Nitish Kumar

Deepak Chaurasiya, Anil Surisetty, Nitish Kumar et al.

Entity Alignment (EA) identifies entities across databases that refer to the same entity. Knowledge graph-based embedding methods have recently dominated EA techniques. Such methods map entities to a low-dimension space and align them based on their similarities. With the corpus of EA methodologies growing rapidly, this paper presents a comprehensive analysis of various existing EA methods, elaborating their applications and limitations. Further, we distinguish the methods based on their underlying algorithms and the information they incorporate to learn entity representations. Based on challenges in industrial datasets, we bring forward $4$ research questions (RQs). These RQs empirically analyse the algorithms from the perspective of \textit{Hubness, Degree distribution, Non-isomorphic neighbourhood,} and \textit{Name bias}. For Hubness, where one entity turns up as the nearest neighbour of many other entities, we define an $h$-score to quantify its effect on the performance of various algorithms. Additionally, we try to level the playing field for algorithms that rely primarily on name-bias existing in the benchmarking open-source datasets by creating a low name bias dataset. We further create an open-source repository for $14$ embedding-based EA methods and present the analysis for invoking further research motivations in the field of EA.

Nitish Kumar, Sannu Kumar, S Akash et al.

With the rapid proliferation of online sports journalism, extracting meaningful pre-game and post-game insights from articles is essential for enhancing user engagement and comprehension. In this paper, we address the task of automatically extracting such insights from articles published before and after matches. We curate a dataset of 7,900 news articles covering 800 matches across four major sports: Cricket, Soccer, Basketball, and Baseball. To ensure contextual relevance, we employ a two-step validation pipeline leveraging both open-source and proprietary large language models (LLMs). We then utilize multiple state-of-the-art LLMs (GPT-4o, Qwen2.5-72B-Instruct, Llama-3.3-70B-Instruct, and Mixtral-8x7B-Instruct-v0.1) to generate comprehensive insights. The factual accuracy of these outputs is rigorously assessed using a FactScore-based methodology, complemented by hallucination detection via the SummaC (Summary Consistency) framework with GPT-4o. Finally, we propose SUMMIR (Sentence Unified Multimetric Model for Importance Ranking), a novel architecture designed to rank insights based on user-specific interests. Our results demonstrate the effectiveness of this approach in generating high-quality, relevant insights, while also revealing significant differences in factual consistency and interestingness across LLMs. This work contributes a robust framework for automated, reliable insight generation from sports news content. The source code is availble here https://github.com/nitish-iitp/SUMMIR.

Pankaj Gupta, Priya Mudgil, Niharika Dutta et al.

Background: Pancreatic cancer is one of the most aggressive cancers, with poor survival rates. Endoscopic ultrasound (EUS) is a key diagnostic modality, but its effectiveness is constrained by operator subjectivity. This study evaluates a Vision Transformer-based deep learning segmentation model for pancreatic tumors. Methods: A segmentation model using the USFM framework with a Vision Transformer backbone was trained and validated with 17,367 EUS images (from two public datasets) in 5-fold cross-validation. The model was tested on an independent dataset of 350 EUS images from another public dataset, manually segmented by radiologists. Preprocessing included grayscale conversion, cropping, and resizing to 512x512 pixels. Metrics included Dice similarity coefficient (DSC), intersection over union (IoU), sensitivity, specificity, and accuracy. Results: In 5-fold cross-validation, the model achieved a mean DSC of 0.651 +/- 0.738, IoU of 0.579 +/- 0.658, sensitivity of 69.8%, specificity of 98.8%, and accuracy of 97.5%. For the external validation set, the model achieved a DSC of 0.657 (95% CI: 0.634-0.769), IoU of 0.614 (95% CI: 0.590-0.689), sensitivity of 71.8%, and specificity of 97.7%. Results were consistent, but 9.7% of cases exhibited erroneous multiple predictions. Conclusions: The Vision Transformer-based model demonstrated strong performance for pancreatic tumor segmentation in EUS images. However, dataset heterogeneity and limited external validation highlight the need for further refinement, standardization, and prospective studies.

Ivan Tjuawinata, Andre Gunawan, Anh Quan Tran et al.

Tabular data, widely used in various applications such as industrial control systems, finance, and supply chain, often contains complex interrelationships among its attributes. Data disentanglement seeks to transform such data into latent variables with reduced interdependencies, facilitating more effective and efficient processing. Despite the extensive studies on data disentanglement over image, text, or audio data, tabular data disentanglement may require further investigation due to the more intricate attribute interactions typically found in tabular data. Moreover, due to the highly complex interrelationships, direct translation from other data domains results in suboptimal data disentanglement. Existing tabular data disentanglement methods, such as factor analysis, CT-GAN, and VAE face limitations including scalability issues, mode collapse, and poor extrapolation. In this paper, we propose the use of a framework to provide a systematic view on tabular data disentanglement that modularizes the process into four core components: data extraction, data modeling, model analysis, and latent representation extrapolation. We believe this work provides a deeper understanding of tabular data disentanglement and existing methods, and lays the foundation for potential future research in developing robust, efficient, and scalable data disentanglement techniques. Finally, we demonstrate the framework's applicability through a case study on synthetic tabular data generation, showcasing its potential in the particular downstream task of data synthesis.

Michael Helmberger, Kristian Morin, Beda Berner et al.

Research in Simultaneous Localization and Mapping (SLAM) has made outstanding progress over the past years. SLAM systems are nowadays transitioning from academic to real world applications. However, this transition has posed new demanding challenges in terms of accuracy and robustness. To develop new SLAM systems that can address these challenges, new datasets containing cutting-edge hardware and realistic scenarios are required. We propose the Hilti SLAM Challenge Dataset. Our dataset contains indoor sequences of offices, labs, and construction environments and outdoor sequences of construction sites and parking areas. All these sequences are characterized by featureless areas and varying illumination conditions that are typical in real-world scenarios and pose great challenges to SLAM algorithms that have been developed in confined lab environments. Accurate sparse ground truth, at millimeter level, is provided for each sequence. The sensor platform used to record the data includes a number of visual, lidar, and inertial sensors, which are spatially and temporally calibrated. The purpose of this dataset is to foster the research in sensor fusion to develop SLAM algorithms that can be deployed in tasks where high accuracy and robustness are required, e.g., in construction environments. Many academic and industrial groups tested their SLAM systems on the proposed dataset in the Hilti SLAM Challenge. The results of the challenge, which are summarized in this paper, show that the proposed dataset is an important asset in the development of new SLAM algorithms that are ready to be deployed in the real-world.

Nitish Kumar, Stelian Coros

We present a novel class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family which consists of ground mobile bases with non-holonomic constraints. Moreover, these mobile robots are constrained by closed-loop kinematic chains consisting of revolute joints which can be either passive or actuated. We also describe a novel trajectory optimization method which is general with respect to number of mobile robots, topology of the closed-loop kinematic chains and placement of the actuators at the revolute joints. We also extend the standalone trajectory optimization method to optimize concurrently the design parameters and the control policy. We describe various CCMA system examples, in simulation, differing in design, topology, number of mobile robots and actuation space. The simulation results for standalone trajectory optimization with fixed design parameters is presented for CCMA system examples. We also show how this method can be used for tasks other than end-effector positioning such as internal collision avoidance and external obstacle avoidance. The concurrent design and control policy optimization is demonstrated, in simulations, to increase the CCMA system workspace and manipulation capabilities. Finally, the trajectory optimization method is validated in experiments through two 4-DOF prototypes consisting of 3 tracked mobile bases.

Nitish Kumar, Stelian Coros

We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic chain can be easily replaced with different designs and morphologies for different functions and task adaptability. Depending solely on the actuation of the mobile agents, this mobile robotic system can manipulate or position an end-effector. However, the complexity of the system due to presence of several mobile agents, passivity of the kinematic chain and the nature of the constrained collaborative manipulation requires development of an optimization framework. We therefore present an optimization framework for forward simulation and kinematic control of this system. With this optimization framework, the number of deployed mobile agents, actuation schemes, the design and morphology of the passive kinematic chain can be easily changed, which reinforces the modularity and collaborative aspects of the mobile robotic system. We present results, in simulation, for spatial 4-DOF to 6-DOF CCMA system examples. Finally, we present experimental quantitative results for two different fabricated 4-DOF prototypes, which demonstrate different actuation schemes, control and collaborative manipulation of an end-effector.