21 citations · 40 across the 9 of their papers we have counts for
12 papers
Fine-tuning Smaller Language Models for Question Answering over Financial Documents
Karmvir Singh Phogat, Sai Akhil Puranam, Sridhar Dasaratha +2
Recent research has shown that smaller language models can acquire substantial reasoning abilities when fine-tuned with reasoning exemplars crafted by a significantly larger teache…
Zero-Shot Question Answering over Financial Documents using Large Language Models
Karmvir Singh Phogat, Chetan Harsha, Sridhar Dasaratha +2
We introduce a large language model (LLM) based approach to answer complex questions requiring multi-hop numerical reasoning over financial reports. While LLMs have exhibited remar…
DeepPSL: End-to-end perception and reasoning
Sridhar Dasaratha, Sai Akhil Puranam, Karmvir Singh Phogat +2
We introduce DeepPSL a variant of probabilistic soft logic (PSL) to produce an end-to-end trainable system that integrates reasoning and perception. PSL represents first-order logi…
Tracking Controller Design for Satellite Attitude Under Unknown Constant Disturbance Using Stable Embedding
Wonshick Ko, Karmvir Singh Phogat, Nicolas Petit +1
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding te…
Invariant extended Kalman filter on matrix Lie groups
Karmvir Singh Phogat, Dong Eui Chang
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the…
Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
Dong Eui Chang, Karmvir Singh Phogat, Jongeun Choi
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Eucl…
Exact isoholonomic motion of the planar Purcell's swimmer
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar +1
In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purc…
Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum
Klaus Albert, Karmvir Singh Phogat, Felix Anhalt +3
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion pl…
A frequency-constrained geometric Pontryagin maximum principle on matrix Lie groups
Shruti Kotpalliwar, Pradyumna Paruchuri, Karmvir Singh Phogat +2
In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to…
Structure-preserving discrete-time optimal maneuvers of a wheeled inverted pendulum
Karmvir Singh Phogat, Ravi Banavar, Debasish Chatterjee
The Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the {\it Segway}. Designing optimal control laws fo…
A discrete-time Pontryagin maximum principle on matrix Lie groups
Karmvir Singh Phogat, Debasish Chatterjee, Ravi Banavar
In this article we derive a Pontryagin maximum principle (PMP) for discrete-time optimal control problems on matrix Lie groups. The PMP provides first order necessary conditions fo…
Discrete-time optimal attitude control of spacecraft with momentum and control constraints
Karmvir Singh Phogat, Debasish Chatterjee, Ravi Banavar
This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics…