5 papers
Human-Aware Target Tracking and Navigation: Fusing Kinematic State Estimation with Structural Map Constraints
Sagar Gupta, Don Gideon, Seng W. Loke +2
Autonomous mobile robots performing person-following tasks often suffer from temporary occlusions and sensor track loss in dynamic environments. This research presents an end-to-en…
Always Keep Your Promises: A Model-Agnostic Attribution Algorithm for Neural Networks
Kevin Lee, Duncan Smith-Halverson, Pablo Millan Arias
Layer-wise Relevance Propagation (LRP) provides principled attribution for neural networks through conservation properties and foundations in Deep Taylor Decomposition. However, ex…
Virtual Traffic Lights for Multi-Robot Navigation: Decentralized Planning with Centralized Conflict Resolution
Sagar Gupta, Thanh Vinh Nguyen, Thieu Long Phan +8
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plan…
Reasoning With a Star: A Heliophysics Dataset and Benchmark for Agentic Scientific Reasoning
Kevin Lee, Russell Spiewak, James Walsh
Scientific reasoning through Large Language Models in heliophysics involves more than just recalling facts: it requires incorporating physical assumptions, maintaining consistent u…
Iterative Encoding-Decoding VAEs Anomaly Detection in NOAA's DART Time Series: A Machine Learning Approach for Enhancing Data Integrity for NASA's GRACE-FO Verification and Validation
Kevin Lee
NOAA's Deep-ocean Assessment and Reporting of Tsunamis (DART) data are critical for NASA-JPL's tsunami detection, real-time operations, and oceanographic research. However, these t…