12 citations · 29 across the 14 of their papers we have counts for
14 papers
On the Role of Inductive Bias in Time-Series Pretraining: A Case Study in Learning Generalizable Representations for Clinical Time Series
Sharmita Dey, Diego Paez-Granados
Clinical time-series learning is routinely constrained by small, heterogeneous cohorts and protocol drift, while its downstream use spans both classification (e.g., pathology diagn…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Cross-Modal Diffusion for Biomechanical Dynamical Systems Through Local Manifold Alignment
Sharmita Dey, Sarath Ravindran Nair
We present a mutually aligned diffusion framework for cross-modal biomechanical motion generation, guided by a dynamical systems perspective. By treating each modality, e.g., obser…
Redefining Robot Generalization Through Interactive Intelligence
Sharmita Dey
Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great…
Continual Learning from Simulated Interactions via Multitask Prospective Rehearsal for Bionic Limb Behavior Modeling
Sharmita Dey, Benjamin Paassen, Sarath Ravindran Nair +2
Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promi…
Enhancing Joint Motion Prediction for Individuals with Limb Loss Through Model Reprogramming
Sharmita Dey, Sarath R. Nair
Mobility impairment caused by limb loss is a significant challenge faced by millions of individuals worldwide. The development of advanced assistive technologies, such as prostheti…
Embracing Large Language and Multimodal Models for Prosthetic Technologies
Sharmita Dey, Arndt F. Schilling
This article presents a vision for the future of prosthetic devices, leveraging the advancements in large language models (LLMs) and Large Multimodal Models (LMMs) to revolutionize…
Computer Vision for Primate Behavior Analysis in the Wild
Richard Vogg, Timo Lüddecke, Jonathan Henrich +14
Advances in computer vision as well as increasingly widespread video-based behavioral monitoring have great potential for transforming how we study animal cognition and behavior. H…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
Anushri Dixit, David D. Fan, Kyohei Otsu +3
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-…
Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain
Robin Schmid, Deegan Atha, Frederik Schöller +8
Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a…
PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains
Sharmita Dey, David Fan, Robin Schmid +5
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face…
Learning a Shared Model for Motorized Prosthetic Joints to Predict Ankle-Joint Motion
Sharmita Dey, Sabri Boughorbel, Arndt F. Schilling
Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the de…
A hybrid approach for dynamically training a torque prediction model for devising a human-machine interface control strategy
Sharmita Dey, Takashi Yoshida, Robert H. Foerster +4
Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects t…
Learning Risk-aware Costmaps for Traversability in Challenging Environments
David D. Fan, Sharmita Dey, Ali-akbar Agha-mohammadi +1
One of the main challenges in autonomous robotic exploration and navigation in unknown and unstructured environments is determining where the robot can or cannot safely move. A sig…