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Hannan Ejaz Keen

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#machine learning Preprint Sep 2026

Beyond Pixel Similarity: Task-Aware Evaluation of GAN-Based Synthetic Sonar Data for Robotic Perception

For the datasets and models considered, pixel-level image-fidelity metrics alone may not consistently capture the task-relevant realism of synthetic sonar observations and motivate the use of task-aware evaluation for synthetic sensor data intended for robotic perception.

Hannan Ejaz Keen, M. Fraz, Karsten Berns · 0 citations

Preprint Aug 2026

Towards Collaborative Joint Perception and Prediction: Framework, Baseline Evaluation, and Deployment Perspectives

This work presents a conceptual framework for Collaborative Joint Perception and Prediction (Co-P&P) that improves motion prediction of surrounding road users, thereby enhancing situational awareness in complex and dynamic traffic environments.

Lei Wan, Hannan Ejaz Keen, Alexey V. Vinel · 0 citations