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Researcher profile

Yao Lyu

Yao Lyu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Human-Computer InteractionArtificial IntelligenceComputer Visioneess.IVeess.SYMachine LearningSystems and Control

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Published work

6 published item(s)

preprint2026arXiv

"I'm Constantly Getting Comments Like, 'Oh, You're Blind. You're Like the Only Woman That I Stand a Chance With.'": A Study of Blind TikTokers' Intersectional Experiences of Gender and Sexuality

Social media platforms are important venues for identity expression, and the Human-Computer Interaction community has been paying growing attention to how marginalized groups express their identities on these platforms. Joining the emerging literature on intersectional experiences, we study blind TikTokers ("BlindTokers") who are also women and/or LGBTQ+. Using interview data from \rev{41} participants, we identify their intersectional experiences as mediated by TikTok's socio-technical affordances. We argue that BlindTokers' intersectional marginalization is infrastructural: TikTok's classification and moderation features interact with social norms in ways that push them aside and distort how they are treated on the platform. We use this infrastructure perspective to understand what these experiences are, how they were formed, and how they become harmful. We further recognize participants' infrastructuring work to address these problems. This study guides future social media design with accessible creator tools, inclusive identity options, and context-aware moderation developed in partnership with communities.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

"My Brother Is a School Principal, Earns About $80,000 Per Year... But When the Kids See Me, 'Wow, Uncle, You Have 1500 Followers on TikTok!'": A Study of Blind TikTokers' Alternative Professional Development Experiences

One's profession is an essential part of modern life. Traditionally, professional development has been criticized for excluding people with disabilities. People with visual impairments, for example, face disproportionately low employment rates, highlighting persistent gaps in professional opportunities. Recently, there has been growing research on social media platforms as spaces for more equitable career development approaches. In this paper, we present an interview study on the professional development experiences of 60 people with visual impairments on TikTok (also known as "BlindTokers"). We report BlindTokers' goals, strategies, and challenges, supported by detailed examples and in-depth analysis. Based on the findings, we identify that BlindTokers' practices reveal an alternative professional development approach that is more flexible, inclusive, personalized, and diversified than traditional models. Our study also extends professional development research by foregrounding emerging digital skills and proposing design implications to foster more equitable and inclusive professional opportunities.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Augmented Lagrangian Multiplier Network for State-wise Safety in Reinforcement Learning

Safety is a primary challenge in real-world reinforcement learning (RL). Formulating safety requirements as state-wise constraints has become a prominent paradigm. Handling state-wise constraints with the Lagrangian method requires a distinct multiplier for every state, necessitating neural networks to approximate them as a multiplier network. However, applying standard dual gradient ascent to multiplier networks induces severe training oscillations. This is because the inherent instability of dual ascent is exacerbated by network generalization -- local overshoots and delayed updates propagate to adjacent states, further amplifying policy fluctuations. Existing stabilization techniques are designed for scalar multipliers, which are inadequate for state-dependent multiplier networks. To address this challenge, we propose an augmented Lagrangian multiplier network (ALaM) framework for stable learning of state-wise multipliers. ALaM consists of two key components. First, a quadratic penalty is introduced into the augmented Lagrangian to compensate for delayed multiplier updates and establish the local convexity near the optimum, thereby mitigating policy oscillations. Second, the multiplier network is trained via supervised regression toward a dual target, which stabilizes training and promotes convergence. Theoretically, we show that ALaM guarantees multiplier convergence and thus recovers the optimal policy of the constrained problem. Building on this framework, we integrate soft actor-critic (SAC) with ALaM to develop the SAC-ALaM algorithm. Experiments demonstrate that SAC-ALaM outperforms state-of-the-art safe RL baselines in both safety and return, while also stabilizing training dynamics and learning well-calibrated multipliers for risk identification.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Feasibility of Interactive 3D Map for Remote Sighted Assistance

Remote sighted assistance (RSA) has emerged as a conversational assistive technology, where remote sighted workers, i.e., agents, provide real-time assistance to users with vision impairments via video-chat-like communication. Researchers found that agents' lack of environmental knowledge, the difficulty of orienting users in their surroundings, and the inability to estimate distances from users' camera feeds are key challenges to sighted agents. To address these challenges, researchers have suggested assisting agents with computer vision technologies, especially 3D reconstruction. This paper presents a high-fidelity prototype of such an RSA, where agents use interactive 3D maps with localization capability. We conducted a walkthrough study with thirteen agents and one user with simulated vision impairment using this prototype. The study revealed that, compared to baseline RSA, the agents were significantly faster in providing navigational assistance to users, and their mental workload was significantly reduced -- all indicate the feasibility and prospect of 3D maps in RSA.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Feasibility Enhancement of Constrained Receding Horizon Control Using Generalized Control Barrier Function

Receding horizon control (RHC) is a popular procedure to deal with optimal control problems. Due to the existence of state constraints, optimization-based RHC often suffers the notorious issue of infeasibility, which strongly shrinks the region of controllable state. This paper proposes a generalized control barrier function (CBF) to enlarge the feasible region of constrained RHC with only a one-step constraint on the prediction horizon. This design can reduce the constrained steps by penalizing the tendency to move towards the constraint boundary. Additionally, generalized CBF is able to handle high-order equality or inequality constraints through extending the constrained step to nonadjacent nodes. We apply this technique on an automated vehicle control task. The results show that compared to multi-step pointwise constraints, generalized CBF can effectively avoid the infeasibility issue in a larger partition of the state space, and the computing efficiency is also improved by 14%-23%.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Symmetric Dilated Convolution for Surgical Gesture Recognition

Automatic surgical gesture recognition is a prerequisite of intra-operative computer assistance and objective surgical skill assessment. Prior works either require additional sensors to collect kinematics data or have limitations on capturing temporal information from long and untrimmed surgical videos. To tackle these challenges, we propose a novel temporal convolutional architecture to automatically detect and segment surgical gestures with corresponding boundaries only using RGB videos. We devise our method with a symmetric dilation structure bridged by a self-attention module to encode and decode the long-term temporal patterns and establish the frame-to-frame relationship accordingly. We validate the effectiveness of our approach on a fundamental robotic suturing task from the JIGSAWS dataset. The experiment results demonstrate the ability of our method on capturing long-term frame dependencies, which largely outperform the state-of-the-art methods on the frame-wise accuracy up to ~6 points and the F1@50 score ~6 points.

0 citations0 reviewsNo code linkedOpen access