Jnaneshwar Das

Jnaneshwar Das

We derive a closed-form geometric functional for kernel dynamics on finite graphs by applying the Maximum Caliber (MaxCal) variational principle to the spectral transfer function h(lambda) of the graph Laplacian eigenbasis. The main result is that the MaxCal stationarity condition decouples into N one-dimensional problems with explicit solution: h*(lambda_l) = h_0(lambda_l) exp(-1 - T_l[h*]), yielding self-consistent (fixed-point) kernels via exponential tilting (Corollary 1), log-linear Fisher-Rao geodesics (Corollary 2), a diagonal Hessian stability criterion (Corollary 3), and an l^2_+ isometry for the spectral kernel space (Proposition 3). The spectral entropy H[h_t] provides a computable O(N) early-warning signal for network-structural phase transitions (Remark 7). All claims are numerically verified on the path graph P_8 with a Gaussian mutual-information source, using the open-source kernelcal library. The framework is grounded in a structural analogy with Einstein's field equations, used as a guiding template rather than an established equivalence; explicit limits are stated in Section 6.

Jnaneshwar Das, Christopher Filkins, Rajesh Moharana et al.

Navagunjara Reborn: The Phoenix of Odisha was built for Burning Man 2025 as both a sculpture and an experiment-a fusion of myth, craft, and computation. This paper describes the digital-physical workflow developed for the project: a pipeline that linked digital sculpting, distributed fabrication by artisans in Odisha (India), modular structural optimization in the U.S., iterative feedback through photogrammetry and digital twins, and finally, one-shot full assembly at the art site in Black Rock Desert, Nevada. The desert installation tested not just materials, but also systems of collaboration: between artisans and engineers, between myth and technology, between cultural specificity and global experimentation. We share the lessons learned in design, fabrication, and deployment and offer a framework for future interdisciplinary projects at the intersection of cultural heritage, STEAM education, and public art. In retrospect, this workflow can be read as a convergence of many knowledge systems-artisan practice, structural engineering, mythic narrative, and environmental constraint-rather than as execution of a single fixed blueprint.

Harish Anand, Stephen A. Rees, Zhiang Chen et al.

Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic simulations on the cloud. We have built upon our previous work and have addressed some of the educational and research challenges associated with the prior work. The critical contributions of the paper to the robotics and automation community are threefold: First, OpenUAV saves students and researchers from tedious and complicated software setups by providing web-browser-based Linux desktop sessions with standard robotics software like Gazebo, ROS, and flight autonomy stack. Second, a method for saving an individual's research work with its dependencies for the work's future reproducibility. Third, the platform provides a mechanism to support photorealistic robotics simulations by combining Unity game engine-based camera rendering and Gazebo physics. The paper addresses a research need for photorealistic simulations and describes a methodology for creating a photorealistic aquatic simulation. We also present the various academic and research use-cases of this platform to improve robotics education and research, especially during times like the COVID-19 pandemic, when virtual collaboration is necessary.

Jnaneshwar Das

The spectral kernel field equation R[k] = T[k] lacks a conservation-law analog. We prove (i) the fixed-point flow is strictly volume-expanding (tr DF > 0), precluding automatic conservation, and (ii) the conservation deficit per mode equals the Hessian stability margin exactly: D_m = -Delta'. Closing the deficit requires a scene-side compensating contribution, which we formalise as the distinction dynamics equation dc/dt = G[c, h_t], with MaxCal-optimal realisation G_opt. On fixed-topology 3D surface graphs we derive a conditional topology-preserving compression theorem: retaining k >= beta_0 + beta_1 modes (under a spectral-ordering assumption) preserves all Betti-number charges; we include a worked short-cycle counterexample (figure-eight) calibrating when the assumption fails. A triple necessary spectral diagnostic -- Fiedler-mode concentration, elevated curl energy, anomalous beta_1 -- is derived for planetary drainage networks at O(N) cost. Two internal real-data sequences serve as preliminary consistency checks; full benchmarks and adaptive-topology extensions are deferred.

Jnaneshwar Das

We propose a variational framework in which the kernel function k : X x X -> R, interpreted as the foundational object encoding what distinctions an agent can represent, is treated as a dynamical variable subject to path entropy maximization (Maximum Caliber, MaxCal). Each kernel defines a representational structure over which an information geometry on probability space may be analyzed; a trajectory through kernel space therefore corresponds to a trajectory through a family of effective geometries, making the optimization landscape endogenous to its own traversal. We formulate fixed-point conditions for self-consistent kernels, propose renormalization group (RG) flow as a structured special case, and suggest neural tangent kernel (NTK) evolution during deep network training as a candidate empirical instantiation. Under explicit information-thermodynamic assumptions, the work required for kernel change is bounded below by delta W >= k_B T delta I_k, where delta I_k is the mutual information newly unlocked by the updated kernel. In this view, stable fixed points of MaxCal over kernels correspond to self-reinforcing distinction structures, with biological niches, scientific paradigms, and craft mastery offered as conjectural interpretations. We situate the framework relative to assembly theory and the MaxCal literature, separate formal results from structured correspondences and conjectural bridges, and pose six open questions that make the program empirically and mathematically testable.

Zhiang Chen, J Ramon Arrowsmith, Jnaneshwar Das

Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced rocks (PBRs), whose geometric fragility parameters can provide valuable information on earthquake shaking history and landscape development for a region. With this geomorphology problem as the test domain, we demonstrate a pipeline for detecting, localizing, and precisely mapping fragile geologic features distributed on a landscape. To do so, we first carry out a lawn-mower search pattern in the survey region from a high elevation using an Unpiloted Aerial Vehicle (UAV). Once a potential PBR target is detected by a deep neural network, we track the bounding box in the image frames using a real-time tracking algorithm. The location and occupancy of the target in world coordinates are estimated using a sampling-based filtering algorithm, where a set of 3D points are re-sampled after weighting by the tracked bounding boxes from different camera perspectives. The converged 3D points provide a prior on 3D bounding shape of a target, which is used for UAV path planning to closely and completely map the target with Simultaneous Localization and Mapping (SLAM). After target mapping, the UAV resumes the lawn-mower search pattern to find the next target. We introduce techniques to make the target mapping robust to false positive and missing detection from the neural network. Our target-oriented mapping system has the advantages of reducing map storage and emphasizing complete visible surface features on specified targets.

Darwin Mick, K. Srikar Siddarth, Swastik Nandan et al.

Remote sample recovery is a rapidly evolving application of Small Unmanned Aircraft Systems (sUAS) for planetary sciences and space exploration. Development of cyber-physical systems (CPS) for autonomous deployment and recovery of sensor probes for sample caching is already in progress with NASA's MARS 2020 mission. To challenge student teams to develop autonomy for sample recovery settings, the 2020 NSF CPS Challenge was positioned around the launch of the MARS 2020 rover and sUAS duo. This paper discusses perception and trajectory planning for sample recovery by sUAS in a simulation environment. Out of a total of five teams that participated, the results of the top two teams have been discussed. The OpenUAV cloud simulation framework deployed on the Cyber-Physical Systems Virtual Organization (CPS-VO) allowed the teams to work remotely over a month during the COVID-19 pandemic to develop and simulate autonomous exploration algorithms. Remote simulation enabled teams across the globe to collaborate in experiments. The two teams approached the task of probe search, probe recovery, and landing on a moving target differently. This paper is a summary of teams' insights and lessons learned, as they chose from a wide range of perception sensors and algorithms.

Zhiang Chen, Sarah Bearman, J Ramon Arrowsmith et al.

Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs), whose geometric fragility parameters provide valuable information on earthquake processes and landscape development. With this geomorphologic problem as the test domain, we carry out a lawn-mower search pattern from a high elevation using an Unpiloted Aerial Vehicle (UAV) equipped with a flight controller, GPS module, stereo camera, and onboard computer. Once a potential PBR target is detected by a deep neural network in real time, we track its bounding box in the image coordinates by applying a Kalman filter that fuses the deep learning detection with Kanade-Lucas-Tomasi (KLT) tracking. The target is localized in world coordinates using depth filtering where a set of 3D points are filtered by object bounding boxes from different camera perspectives. The 3D points also provide a strong prior on target shape, which is used for UAV path planning to closely map the target using RGBD SLAM. After target mapping, the UAS resumes the lawn-mower search pattern to locate and map the next target.

Zhiang Chen, Tyler R. Scott, Sarah Bearman et al.

We present a pipeline for geomorphological analysis that uses structure from motion (SfM) and deep learning on close-range aerial imagery to estimate spatial distributions of rock traits (size, roundness, and orientation) along a tectonic fault scarp. The properties of the rocks on the fault scarp derive from the combination of initial volcanic fracturing and subsequent tectonic and geomorphic fracturing, and our pipeline allows scientists to leverage UAS-based imagery to gain a better understanding of such surface processes. We start by using SfM on aerial imagery to produce georeferenced orthomosaics and digital elevation models (DEM). A human expert then annotates rocks on a set of image tiles sampled from the orthomosaics, and these annotations are used to train a deep neural network to detect and segment individual rocks in the entire site. The extracted semantic information (rock masks) on large volumes of unlabeled, high-resolution SfM products allows subsequent structural analysis and shape descriptors to estimate rock size, roundness, and orientation. We present results of two experiments conducted along a fault scarp in the Volcanic Tablelands near Bishop, California. We conducted the first, proof-of-concept experiment with a DJI Phantom 4 Pro equipped with an RGB camera and inspected if elevation information assisted instance segmentation from RGB channels. Rock-trait histograms along and across the fault scarp were obtained with the neural network inference. In the second experiment, we deployed a hexrotor and a multispectral camera to produce a DEM and five spectral orthomosaics in red, green, blue, red edge, and near infrared. We focused on examining the effectiveness of different combinations of input channels in instance segmentation.

Xu Liu, Steven W. Chen, Chenhao Liu et al.

We present a cheap, lightweight, and fast fruit counting pipeline that uses a single monocular camera. Our pipeline that relies only on a monocular camera, achieves counting performance comparable to state-of-the-art fruit counting system that utilizes an expensive sensor suite including LiDAR and GPS/INS on a mango dataset. Our monocular camera pipeline begins with a fruit detection component that uses a deep neural network. It then uses semantic structure from motion (SFM) to convert these detections into fruit counts by estimating landmark locations of the fruit in 3D, and using these landmarks to identify double counting scenarios. There are many benefits of developing a low cost and lightweight fruit counting system, including applicability to agriculture in developing countries, where monetary constraints or unstructured environments necessitate cheaper hardware solutions.

Xu Liu, Steven W. Chen, Shreyas Aditya et al.

We present a novel fruit counting pipeline that combines deep segmentation, frame to frame tracking, and 3D localization to accurately count visible fruits across a sequence of images. Our pipeline works on image streams from a monocular camera, both in natural light, as well as with controlled illumination at night. We first train a Fully Convolutional Network (FCN) and segment video frame images into fruit and non-fruit pixels. We then track fruits across frames using the Hungarian Algorithm where the objective cost is determined from a Kalman Filter corrected Kanade-Lucas-Tomasi (KLT) Tracker. In order to correct the estimated count from tracking process, we combine tracking results with a Structure from Motion (SfM) algorithm to calculate relative 3D locations and size estimates to reject outliers and double counted fruit tracks. We evaluate our algorithm by comparing with ground-truth human-annotated visual counts. Our results demonstrate that our pipeline is able to accurately and reliably count fruits across image sequences, and the correction step can significantly improve the counting accuracy and robustness. Although discussed in the context of fruit counting, our work can extend to detection, tracking, and counting of a variety of other stationary features of interest such as leaf-spots, wilt, and blossom.