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Yiting Chen

Yiting Chen contributes to research discovery and scholarly infrastructure.

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Machine Learning Artificial Intelligence Computer Vision Cryptography and Security Computation and Language eess.SY math.OC Methodology quant-ph Robotics Systems and Control

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preprint2026arXiv

Adaptive Kernel Regression for Constrained Route Alignment: Theory and Iterative Data Sharpening

Route alignment design in surveying and transportation engineering frequently involves fixed waypoint constraints, where a path must precisely traverse specific coordinates. While existing literature primarily relies on geometric optimization or control-theoretic spline frameworks, there is a lack of systematic statistical modeling approaches that balance global smoothness with exact point adherence. This paper proposes an Adaptive Nadaraya-Watson (ANW) kernel regression estimator designed to address the fixed waypoint problem. By incorporating waypoint-specific weight tuning parameters, the ANW estimator decouples global smoothing from local constraint satisfaction, avoiding the "jagged" artifacts common in naive local bandwidth-shrinking strategies. To further enhance estimation accuracy, we develop an iterative data sharpening algorithm that systematically reduces bias while maintaining the stability of the kernel framework. We establish the theoretical foundation for the ANW estimator by deriving its asymptotic bias and variance and proving its convergence properties under the internal constraint model. Numerical case studies in 1D and 2D trajectory planning demonstrate that the method effectively balances root mean square error (RMSE) and curvature smoothness. Finally, we validate the practical utility of the framework through empirical applications to railway and highway route planning. In sum, this work provides a stable, theoretically grounded, and computationally efficient solution for complex, constrained alignment design problems.

preprint2026arXiv

Sampled-data Systems: Stability, Contractivity and Single-iteration Suboptimal MPC

This paper analyzes the stability of interconnected continuous-time (CT) and discrete-time (DT) systems coupled through sampling and zero-order hold mechanisms. The DT system updates its output at regular intervals $T>0$ by applying an $n$-fold composition of a given map. This setup is motivated by online and sampled-data implementations of optimization-based controllers - particularly model predictive control (MPC) - where the DT system models $n$ iterations of an algorithm approximating the solution of an optimization problem. We introduce the concept of a reduced model, defined as the limiting behavior of the sampled-data system as $T \to 0^+$ and $n \to +\infty$. Our main theoretical contribution establishes that when the reduced model is contractive, there exists a threshold duration $T(n)$ for each iteration count $n$ such that the CT-DT interconnection achieves exponential stability for all sampling periods $T < T(n)$. Finally, under the stronger condition that both the CT and DT systems are contractive, we show exponential stability of their interconnection using a small-gain argument. Our theoretical results provide new insights into suboptimal MPC stability, showing that convergence guarantees hold even when using a single iteration of the optimization algorithm - a practically significant finding for real-time control applications.

preprint2026arXiv

VITA-QinYu: Expressive Spoken Language Model for Role-Playing and Singing

Human speech conveys expressiveness beyond linguistic content, including personality, mood, or performance elements, such as a comforting tone or humming a song, which we formalize as role-playing and singing. We present VITA-QinYu, the first expressive end-to-end (E2E) spoken language model (SLM) that goes beyond natural conversation to support both role-playing and singing generation. VITA-QinYu adopts a hybrid speech-text paradigm that extends interleaved text-audio modeling with multi-codebook audio tokens, a design enabling richer paralinguistic representation while preserving a clear separation between modalities to avoid interference. We further develop a comprehensive data generation pipeline to synthesize a total of 15.8K hours of natural conversation, role-playing, and singing data for training. VITA-QinYu demonstrates superior expressiveness, outperforming peer SLMs by 7 percentage points on objective role-playing benchmarks, and surpassing peer models by 0.13 points on a 5-point MOS scale for singing. Simultaneously, it achieves state-of-the-art conversational accuracy and fluency, exceeding prior SLMs by 1.38 and 4.98 percentage points on the C3 and URO benchmarks, respectively. We open-source our code and models and provide an easy-to-use demo with full-stack support for streaming and full-duplex interaction.

preprint2023arXiv

Classifying deviation from standard quantum behavior using Kullback Leibler divergence

In this letter, we propose a novel statistical method to measure which system is better suited to probe small deviations from the usual quantum behavior. Such deviations are motivated by a number of theoretical and phenomenological motivations, and various systems have been proposed to test them. We propose that measuring deviations from quantum mechanics for a system would be easier if it has a higher Kullback Leibler divergence. We show this explicitly for a nonlocal Schrodinger equation and argue that it will hold for any modification to standard quantum behaviour. Thus, the results of this letter can be used to classify a wide range of theoretical and phenomenological models.

preprint2022arXiv

Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects

This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone transfer to robots. In this letter, we define a canonical stir-fry movement, and then propose a decoupled framework for learning this deformable object manipulation from human demonstration. First, the dual arms of the robot are decoupled into different roles (a leader and follower) and learned with classical and neural network-based methods separately, then the bimanual task is transformed into a coordination problem. To obtain general bimanual coordination, we secondly propose a Graph and Transformer based model -- Structured-Transformer, to capture the spatio-temporal relationship between dual-arm movements. Finally, by adding visual feedback of content deformation, our framework can adjust the movements automatically to achieve the desired stir-fry effect. We verify the framework by a simulator and deploy it on a real bimanual Panda robot system. The experimental results validate our framework can realize the bimanual robot stir-fry motion and have the potential to extend to other deformable objects with bimanual coordination.

preprint2021arXiv

Technical Note: Game-Theoretic Interactions of Different Orders

In this study, we define interaction components of different orders between two input variables based on game theory. We further prove that interaction components of different orders satisfy several desirable properties.

preprint2020arXiv

Deep Quaternion Features for Privacy Protection

We propose a method to revise the neural network to construct the quaternion-valued neural network (QNN), in order to prevent intermediate-layer features from leaking input information. The QNN uses quaternion-valued features, where each element is a quaternion. The QNN hides input information into a random phase of quaternion-valued features. Even if attackers have obtained network parameters and intermediate-layer features, they cannot extract input information without knowing the target phase. In this way, the QNN can effectively protect the input privacy. Besides, the output accuracy of QNNs only degrades mildly compared to traditional neural networks, and the computational cost is much less than other privacy-preserving methods.

preprint2020arXiv

Rotation-Equivariant Neural Networks for Privacy Protection

In order to prevent leaking input information from intermediate-layer features, this paper proposes a method to revise the traditional neural network into the rotation-equivariant neural network (RENN). Compared to the traditional neural network, the RENN uses d-ary vectors/tensors as features, in which each element is a d-ary number. These d-ary features can be rotated (analogous to the rotation of a d-dimensional vector) with a random angle as the encryption process. Input information is hidden in this target phase of d-ary features for attribute obfuscation. Even if attackers have obtained network parameters and intermediate-layer features, they cannot extract input information without knowing the target phase. Hence, the input privacy can be effectively protected by the RENN. Besides, the output accuracy of RENNs only degrades mildly compared to traditional neural networks, and the computational cost is significantly less than the homomorphic encryption.

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