Mihir Chauhan

Mihir Chauhan, Damon Conover, Aniket Bera

Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from urban driving and warehouse automation to defense and surveillance. Classical path planning approaches and memoryless reinforcement learning often fail under limited fields of view (FoVs) and occlusions, committing to unsafe or inefficient maneuvers. We propose a hierarchical navigation framework that integrates a Deep Transformer Q-Network (DTQN) as a high-level subgoal selector with a modular low-level controller for waypoint execution. The DTQN consumes short histories of task-aware features, encoding odometry, goal direction, obstacle proximity, and visibility cues, and outputs Q-values to rank candidate subgoals. Visibility-aware candidate generation introduces masking and exposure penalties, rewarding the use of cover and anticipatory safety. A low-level potential field controller then tracks the selected subgoal, ensuring smooth short-horizon obstacle avoidance. We validate our approach in 2D simulation and extend it directly to a 3D Unity-ROS environment by projecting point-cloud perception into the same feature schema, enabling transfer without architectural changes. Results show consistent improvements over classical planners and RL baselines in success rate, safety margins, and time to goal, with ablations confirming the value of temporal memory and visibility-aware candidate design. These findings highlight a generalizable framework for safe navigation under uncertainty, with broad relevance across robotic platforms.

Mihir Chauhan, Abhishek Satbhai, Mohammad Abuzar Hashemi et al.

Handwriting Verification is a critical in document forensics. Deep learning based approaches often face skepticism from forensic document examiners due to their lack of explainability and reliance on extensive training data and handcrafted features. This paper explores using Vision Language Models (VLMs), such as OpenAI's GPT-4o and Google's PaliGemma, to address these challenges. By leveraging their Visual Question Answering capabilities and 0-shot Chain-of-Thought (CoT) reasoning, our goal is to provide clear, human-understandable explanations for model decisions. Our experiments on the CEDAR handwriting dataset demonstrate that VLMs offer enhanced interpretability, reduce the need for large training datasets, and adapt better to diverse handwriting styles. However, results show that the CNN-based ResNet-18 architecture outperforms the 0-shot CoT prompt engineering approach with GPT-4o (Accuracy: 70%) and supervised fine-tuned PaliGemma (Accuracy: 71%), achieving an accuracy of 84% on the CEDAR AND dataset. These findings highlight the potential of VLMs in generating human-interpretable decisions while underscoring the need for further advancements to match the performance of specialized deep learning models.

Mihir Chauhan, Mohammad Abuzar Shaikh, Sargur N. Srihari

Deep learning system have drawback that their output is not accompanied with ex-planation. In a domain such as forensic handwriting verification it is essential to provideexplanation to jurors. The goal of handwriting verification is to find a measure of confi-dence whether the given handwritten samples are written by the same or different writer.We propose a method to generate explanations for the confidence provided by convolu-tional neural network (CNN) which maps the input image to 15 annotations (features)provided by experts. Our system comprises of: (1) Feature learning network (FLN),a differentiable system, (2) Inference module for providing explanations. Furthermore,inference module provides two types of explanations: (a) Based on cosine similaritybetween categorical probabilities of each feature, (b) Based on Log-Likelihood Ratio(LLR) using directed probabilistic graphical model. We perform experiments using acombination of feature learning network (FLN) and each inference module. We evaluateour system using XAI-AND dataset, containing 13700 handwritten samples and 15 cor-responding expert examined features for each sample. The dataset is released for publicuse and the methods can be extended to provide explanations on other verification taskslike face verification and bio-medical comparison. This dataset can serve as the basis and benchmark for future research in explanation based handwriting verification. The code is available on github.

Tiehang Duan, Mihir Chauhan, Mohammad Abuzar Shaikh et al.

The pattern of Electroencephalogram (EEG) signal differs significantly across different subjects, and poses challenge for EEG classifiers in terms of 1) effectively adapting a learned classifier onto a new subject, 2) retaining knowledge of known subjects after the adaptation. We propose an efficient transfer learning method, named Meta UPdate Strategy (MUPS-EEG), for continuous EEG classification across different subjects. The model learns effective representations with meta update which accelerates adaptation on new subject and mitigate forgetting of knowledge on previous subjects at the same time. The proposed mechanism originates from meta learning and works to 1) find feature representation that is broadly suitable for different subjects, 2) maximizes sensitivity of loss function for fast adaptation on new subject. The method can be applied to all deep learning oriented models. Extensive experiments on two public datasets demonstrate the effectiveness of the proposed model, outperforming current state of the arts by a large margin in terms of both adapting on new subject and retain knowledge of learned subjects.