Yash Kulkarni

Siddhartha Kapuria, Jeff Bonyun, Yash Kulkarni et al.

In this paper, to collectively address the existing limitations on endoscopic diagnosis of Advanced Gastric Cancer (AGC) Tumors, for the first time, we propose (i) utilization and evaluation of our recently developed Vision-based Tactile Sensor (VTS), and (ii) a complementary Machine Learning (ML) algorithm for classifying tumors using their textural features. Leveraging a seven DoF robotic manipulator and unique custom-designed and additively-manufactured realistic AGC tumor phantoms, we demonstrated the advantages of automated data collection using the VTS addressing the problem of data scarcity and biases encountered in traditional ML-based approaches. Our synthetic-data-trained ML model was successfully evaluated and compared with traditional ML models utilizing various statistical metrics even under mixed morphological characteristics and partial sensor contact.

Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi et al.

This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditional FBG-based methods, OFDR enables continuous strain measurement along the entire fiber length with enhanced spatial resolution. In the proposed method, a Shape Sensing Assembly (SSA) is first fabricated by integrating a single OFDR fiber with a flat NiTi wire. The calibrated SSA is then routed through and housed within the internal channel of a flexible drilling instrument, which is guided by the pre-shaped NiTi tube of the CT-SDR. In this configuration, the drilling instrument serves as a protective sheath for the SSA during drilling, eliminating the need for integration or adhesion to the instrument surface that is typical of conventional optical sensor approaches. The performance of the proposed SSA, integrated within the cannulated CT-SDR, was thoroughly evaluated under free-bending conditions and during drilling along multiple J-shaped trajectories in synthetic Sawbones phantoms. Results demonstrate accurate and reliable shape-sensing capability, confirming the feasibility and robustness of this integration strategy.

Shubham Harkare, Arvind Yogesh Suresh Babu, Yash Kulkarni

While pre-trained Transformer models achieve high accuracy on in-domain sentiment classification, they frequently experience severe performance degradation when transferring to out-of-domain data. We hypothesize that this generalization gap is driven by reliance on domain-specific spurious tokens. After demonstrating that post-hoc-token-level attribution drift fails to predict this gap, we propose Attribution-Guided Masking (AGM), a training time intervention that dynamically detects and penalizes highly attributed spurious tokens during fine-tuning. AGM's core component is a gradient based attribution masking loss ($\mathcal{L}_{mask}$), which can optionally be combined with a counterfactual contrastive loss to enforce domain-invariant representations, all without requiring target-domain labels or human annotation. Evaluated in a strict zero-shot transfer setting across four diverse domains with eight random seeds, AGM achieves competitive generalization compared to five strong baselines on the hardest transfer (Sentiment140): $Δ$ = 0.244 versus DANN (0.264), DRO (0.248), Fish (0.247), and IRM (0.238), while uniquely providing token-level interpretability into which features drive the generalization gap. Our qualitative analysis confirms that AGM suppresses attribution on domain-specific tokens such as @mentions, hashtags, and slang, shifting reliance toward domain-invariant sentiment markers. Our ablation study further confirms that attribution-guided masking is the critical component: removing it or replacing it with random token selection consistently degrades performance on difficult transfers.

Abhilash Nandy, Yash Kulkarni, Pawan Goyal et al.

In this paper, we propose sequence-based pretraining methods to enhance procedural understanding in natural language processing. Procedural text, containing sequential instructions to accomplish a task, is difficult to understand due to the changing attributes of entities in the context. We focus on recipes, which are commonly represented as ordered instructions, and use this order as a supervision signal. Our work is one of the first to compare several 'order as-supervision' transformer pre-training methods, including Permutation Classification, Embedding Regression, and Skip-Clip, and shows that these methods give improved results compared to the baselines and SoTA LLMs on two downstream Entity-Tracking datasets: NPN-Cooking dataset in recipe domain and ProPara dataset in open domain. Our proposed methods address the non-trivial Entity Tracking Task that requires prediction of entity states across procedure steps, which requires understanding the order of steps. These methods show an improvement over the best baseline by 1.6% and 7-9% on NPN-Cooking and ProPara Datasets respectively across metrics.

Yash Kulkarni, Raman Jha, Renu Kachhoria

Ensuring that every vehicle leaving a modern production line is built to the correct \emph{variant} specification and is free from visible defects is an increasingly complex challenge. We present the \textbf{Automated Vehicle Inspection (AVI)} platform, an end-to-end, \emph{multi-view} perception system that couples deep-learning detectors with a semantic rule engine to deliver \emph{variant-aware} quality control in real time. Eleven synchronized cameras capture a full 360° sweep of each vehicle; task-specific views are then routed to specialised modules: YOLOv8 for part detection, EfficientNet for ICE/EV classification, Gemini-1.5 Flash for mascot OCR, and YOLOv8-Seg for scratch-and-dent segmentation. A view-aware fusion layer standardises evidence, while a VIN-conditioned rule engine compares detected features against the expected manifest, producing an interpretable pass/fail report in \(\approx\! 300\,\text{ms}\). On a mixed data set of Original Equipment Manufacturer(OEM) vehicle data sets of four distinct models plus public scratch/dent images, AVI achieves \textbf{ 93 \%} verification accuracy, \textbf{86 \%} defect-detection recall, and sustains \(\mathbf{3.3}\) vehicles/min, surpassing single-view or no segmentation baselines by large margins. To our knowledge, this is the first publicly reported system that unifies multi-camera feature validation with defect detection in a deployable automotive setting in industry.