamics and dynamical systems. Reversibility in the thermodynamic sense is understood as entropy-preserving processes, such as in the idealized Carnot engine, whereas in integrable dynamical systems it is understood as the conservation of the action variables. Between these two idealized limits, however, things are much less clear. In this work, we study several toy models to assess the extent to which reversible processes are even possible in this regime. We then explore how the dissipative losses resulting from rapidly driving these kinds of systems can be fought by approximate counterdiabatic driving. Finally, we provide numerical evidence that much of the phenomenology should be the same for quantum many-body systems with large degeneracy in the presence of integrability breaking perturbations.

quant-ph↗

arXiv2026

A Human-in-the-Loop Confidence-Aware Failure Recovery Framework for Modular Robot Policies

Robots operating in unstructured human environments inevitably encounter failures, especially in robot caregiving scenarios. While humans can often help robots recover, excessive or poorly targeted queries impose unnecessary cognitive and physical workload on the human partner. We present a human-in-the-loop failure-recovery framework for modular robotic policies, where a policy is composed of distinct modules such as perception, planning, and control, any of which may fail and often require different forms of human feedback. Our framework integrates calibrated estimates of module-level uncertainty with models of human intervention cost to decide which module to query and when to query the human. It separates these two decisions: a module selector identifies the module most likely responsible for failure, and a querying algorithm determines whether to solicit human input or act autonomously. We evaluate several module-selection strategies and querying algorithms in controlled synthetic experiments, revealing trade-offs between recovery efficiency, robustness to system and user variables, and user workload. Finally, we deploy the framework on a robot-assisted bite acquisition system and demonstrate, in studies involving individuals with both emulated and real mobility limitations, that it improves recovery success while reducing the workload imposed on users. Our results highlight how explicitly reasoning about both robot uncertainty and human effort can enable more efficient and user-centered failure recovery in collaborative robots. Supplementary materials and videos can be found at: http://emprise.cs.cornell.edu/modularhil

cs.RO↗

arXiv2025

PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction

Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficult for a single contact; with whole-arm interaction involving multiple simultaneous contacts between the robot and human, the challenge is greater because different body parts can impose incompatible force requirements. In caregiving tasks, where contact is frequent and varied, such conflicts are unavoidable. With multiple preferences across multiple contacts, no single solution can satisfy all objectives--trade-offs are inherent, making prioritization essential. We present PrioriTouch, a framework for ranking and executing control objectives across multiple contacts. PrioriTouch can prioritize from a general collection of controllers, making it applicable not only to caregiving scenarios such as bed bathing and dressing but also to broader multi-contact settings. Our method combines a novel learning-to-rank approach with hierarchical operational space control, leveraging simulation-in-the-loop rollouts for data-efficient and safe exploration. We conduct a user study on physical assistance preferences, derive personalized comfort thresholds, and incorporate them into PrioriTouch. We evaluate PrioriTouch through extensive simulation and real-world experiments, demonstrating its ability to adapt to user contact preferences, maintain task performance, and enhance safety and comfort. Website: https://emprise.cs.cornell.edu/prioritouch.

cs.RO↗

arXiv2024

To Ask or Not To Ask: Human-in-the-loop Contextual Bandits with Applications in Robot-Assisted Feeding

Robot-assisted bite acquisition involves picking up food items with varying shapes, compliance, sizes, and textures. Fully autonomous strategies may not generalize efficiently across this diversity. We propose leveraging feedback from the care recipient when encountering novel food items. However, frequent queries impose a workload on the user. We formulate human-in-the-loop bite acquisition within a contextual bandit framework and introduce LinUCB-QG, a method that selectively asks for help using a predictive model of querying workload based on query types and timings. This model is trained on data collected in an online study involving 14 participants with mobility limitations, 3 occupational therapists simulating physical limitations, and 89 participants without limitations. We demonstrate that our method better balances task performance and querying workload compared to autonomous and always-querying baselines and adjusts its querying behavior to account for higher workload in users with mobility limitations. We validate this through experiments in a simulated food dataset and a user study with 19 participants, including one with severe mobility limitations. Please check out our project website at: http://emprise.cs.cornell.edu/hilbiteacquisition/

cs.RO↗

arXiv2023

Improving Environment Robustness of Deep Reinforcement Learning Approaches for Autonomous Racing Using Bayesian Optimization-based Curriculum Learning

Deep reinforcement learning (RL) approaches have been broadly applied to a large number of robotics tasks, such as robot manipulation and autonomous driving. However, an open problem in deep RL is learning policies that are robust to variations in the environment, which is an important condition for such systems to be deployed into real-world, unstructured settings. Curriculum learning is one approach that has been applied to improve generalization performance in both supervised and reinforcement learning domains, but selecting the appropriate curriculum to achieve robustness can be a user-intensive process. In our work, we show that performing probabilistic inference of the underlying curriculum-reward function using Bayesian Optimization can be a promising technique for finding a robust curriculum. We demonstrate that a curriculum found with Bayesian optimization can outperform a vanilla deep RL agent and a hand-engineered curriculum in the domain of autonomous racing with obstacle avoidance. Our code is available at https://github.com/PRISHIta123/Curriculum_RL_for_Driving.

cs.RO↗

arXiv2023

A Novel U-Net Architecture for Denoising of Real-world Noise Corrupted Phonocardiogram Signal

The bio-acoustic information contained within heart sound signals are utilized by physicians world-wide for auscultation purpose. However, the heart sounds are inherently susceptible to noise contamination. Various sources of noises like lung sound, coughing, sneezing, and other background noises are involved in such contamination. Such corruption of the heart sound signal often leads to inconclusive or false diagnosis. To address this issue, we have proposed a novel U-Net based deep neural network architecture for denoising of phonocardiogram (PCG) signal in this paper. For the design, development and validation of the proposed architecture, a novel approach of synthesizing real-world noise corrupted PCG signals have been proposed. For the purpose, an open-access real-world noise sample dataset and an open-access PCG dataset has been utilized. The performance of the proposed denoising methodology has been evaluated on the synthesized noisy PCG dataset. The performance of the proposed algorithm has been compared with existing state-of-the-art (SoA) denoising algorithms qualitatively and quantitatively. The proposed denoising technique has shown improvement in performance as comparison to the SoAs.

eess.SP↗

arXiv2018

Murmur Detection Using Parallel Recurrent & Convolutional Neural Networks

In this article, we propose a novel technique for classification of the Murmurs in heart sound. We introduce a novel deep neural network architecture using parallel combination of the Recurrent Neural Network (RNN) based Bidirectional Long Short-Term Memory (BiLSTM) & Convolutional Neural Network (CNN) to learn visual and time-dependent characteristics of Murmur in PCG waveform. Set of acoustic features are presented to our proposed deep neural network to discriminate between Normal and Murmur class. The proposed method was evaluated on a large dataset using 5-fold cross-validation, resulting in a sensitivity and specificity of 96 +- 0.6 % , 100 +- 0 % respectively and F1 Score of 98 +- 0.3 %.

cs.SD↗

arXiv2016

Towards Wide Learning: Experiments in Healthcare

In this paper, a Wide Learning architecture is proposed that attempts to automate the feature engineering portion of the machine learning (ML) pipeline. Feature engineering is widely considered as the most time consuming and expert knowledge demanding portion of any ML task. The proposed feature recommendation approach is tested on 3 healthcare datasets: a) PhysioNet Challenge 2016 dataset of phonocardiogram (PCG) signals, b) MIMIC II blood pressure classification dataset of photoplethysmogram (PPG) signals and c) an emotion classification dataset of PPG signals. While the proposed method beats the state of the art techniques for 2nd and 3rd dataset, it reaches 94.38% of the accuracy level of the winner of PhysioNet Challenge 2016. In all cases, the effort to reach a satisfactory performance was drastically less (a few days) than manual feature engineering.

stat.ML↗