Soumya Ranjan Sahoo

Mahathi Bhargavapuri, Soumya Ranjan Sahoo, Mangal Kothari

The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve arbitrary attitude maneuvers with only continuous, memory-less state-feedback. We first present nonlinear control laws using both rotation matrices and quaternions that give rise to one almost globally asymptotically stabilizable equilibrium along with a nowhere dense set of unstable equilibria. The unstable equilibria are uniquely identified in the attitude error space. Pseudo-targets are then designed to make the controller believe that the attitude error is within the region of attraction of the stable equilibrium. Further, the pseudo-target ensures that maximum control action is provided to push the closed-loop system toward the stable equilibrium. The proposed algorithms are validated using both numerical simulations and experiments to show their simplicity and effectiveness.

Soumya Ranjan Sahoo, Gagan N., Sanand Sasidharan et al.

Large Language Models (LLMs) have demonstrated strong capabilities in biomedical question answering, yet their tendency to generate plausible but unverified claims poses serious risks in clinical settings. To mitigate these risks, the TREC 2025 BioGen track mandates grounded answers that explicitly surface contradictory evidence (Task A) and the generation of narrative driven, fully attributed responses (Task B). Addressing the absence of target ground truth, we present a proxy-based development framework using the SciFact dataset to systematically optimize retrieval architectures. Our iterative evaluation revealed a "Simplicity Paradox": complex adversarial dense retrieval strategies failed catastrophically at contradiction detection (MRR 0.023) due to Semantic Collapse, where negation signals become indistinguishable in vector space. We further identify a Retrieval Asymmetry: filtering dense embeddings improves contradiction detection but degrades support recall, compromising reliability. We resolve this via a Decoupled Lexical Architecture built on a unified BM25 backbone, balancing semantic support recall (0.810) with precise contradiction surfacing (0.750). This approach achieves the highest Weighted MRR (0.790) on the proxy benchmark while remaining the only viable strategy for scaling to the 30 million document PubMed corpus. For answer generation, we introduce Narrative Aware Reranking and One-Shot In-Context Learning, improving citation coverage from 50% (zero-shot) to 100%. Official TREC results confirm our findings: our system ranks 2nd on Task A contradiction F1 and 3rd out of 50 runs on Task B citation coverage (98.77%), achieving zero citation contradict rate. Our work transforms LLMs from stochastic generators into honest evidence synthesizers, showing that epistemic integrity in biomedical AI requires precision and architectural scalability isolated metric optimization.

Ken E. Friedl, Abbas Goher Khan, Soumya Ranjan Sahoo et al.

The assessment of advanced generative large language models (LLMs) poses a significant challenge, given their heightened complexity in recent developments. Furthermore, evaluating the performance of LLM-based applications in various industries, as indicated by Key Performance Indicators (KPIs), is a complex undertaking. This task necessitates a profound understanding of industry use cases and the anticipated system behavior. Within the context of the automotive industry, existing evaluation metrics prove inadequate for assessing in-car conversational question answering (ConvQA) systems. The unique demands of these systems, where answers may relate to driver or car safety and are confined within the car domain, highlight the limitations of current metrics. To address these challenges, this paper introduces a set of KPIs tailored for evaluating the performance of in-car ConvQA systems, along with datasets specifically designed for these KPIs. A preliminary and comprehensive empirical evaluation substantiates the efficacy of our proposed approach. Furthermore, we investigate the impact of employing varied personas in prompts and found that it enhances the model's capacity to simulate diverse viewpoints in assessments, mirroring how individuals with different backgrounds perceive a topic.