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Researcher profile

Yuguang Yang

Yuguang Yang contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Artificial Intelligenceeess.ASMachine LearningSoundComputation and LanguageComputer Visioncond-mat.softquant-phRobotics

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Published work

7 published item(s)

preprint2026arXiv

CLOVER: Closed-Loop Value Estimation and Ranking for End-to-End Autonomous Driving Planning

End-to-end autonomous driving planners are commonly trained by imitating a single logged trajectory, yet evaluated by rule-based planning metrics that measure safety, feasibility, progress, and comfort. This creates a training--evaluation mismatch: trajectories close to the logged path may violate planning rules, while alternatives farther from the demonstration can remain valid and high-scoring. The mismatch is especially limiting for proposal-selection planners, whose performance depends on candidate-set coverage and scorer ranking quality. We propose CLOVER, a Closed-LOop Value Estimation and Ranking framework for end-to-end autonomous driving planning. CLOVER follows a lightweight generator--scorer formulation: a generator produces diverse candidate trajectories, and a scorer predicts planning-metric sub-scores to rank them at inference time. To expand proposal support beyond single-trajectory imitation, CLOVER constructs evaluator-filtered pseudo-expert trajectories and trains the generator with set-level coverage supervision. It then performs conservative closed-loop self-distillation: the scorer is fitted to true evaluator sub-scores on generated proposals, while the generator is refined toward teacher-selected top-$k$ and vector-Pareto targets with stability regularization. We analyze when an imperfect scorer can improve the generator, showing that scorer-mediated refinement is reliable when scorer-selected targets are enriched under the true evaluator and updates remain conservative. On NAVSIM, CLOVER achieves 94.5 PDMS and 90.4 EPDMS, establishing a new state of the art. On the more challenging NavHard split, it obtains 48.3 EPDMS, matching the strongest reported result. On supplementary nuScenes open-loop evaluation, CLOVER achieves the lowest L2 error and collision rate among compared methods. Code data will be released at https://github.com/WilliamXuanYu/CLOVER.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

S2ST-Omni: Hierarchical Language-Aware SpeechLLM Adaptation for Multilingual Speech-to-Speech Translation

Despite recent advances in speech-to-speech translation (S2ST), it remains difficult to achieve both high translation accuracy and practical flexibility. In this paper, we present S2ST-Omni, a compositional S2ST framework that integrates a high-accuracy speech-to-text translation (S2TT) frontend with a modular, plug-and-play text-to-speech (TTS) backend, enabling independent optimization of translation and synthesis. On the S2TT side, we introduce a hybrid adapter that follows a "local-then-global" strategy to bridge a pretrained Whisper encoder and a Qwen3 LLM, yielding a hierarchical acoustic-to-semantic abstraction. Building on this bridge, we further propose a hierarchical language-aware architecture that injects source-language information at two complementary levels. At the acoustic level, Language-Aware Dual-CTC operates on intermediate adapter features and employs FiLM-style feature modulation with a learnable gate, encouraging the model to learn language-specific but content-faithful acoustic representations. At the linguistic level, Language-Aware Prompting dynamically constructs source-language-conditioned prompts that activate language-specific translation knowledge in the LLM. To enable efficient optimization, we design a task-specific progressive fine-tuning strategy that first stabilizes speech-text alignment and then improves translation via LoRA on top of this converged foundation. The TTS backend remains fully modular and can be instantiated with any state-of-the-art synthesizer without retraining the S2TT frontend. Experiments on CVSS-C show that S2ST-Omni consistently achieves the best BLEU and ASR-BLEU across French, German, and Spanish to English directions, outperforming strong recent S2ST baselines.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

SURGE: Surrogate Gradient Adaptation in Binary Neural Networks

The training of Binary Neural Networks (BNNs) is fundamentally based on gradient approximation for non-differentiable binarization operations (e.g., sign function). However, prevailing methods including the Straight-Through Estimator (STE) and its improved variants, rely on hand-crafted designs that suffer from gradient mismatch problem and information loss induced by fixed-range gradient clipping. To address this, we propose SURrogate GradiEnt Adaptation (SURGE), a novel learnable gradient compensation framework with theoretical grounding. SURGE mitigates gradient mismatch through auxiliary backpropagation. Specifically, we design a Dual-Path Gradient Compensator (DPGC) that constructs a parallel full-precision auxiliary branch for each binarized layer, decoupling gradient flow via output decomposition during backpropagation. DPGC enables bias-reduced gradient estimation by leveraging the full-precision branch to estimate components beyond STE's first-order approximation. To further enhance training stability, we introduce an Adaptive Gradient Scaler (AGS) based on an optimal scale factor to dynamically balance inter-branch gradient contributions via norm-based scaling. Experiments on image classification, object detection, and language understanding tasks demonstrate that SURGE performs best over state-of-the-art methods.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

ASR-Aware End-to-end Neural Diarization

We present a Conformer-based end-to-end neural diarization (EEND) model that uses both acoustic input and features derived from an automatic speech recognition (ASR) model. Two categories of features are explored: features derived directly from ASR output (phones, position-in-word and word boundaries) and features derived from a lexical speaker change detection model, trained by fine-tuning a pretrained BERT model on the ASR output. Three modifications to the Conformer-based EEND architecture are proposed to incorporate the features. First, ASR features are concatenated with acoustic features. Second, we propose a new attention mechanism called contextualized self-attention that utilizes ASR features to build robust speaker representations. Finally, multi-task learning is used to train the model to minimize classification loss for the ASR features along with diarization loss. Experiments on the two-speaker English conversations of Switchboard+SRE data sets show that multi-task learning with position-in-word information is the most effective way of utilizing ASR features, reducing the diarization error rate (DER) by 20% relative to the baseline.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Controlled Alternate Quantum Walk based Block Hash Function

The hash function is an important branch of cryptology. Controlled quantum walk based hash function is a kind of novel hash function, which is safe, flexible, high-efficient, and compatible. All existing controlled quantum walk based hash functions are controlled by one bit message in each step. To process message in batch amounts, in this paper, controlled alternate quantum walk based block hash function is presented by using the time-position-dependent controlled quantum walks on complete graphs with self-loops. The presented hash function accelerate the hash processing dramatically, so it is more high-efficient.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Self-supervised Speaker Recognition Training Using Human-Machine Dialogues

Speaker recognition, recognizing speaker identities based on voice alone, enables important downstream applications, such as personalization and authentication. Learning speaker representations, in the context of supervised learning, heavily depends on both clean and sufficient labeled data, which is always difficult to acquire. Noisy unlabeled data, on the other hand, also provides valuable information that can be exploited using self-supervised training methods. In this work, we investigate how to pretrain speaker recognition models by leveraging dialogues between customers and smart-speaker devices. However, the supervisory information in such dialogues is inherently noisy, as multiple speakers may speak to a device in the course of the same dialogue. To address this issue, we propose an effective rejection mechanism that selectively learns from dialogues based on their acoustic homogeneity. Both reconstruction-based and contrastive-learning-based self-supervised methods are compared. Experiments demonstrate that the proposed method provides significant performance improvements, superior to earlier work. Dialogue pretraining when combined with the rejection mechanism yields 27.10% equal error rate (EER) reduction in speaker recognition, compared to a model without self-supervised pretraining.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Micro/Nano Motor Navigation and Localization via Deep Reinforcement Learning

Efficient navigation and precise localization of Brownian micro/nano self-propelled motor particles within complex landscapes could enable future high-tech applications involving for example drug delivery, precision surgery, oil recovery, and environmental remediation. Here we employ a model-free deep reinforcement learning algorithm based on bio-inspired neural networks to enable different types of micro/nano motors to be continuously controlled to carry out complex navigation and localization tasks. Micro/nano motors with either tunable self-propelling speeds or orientations or both, are found to exhibit strikingly different dynamics. In particular, distinct control strategies are required to achieve effective navigation in free space and obstacle environments, as well as under time constraints. Our findings provide fundamental insights into active dynamics of Brownian particles controlled using artificial intelligence and could guide the design of motor and robot control systems with diverse application requirements.

0 citations0 reviewsNo code linkedOpen access