Himanshu Gupta

Himanshu Gupta, Bradley Hayes, Zachary Sunberg

This paper presents a hybrid online Partially Observable Markov Decision Process (POMDP) planning system that addresses the problem of autonomous navigation in the presence of multi-modal uncertainty introduced by other agents in the environment. As a particular example, we consider the problem of autonomous navigation in dense crowds of pedestrians and among obstacles. Popular approaches to this problem first generate a path using a complete planner (e.g., Hybrid A*) with ad-hoc assumptions about uncertainty, then use online tree-based POMDP solvers to reason about uncertainty with control over a limited aspect of the problem (i.e. speed along the path). We present a more capable and responsive real-time approach enabling the POMDP planner to control more degrees of freedom (e.g., both speed AND heading) to achieve more flexible and efficient solutions. This modification greatly extends the region of the state space that the POMDP planner must reason over, significantly increasing the importance of finding effective roll-out policies within the limited computational budget that real time control affords. Our key insight is to use multi-query motion planning techniques (e.g., Probabilistic Roadmaps or Fast Marching Method) as priors for rapidly generating efficient roll-out policies for every state that the POMDP planning tree might reach during its limited horizon search. Our proposed approach generates trajectories that are safe and significantly more efficient than the previous approach, even in densely crowded dynamic environments with long planning horizons.

Yunfan Li, Himanshu Gupta, Haibin Ling et al.

Cholecystectomy (gallbladder removal) is one of the most common procedures in the US, with more than 1.2M procedures annually. Compared with classical open cholecystectomy, laparoscopic cholecystectomy (LC) is associated with significantly shorter recovery period, and hence is the preferred method. However, LC is also associated with an increase in bile duct injuries (BDIs), resulting in significant morbidity and mortality. The primary cause of BDIs from LCs is misidentification of the cystic duct with the bile duct. Critical view of safety (CVS) is the most effective of safety protocols, which is said to be achieved during the surgery if certain criteria are met. However, due to suboptimal understanding and implementation of CVS, the BDI rates have remained stable over the last three decades. In this paper, we develop deep-learning techniques to automate the assessment of CVS in LCs. An innovative aspect of our research is on developing specialized learning techniques by incorporating domain knowledge to compensate for the limited training data available in practice. In particular, our CVS assessment process involves a fusion of two segmentation maps followed by an estimation of a certain region of interest based on anatomical structures close to the gallbladder, and then finally determination of each of the three CVS criteria via rule-based assessment of structural information. We achieved a gain of over 11.8% in mIoU on relevant classes with our two-stream semantic segmentation approach when compared to a single-model baseline, and 1.84% in mIoU with our proposed Sobel loss function when compared to a Transformer-based baseline model. For CVS criteria, we achieved up to 16% improvement and, for the overall CVS assessment, we achieved 5% improvement in balanced accuracy compared to DeepCVS under the same experiment settings.

Xiaojie Fan, C. R. Ramakrishnan, Himanshu Gupta

The development of large-scale quantum networks requires not only advances in physical-layer technologies but also a comprehensive protocol stack that integrates communication, control, and resource management across all layers. We present the first such protocol stack, which introduces a Global Entanglement Module (GEM) that maintains a consistent, network-wide view of entanglement resources through distributed synchronization strategies. By enabling real-time adaptive execution of entanglement distribution plans, GEM bridges the gap between static planning and dynamic operation. The stack naturally supports pre-distributed entanglement, purification, and multi-partite state generation, making it applicable to a broad range of quantum networking applications. We design and evaluate multiple adaptive heuristics for real-time execution and show that a lightweight scoring-based strategy consistently achieves the best performance, improving entanglement generation rates by about 20% over a globally optimal but non-adaptive fixed-tree baseline and achieving more than a two-fold improvement relative to recent connectionless approaches. Across all scenarios-including predistribution and fidelity analysis-GEM consistently enables lower latency and robust operation. These results establish a practical pathway toward scalable, adaptive quantum internet systems.

Purnendu Prabhat, Himanshu Gupta, Ajeet Kumar Vishwakarma

The majority of computer vision applications that handle images featuring humans use face detection as a core component. Face detection still has issues, despite much research on the topic. Face detection's accuracy and speed might yet be increased. This review paper shows the progress made in this area as well as the substantial issues that still need to be tackled. The paper provides research directions that can be taken up as research projects in the field of face detection.

Himanshu Gupta, Tanmay G. Kulkarni, Lov Kumar et al.

Code Smell, similar to a bad smell, is a surface indication of something tainted but in terms of software writing practices. This metric is an indication of a deeper problem lies within the code and is associated with an issue which is prominent to experienced software developers with acceptable coding practices. Recent studies have often observed that codes having code smells are often prone to a higher probability of change in the software development cycle. In this paper, we developed code smell prediction models with the help of features extracted from source code to predict eight types of code smell. Our work also presents the application of data sampling techniques to handle class imbalance problem and feature selection techniques to find relevant feature sets. Previous studies had made use of techniques such as Naive - Bayes and Random forest but had not explored deep learning methods to predict code smell. A total of 576 distinct Deep Learning models were trained using the features and datasets mentioned above. The study concluded that the deep learning models which used data from Synthetic Minority Oversampling Technique gave better results in terms of accuracy, AUC with the accuracy of some models improving from 88.47 to 96.84.

Adeniyi Jide Kehinde, Abidemi Emmanuel Adeniyi, Roseline Oluwaseun Ogundokun et al.

Many researchers have studied student academic performance in supervised and unsupervised learning using numerous data mining techniques. Neural networks often need a greater collection of observations to achieve enough predictive ability. Due to the increase in the rate of poor graduates, it is necessary to design a system that helps to reduce this menace as well as reduce the incidence of students having to repeat due to poor performance or having to drop out of school altogether in the middle of the pursuit of their career. It is therefore necessary to study each one as well as their advantages and disadvantages, so as to determine which is more efficient in and in what case one should be preferred over the other. The study aims to develop a system to predict student performance with Artificial Neutral Network using the student demographic traits so as to assist the university in selecting candidates (students) with a high prediction of success for admission using previous academic records of students granted admissions which will eventually lead to quality graduates of the institution. The model was developed based on certain selected variables as the input. It achieved an accuracy of over 92.3 percent, showing Artificial Neural Network potential effectiveness as a predictive tool and a selection criterion for candidates seeking admission to a university.