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Researcher profile

Yuanlong Yu

Yuanlong Yu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionMachine LearningArtificial IntelligenceRobotics

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Published work

5 published item(s)

preprint2026arXiv

Dynamic-TD3: A Novel Algorithm for UAV Path Planning with Dynamic Obstacle Trajectory Prediction

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage risky trial-and-error, while most constraint-based methods suffer degraded performance under sensor noise and intent uncertainty. We propose Dynamic-TD3, a physically enhanced framework that enforces strict safety constraints while maintaining maneuverability by modeling navigation as a Constrained Markov Decision Process (CMDP). This framework integrates an Adaptive Trajectory Relational Evolution Mechanism (ATREM) to capture long-range intentions and employs a Physically Aware Gated Kalman Filter (PAG-KF) to mitigate non-stationary observation noise. The resulting state representation drives a dual-criterion policy that balances mission efficiency against hard safety constraints via Lagrangian relaxation. In experiments with aggressive dynamic threats, this approach demonstrates superior collision avoidance performance, reduced energy consumption, and smoother flight trajectories.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Dynamic Domain Generalization

Domain generalization (DG) is a fundamental yet very challenging research topic in machine learning. The existing arts mainly focus on learning domain-invariant features with limited source domains in a static model. Unfortunately, there is a lack of training-free mechanism to adjust the model when generalized to the agnostic target domains. To tackle this problem, we develop a brand-new DG variant, namely Dynamic Domain Generalization (DDG), in which the model learns to twist the network parameters to adapt the data from different domains. Specifically, we leverage a meta-adjuster to twist the network parameters based on the static model with respect to different data from different domains. In this way, the static model is optimized to learn domain-shared features, while the meta-adjuster is designed to learn domain-specific features. To enable this process, DomainMix is exploited to simulate data from diverse domains during teaching the meta-adjuster to adapt to the upcoming agnostic target domains. This learning mechanism urges the model to generalize to different agnostic target domains via adjusting the model without training. Extensive experiments demonstrate the effectiveness of our proposed method. Code is available at: https://github.com/MetaVisionLab/DDG

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preprint2022arXiv

Joint Adaptive Graph and Structured Sparsity Regularization for Unsupervised Feature Selection

Feature selection is an important data preprocessing in data mining and machine learning which can be used to reduce the feature dimension without deteriorating model's performance. Since obtaining annotated data is laborious or even infeasible in many cases, unsupervised feature selection is more practical in reality. Though lots of methods for unsupervised feature selection have been proposed, these methods select features independently, thus it is no guarantee that the group of selected features is optimal. What's more, the number of selected features must be tuned carefully to obtain a satisfactory result. To tackle these problems, we propose a joint adaptive graph and structured sparsity regularization unsupervised feature selection (JASFS) method in this paper, in which a $l_{2,0}$-norm regularization term with respect to transformation matrix is imposed in the manifold learning for feature selection, and a graph regularization term is incorporated into the learning model to learn the local geometric structure of data adaptively. An efficient and simple iterative algorithm is designed to solve the proposed optimization problem with the analysis of computational complexity. After optimized, a subset of optimal features will be selected in group, and the number of selected features will be determined automatically. Experimental results on eight benchmarks demonstrate the effectiveness and efficiency of the proposed method compared with several state-of-the-art approaches.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

An Intelligent Extraversion Analysis Scheme from Crowd Trajectories for Surveillance

In recent years, crowd analysis is important for applications such as smart cities, intelligent transportation system, customer behavior prediction, and visual surveillance. Understanding the characteristics of the individual motion in a crowd can be beneficial for social event detection and abnormal detection, but it has rarely been studied. In this paper, we focus on the extraversion measure of individual motions in crowds based on trajectory data. Extraversion is one of typical personalities that is often observed in human crowd behaviors and it can reflect not only the characteristics of the individual motion, but also the that of the holistic crowd motions. To our best knowledge, this is the first attempt to analyze individual extraversion of crowd motions based on trajectories. To accomplish this, we first present a effective composite motion descriptor, which integrates the basic individual motion information and social metrics, to describe the extraversion of each individual in a crowd. The social metrics consider both the neighboring distribution and their interaction pattern. Since our major goal is to learn a universal scoring function that can measure the degrees of extraversion across varied crowd scenes, we incorporate and adapt the active learning technique to the relative attribute approach. Specifically, we assume the social groups in any crowds contain individuals with the similar degree of extraversion. Based on such assumption, we significantly reduce the computation cost by clustering and ranking the trajectories actively. Finally, we demonstrate the performance of our proposed method by measuring the degree of extraversion for real individual trajectories in crowds and analyzing crowd scenes from a real-world dataset.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

An Internal Covariate Shift Bounding Algorithm for Deep Neural Networks by Unitizing Layers' Outputs

Batch Normalization (BN) techniques have been proposed to reduce the so-called Internal Covariate Shift (ICS) by attempting to keep the distributions of layer outputs unchanged. Experiments have shown their effectiveness on training deep neural networks. However, since only the first two moments are controlled in these BN techniques, it seems that a weak constraint is imposed on layer distributions and furthermore whether such constraint can reduce ICS is unknown. Thus this paper proposes a measure for ICS by using the Earth Mover (EM) distance and then derives the upper and lower bounds for the measure to provide a theoretical analysis of BN. The upper bound has shown that BN techniques can control ICS only for the outputs with low dimensions and small noise whereas their control is NOT effective in other cases. This paper also proves that such control is just a bounding of ICS rather than a reduction of ICS. Meanwhile, the analysis shows that the high-order moments and noise, which BN cannot control, have great impact on the lower bound. Based on such analysis, this paper furthermore proposes an algorithm that unitizes the outputs with an adjustable parameter to further bound ICS in order to cope with the problems of BN. The upper bound for the proposed unitization is noise-free and only dominated by the parameter. Thus, the parameter can be trained to tune the bound and further to control ICS. Besides, the unitization is embedded into the framework of BN to reduce the information loss. The experiments show that this proposed algorithm outperforms existing BN techniques on CIFAR-10, CIFAR-100 and ImageNet datasets.

0 citations0 reviewsNo code linkedOpen access