Prakash Aryan

Prakash Aryan, Kaushik Raghupathruni, Timo Kehrer et al.

Simulation-based testing of self-driving cars (SDCs) typically relies on scripted or simplified pedestrian models that do not capture the heterogeneity and uncertainty of real human crossing behavior. This limits the realism of safety assessments, especially in scenarios involving jaywalking, which is governed by latent personality traits that the vehicle cannot observe. We hypothesize that jointly training pedestrians and the SDC with multi-agent reinforcement learning (MARL) produces more realistic interaction scenarios than training the SDC against fixed pedestrian policies, and that the resulting behavior gap between predictable and unpredictable crossings can be measured directly from trajectories. This paper describes a MARL environment in which an SDC and 12 pedestrians are co-trained using Multi-Agent Proximal Policy Optimization (MAPPO). Pedestrian locomotion follows scripted Dijkstra pathfinding, while an RL policy controls high-level go/wait decisions. Jaywalking probability depends on a per-pedestrian personality trait sampled at episode start and hidden from the SDC. In 500-episode evaluations, the co-trained SDC reached 78% of goals with a 14% collision rate, compared to 35% goals and 33% collisions for the best rule-based baseline. A speed differential metric shows that the SDC traveled 2.65 m/s faster near jaywalkers than near crosswalk users at close range (0-3 m), indicating that jaywalking encounters were not anticipated. Jaywalking accounted for 13% of crossing events but was associated with 62% of collisions. Co-training with MARL pedestrians reduced collisions by 30% relative to single-agent RL, as pedestrians learned to wait when the SDC approached at speed.

Prakash Aryan, Cem Erdogdu, Kavinaya Kumarchokkappan et al.

Operating a multi-robot fleet for simultaneous localization and mapping (SLAM) in applications such as building inspection or warehouse-aisle monitoring requires the operator to maintain spatial awareness of each robot's position and mapping state, a task that scales poorly on conventional 2D interfaces. We present MR-SLAM, a mixed reality (MR) system in which an operator wearing a Meta Quest 3 headset teleoperates three simulated TurtleBot3 robots through a passthrough view with real-world occlusion, while spatially anchored dashboard panels report mapping progress in situ. Each robot runs an independent SLAM Toolbox instance whose occupancy grid is merged in real time on a Robot Operating System 2 (ROS 2) back end. Across five 9-minute evaluation sessions, the system delivered scans at 8.83 +/- 0.16 Hz, mapped 17.9 +/- 0.8 m^2 of merged occupancy, and reached 94.7 +/- 0.5% cross-instance occupancy consistency across robot pairs. An additional session recorded 6.3 ms median transform jitter and 26.7 m^2 coverage of a 41 m^2 grid. We position MR-SLAM as a reference implementation for combining passthrough mixed reality supervision with multi-robot SLAM on consumer hardware.

Prakash Aryan

This paper introduces DebateBrawl, an innovative AI-powered debate platform that integrates Large Language Models (LLMs), Genetic Algorithms (GA), and Adversarial Search (AS) to create an adaptive and engaging debating experience. DebateBrawl addresses the limitations of traditional LLMs in strategic planning by incorporating evolutionary optimization and game-theoretic techniques. The system demonstrates remarkable performance in generating coherent, contextually relevant arguments while adapting its strategy in real-time. Experimental results involving 23 debates show balanced outcomes between AI and human participants, with the AI system achieving an average score of 2.72 compared to the human average of 2.67 out of 10. User feedback indicates significant improvements in debating skills and a highly satisfactory learning experience, with 85% of users reporting improved debating abilities and 78% finding the AI opponent appropriately challenging. The system's ability to maintain high factual accuracy (92% compared to 78% in human-only debates) while generating diverse arguments addresses critical concerns in AI-assisted discourse. DebateBrawl not only serves as an effective educational tool but also contributes to the broader goal of improving public discourse through AI-assisted argumentation. The paper discusses the ethical implications of AI in persuasive contexts and outlines the measures implemented to ensure responsible development and deployment of the system, including robust fact-checking mechanisms and transparency in decision-making processes.

Prakash Aryan

This paper presents a novel approach to fine-tuning the Qwen2-1.5B model for Arabic language processing using Quantized Low-Rank Adaptation (QLoRA) on a system with only 4GB VRAM. We detail the process of adapting this large language model to the Arabic domain, using diverse datasets including Bactrian, OpenAssistant, and Wikipedia Arabic corpora. Our methodology involves custom data preprocessing, model configuration, and training optimization techniques such as gradient accumulation and mixed-precision training. We address specific challenges in Arabic NLP, including morphological complexity, dialectal variations, and diacritical mark handling. Experimental results over 10,000 training steps show significant performance improvements, with the final loss converging to 0.1083. We provide comprehensive analysis of GPU memory usage, training dynamics, and model evaluation across various Arabic language tasks, including text classification, question answering, and dialect identification. The fine-tuned model demonstrates robustness to input perturbations and improved handling of Arabic-specific linguistic phenomena. This research contributes to multilingual AI by demonstrating a resource-efficient approach for creating specialized language models, potentially democratizing access to advanced NLP technologies for diverse linguistic communities. Our work paves the way for future research in low-resource language adaptation and efficient fine-tuning of large language models.