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Researcher profile

Tong Qin

Tong Qin contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionMachine Learningeess.SPmath.DSmath.NANumerical Analysisphysics.comp-phRoboticsArtificial IntelligenceNeural and Evolutionary Computing

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Published work

7 published item(s)

preprint2026arXiv

Intelligent Multimodal Multi-Sensor Fusion-Based UAV Identification, Localization, and Countermeasures for Safeguarding Low-Altitude Economy

The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become core challenges in airspace security assurance. This paper introduces an integrated UAV management and control system based on deep learning, which integrates multimodal multi-sensor fusion perception, precise positioning, and collaborative countermeasures. By incorporating deep learning methods, the system combines radio frequency (RF) spectral feature analysis, radar detection, electro-optical identification, and other methods at the detection level to achieve the identification and classification of UAVs. At the localization level, the system relies on multi-sensor data fusion and the air-space-ground integrated communication network to conduct real-time tracking and prediction of UAV flight status, providing support for early warning and decision-making. At the countermeasure level, it adopts comprehensive measures that integrate ``soft kill'' and ``hard kill'', including technologies such as electromagnetic signal jamming, navigation spoofing, and physical interception, to form a closed-loop management and control process from early warning to final disposal, which significantly enhances the response efficiency and disposal accuracy of low-altitude UAV management.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

REAP: Reinforcement-Learning End-to-End Autonomous Parking with Gaussian Splatting Simulator for Real2Sim2Real Transfer

In recent years, autonomous parking has made significant advances, yet parking tasks still face challenges in extreme scenarios such as mechanical and dead-end parking slots, often resulting in failures. This is mainly due to traditional parking methods adopting a multistage approach, lacking the ability to optimize the parking problem as a whole. End-to-end methods enable joint optimization across perception and planning modules to eliminate the accumulation of errors, enhancing algorithm performance in extreme scenarios. Although several end-to-end parking methods use imitation or reinforcement learning, the former is limited by data cost and distribution coverage, while the latter suffers from inefficient exploration. To address these challenges, we propose a Reinforcement learning End-to-end Autonomous Parking method (REAP). REAP employs Soft Actor-Critic (SAC) within an asymmetric reinforcement learning framework to improve training efficiency and inference performance. To accelerate model convergence, we distill the capabilities of a rule-based planner into the end-to-end network through behavior cloning. We further introduce a soft predictive collision penalty mechanism to reduce collision rates by penalizing obstacle-approaching actions. To ensure that the trained reinforcement learning network can directly transfer to real-world scenarios, we have established a Real2Sim2Real simulator. In the Real2Sim step, we use 3D Gaussian Splatting (3DGS) to transform real-world scenes into digital scenes. In the Sim2Real step, we deploy the end-to-end model onto the vehicle to bridge the Sim2Real gap. Trained in the 3DGS simulator and deployed on physical vehicles, REAP successfully parks in various types of parking spaces, especially demonstrating the feasibility of end-to-end RL parking in extremely narrow mechanical slots.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

A Non-Intrusive Correction Algorithm for Classification Problems with Corrupted Data

A novel correction algorithm is proposed for multi-class classification problems with corrupted training data. The algorithm is non-intrusive, in the sense that it post-processes a trained classification model by adding a correction procedure to the model prediction. The correction procedure can be coupled with any approximators, such as logistic regression, neural networks of various architectures, etc. When training dataset is sufficiently large, we prove that the corrected models deliver correct classification results as if there is no corruption in the training data. For datasets of finite size, the corrected models produce significantly better recovery results, compared to the models without the correction algorithm. All of the theoretical findings in the paper are verified by our numerical examples.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot

Autonomous valet parking is a specific application for autonomous vehicles. In this task, vehicles need to navigate in narrow, crowded and GPS-denied parking lots. Accurate localization ability is of great importance. Traditional visual-based methods suffer from tracking lost due to texture-less regions, repeated structures, and appearance changes. In this paper, we exploit robust semantic features to build the map and localize vehicles in parking lots. Semantic features contain guide signs, parking lines, speed bumps, etc, which typically appear in parking lots. Compared with traditional features, these semantic features are long-term stable and robust to the perspective and illumination change. We adopt four surround-view cameras to increase the perception range. Assisting by an IMU (Inertial Measurement Unit) and wheel encoders, the proposed system generates a global visual semantic map. This map is further used to localize vehicles at the centimeter level. We analyze the accuracy and recall of our system and compare it against other methods in real experiments. Furthermore, we demonstrate the practicability of the proposed system by the autonomous parking application.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Data-driven learning of non-autonomous systems

We present a numerical framework for recovering unknown non-autonomous dynamical systems with time-dependent inputs. To circumvent the difficulty presented by the non-autonomous nature of the system, our method transforms the solution state into piecewise integration of the system over a discrete set of time instances. The time-dependent inputs are then locally parameterized by using a proper model, for example, polynomial regression, in the pieces determined by the time instances. This transforms the original system into a piecewise parametric system that is locally time invariant. We then design a deep neural network structure to learn the local models. Once the network model is constructed, it can be iteratively used over time to conduct global system prediction. We provide theoretical analysis of our algorithm and present a number of numerical examples to demonstrate the effectiveness of the method.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Deep learning of parameterized equations with applications to uncertainty quantification

We propose a numerical method for discovering unknown parameterized dynamical systems by using observational data of the state variables. Our method is built upon and extends the recent work of discovering unknown dynamical systems, in particular those using deep neural network (DNN). We propose a DNN structure, largely based upon the residual network (ResNet), to not only learn the unknown form of the governing equation but also take into account the random effect embedded in the system, which is generated by the random parameters. Once the DNN model is successfully constructed, it is able to produce system prediction over longer term and for arbitrary parameter values. For uncertainty quantification, it allows us to conduct uncertainty analysis by evaluating solution statistics over the parameter space.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Reducing Parameter Space for Neural Network Training

For neural networks (NNs) with rectified linear unit (ReLU) or binary activation functions, we show that their training can be accomplished in a reduced parameter space. Specifically, the weights in each neuron can be trained on the unit sphere, as opposed to the entire space, and the threshold can be trained in a bounded interval, as opposed to the real line. We show that the NNs in the reduced parameter space are mathematically equivalent to the standard NNs with parameters in the whole space. The reduced parameter space shall facilitate the optimization procedure for the network training, as the search space becomes (much) smaller. We demonstrate the improved training performance using numerical examples.

0 citations0 reviewsNo code linkedOpen access