arXiv subjects

Guanxuan Jiang

Publications and source records attributed to Guanxuan Jiang.

6 recordsLinked to original sources

arXiv2026

Cooperative Switched Formation Control of Autonomous Vehicles: An Event-triggered Approach to Input Saturation and Time-delay Challenges

This paper presents a collaborative adaptive formation control framework for autonomous vehicles (AVs), that explicitly handles system uncertainties, input saturation, and communication delays. To overcome the inherent physical torque limits of steering and braking actuators, an input saturation compensation mechanism is introduced to render nonlinearities tractable and improve control reliability. Additionally, a delay-compensating auxiliary system is designed to mitigate the effects of communication delays and reduce tracking errors. Our framework incorporates a dynamic-threshold event-triggered control (ETC) strategy to optimize resource usage. Additionally, uncertainty observers and symmetric barrier Lyapunov functions are developed to ensure robust and safe formation maneuvers. Finally, the effectiveness of the proposed approach is validated through numerical simulations of vehicle formations, complemented by a 3D visualization video demonstrating the dynamic fleet reconfiguration process.

eess.SY↗

arXiv2026

QA-MoE: Towards a Continuous Reliability Spectrum with Quality-Aware Mixture of Experts for Robust Multimodal Sentiment Analysis

Multimodal Sentiment Analysis (MSA) aims to infer human sentiment from textual, acoustic, and visual signals. In real-world scenarios, however, multimodal inputs are often compromised by dynamic noise or modality missingness. Existing methods typically treat these imperfections as discrete cases or assume fixed corruption ratios, which limits their adaptability to continuously varying reliability conditions. To address this, we first introduce a Continuous Reliability Spectrum to unify missingness and quality degradation into a single framework. Building on this, we propose QA-MoE, a Quality-Aware Mixture-of-Experts framework that quantifies modality reliability via self-supervised aleatoric uncertainty. This mechanism explicitly guides expert routing, enabling the model to suppress error propagation from unreliable signals while preserving task-relevant information. Extensive experiments indicate that QA-MoE achieves competitive or state-of-the-art performance across diverse degradation scenarios and exhibits a promising One-Checkpoint-for-All property in practice.

cs.AI↗

arXiv2026

Flow-Aware Diffusion for Real-Time VR Restoration: Enhancing Spatiotemporal Coherence and Efficiency

Cybersickness remains a critical barrier to the widespread adoption of Virtual Reality (VR), particularly in scenarios involving intense or artificial motion cues. Among the key contributors is excessive optical flow-perceived visual motion that, when unmatched by vestibular input, leads to sensory conflict and discomfort. While previous efforts have explored geometric or hardware based mitigation strategies, such methods often rely on predefined scene structures, manual tuning, or intrusive equipment. In this work, we propose U-MAD, a lightweight, real-time, AI-based solution that suppresses perceptually disruptive optical flow directly at the image level. Unlike prior handcrafted approaches, this method learns to attenuate high-intensity motion patterns from rendered frames without requiring mesh-level editing or scene specific adaptation. Designed as a plug and play module, U-MAD integrates seamlessly into existing VR pipelines and generalizes well to procedurally generated environments. The experiments show that U-MAD consistently reduces average optical flow and enhances temporal stability across diverse scenes. A user study further confirms that reducing visual motion leads to improved perceptual comfort and alleviated cybersickness symptoms. These findings demonstrate that perceptually guided modulation of optical flow provides an effective and scalable approach to creating more user-friendly immersive experiences. The code will be released at https://github.com/XXXXX (upon publication).

cs.HC↗

arXiv2025

Hierarchical MoE: Continuous Multimodal Emotion Recognition with Incomplete and Asynchronous Inputs

Multimodal emotion recognition (MER) is crucial for human-computer interaction, yet real-world challenges like dynamic modality incompleteness and asynchrony severely limit its robustness. Existing methods often assume consistently complete data or lack dynamic adaptability. To address these limitations, we propose a novel Hi-MoE~(Hierarchical Mixture-of-Experts) framework for robust continuous emotion prediction. This framework employs a dual-layer expert structure. A Modality Expert Bank utilizes soft routing to dynamically handle missing modalities and achieve robust information fusion. A subsequent Emotion Expert Bank leverages differential-attention routing to flexibly attend to emotional prototypes, enabling fine-grained emotion representation. Additionally, a cross-modal alignment module explicitly addresses temporal shifts and semantic inconsistencies between modalities. Extensive experiments on benchmark datasets DEAP and DREAMER demonstrate our model's state-of-the-art performance in continuous emotion regression, showcasing exceptional robustness under challenging conditions such as dynamic modality absence and asynchronous sampling. This research significantly advances the development of intelligent emotion systems adaptable to complex real-world environments.

cs.HC↗

arXiv2025

When Trust Collides: Decoding Human-LLM Cooperation Dynamics through the Prisoner's Dilemma

As large language models (LLMs) become increasingly capable of autonomous decision-making, they introduce new challenges and opportunities for human-AI cooperation in mixed-motive contexts. While prior research has primarily examined AI in assistive or cooperative roles, little is known about how humans interact with AI agents perceived as independent and strategic actors. This study investigates human cooperative attitudes and behaviors toward LLM agents by engaging 30 participants (15 males, 15 females) in repeated Prisoner's Dilemma games with agents differing in declared identity: purported human, rule-based AI, and LLM agent. Behavioral metrics, including cooperation rate, decision latency, unsolicited cooperative acts and trust restoration tolerance, were analyzed to assess the influence of agent identity and participant gender. Results revealed significant effects of declared agent identity on most cooperation-related behaviors, along with notable gender differences in decision latency. Furthermore, qualitative responses suggest that these behavioral differences were shaped by participants interpretations and expectations of the agents. These findings contribute to our understanding of human adaptation in competitive cooperation with autonomous agents and underscore the importance of agent framing in shaping effective and ethical human-AI interaction.

cs.HC↗

arXiv2025

Effective Fixed-Time Control for Constrained Nonlinear System

In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally, we develop a class of multi-threshold event-triggered control strategies that facilitate autonomous controller updates, substantially reducing communication resource consumption. Notably, the self-triggered strategy distinguishes itself from other strategies by obviating the need for continuous real-time monitoring of the controller's state variables. By accurately forecasting the subsequent activation instance, this strategy significantly optimizes the efficiency of the control system. Moreover, our theoretical analysis demonstrates that the semi-global practical fixed-time stability (SPFTS) criterion guarantees both tracking accuracy and closed-loop stability under state constraints, with convergence time independent of initial conditions. Finally, simulation results reveal that the proposed method significantly decreases the frequency of control command updates while maintaining tracking accuracy.

eess.SY↗