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Guilin Yang

Publications and source records attributed to Guilin Yang.

10 recordsLinked to original sources
arXiv2026

QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear

Humanoid robots operating in human-centered environments (e.g., homes, hospitals, and offices) must mitigate foot--ground impact transients, as impact-induced vibration and noise degrade user experience and repeated impacts accelerate hardware wear. However, existing low-noise locomotion training often relies on kinematic proxy objectives or fragile force sensors, and footwear-induced changes in contact dynamics introduce distribution shifts that hinder policy generalization.We present QuietWalk, a physics-informed reinforcement learning framework for ground-reaction-force-aware humanoid locomotion under diverse footwear conditions. QuietWalk employs an inverse-dynamics-constrained physics-informed neural network (PINN) to estimate per-foot vertical ground reaction forces (GRFs) from proprioceptive signals, and integrates the frozen predictor into the RL training loop to penalize predicted impact forces without requiring force sensors at deployment.On a held-out real-robot dataset, enforcing inverse-dynamics consistency reduces vertical GRF prediction errors by 82%-86% compared with a purely supervised predictor and improves the coefficient of determination from 0.39/0.67 to 0.99/0.99 for the left/right feet. On hardware at 1.2 m/s (barefoot; averaged over four floor materials), QuietWalk reduces mean A-weighted noise level by 7.17 dB and peak noise level by 4.98 dB under a consistent recording setup. Cross-footwear experiments (barefoot, skate shoes, athletic sneakers, and high heels) across multiple surfaces further demonstrate robust adaptation to footwear-induced contact variations.

cs.RO↗
arXiv2022

Real-time Local Feature with Global Visual Information Enhancement

Local feature provides compact and invariant image representation for various visual tasks. Current deep learning-based local feature algorithms always utilize convolution neural network (CNN) architecture with limited receptive field. Besides, even with high-performance GPU devices, the computational efficiency of local features cannot be satisfactory. In this paper, we tackle such problems by proposing a CNN-based local feature algorithm. The proposed method introduces a global enhancement module to fuse global visual clues in a light-weight network, and then optimizes the network by novel deep reinforcement learning scheme from the perspective of local feature matching task. Experiments on the public benchmarks demonstrate that the proposal can achieve considerable robustness against visual interference and meanwhile run in real time.

cs.CV↗
arXiv2022

On stability of subelliptic harmonic maps with potential

In this paper, we investigate the stability problem of subelliptic harmonic maps with potential. First, we derive the first and second variation formulas for subelliptic harmonic maps with potential. As a result, it is proved that a subelliptic harmonic map with potential is stable if the target manifold has nonpositive curvature and the Hessian of the potential is nonpositive definite. We also give Leung type results which involve the instability of subelliptic harmonic maps with potential when the target manifold is a sphere of dimension $\geq 3$.

math.DG↗
arXiv2017

Pseudo-Harmonic Maps From Pseudo-Hermitian Manifolds to Riemannian Manifolds

In this paper, we discuss the heat flow of a pseudo-harmonic map from a closed pseudo-Hermitian manifold to a Riemannian manifold with non-positive sectional curvature, and prove the existence of the pseudo-harmonic map which is a generalization of Eells-Sampson's existence theorem. We also discuss the uniqueness of the pseudo-harmonic representative of its homotopy class which is a generalization of Hartman theorem, provided that the target manifold has negative sectional curvature.

math.DG↗
arXiv2013

Liouville theorem for Pseudoharmonic maps from Sasakian manifolds

In this paper, we derive a sub-gradient estimate for pseudoharmonic maps from noncompact complete Sasakian manifolds which satisfy CR sub-Laplace comparison property, to simply-connected Riemannian manifolds with nonpositive sectional curvature. As its application, we obtain some Liouville theorems for pseudoharmonic maps. In the Appendix, we modify the method and apply it to harmonic maps from noncompact complete Sasakian manifolds.

math.DG↗
arXiv2013

Neutrino signals from ultracompact minihalos and constraints on the primordial curvature perturbation

Compared with that of standard dark matter halos, the density profile of the recently proposed new kind of dark matter structure named ultracompact minihalos (UCMHs) is steeper and its formation time is earlier. If the dark matter is composed of weakly interactive massive particles (WIMP), the potential signals, e.g. neutrinos, from UCMHs due to the dark matter annihilation would be detected by IceCube/DeepCore or other detectors and such signals would have a very useful complementarity of gamma rays observations. On the other hand, the formation of UCMHs is related to primordial curvature perturbations on the smaller scales. So constraints on the abundance of UCMHs can be used to give a limit on the perturbations on these scales. In previous works in the literature, the authors focused on the γ-ray signals from UCMHs due to dark matter annihilation. In this work, we investigate the neutrino signals from nearby UCMHs. Although no excess of neutrino signals the dark matter annihilation has been observed, the constraints on the abundance of UCMHs can be obtained and these constraints can be translated into the limit on the primordial curvature perturbations on small scales.

astro-ph.CO↗
arXiv2013

The contribution of ultracompact dark matter minihalos to the isotropic radio background

The ultracompact minihalos could be formed during the earlier epoch of the universe. The dark matter annihilation within them is very strong due to the steep density profile, $ρ\sim r^{-2.25}$. The high energy electrons and positrons from the dark matter annihilation can inverse Compton scatter (ICS) with the background photons, such as CMB photons, to acquire higher energy. On the other hand, the synchrotron radiation can also be produced when they meet the magnetic field. In this paper, we study the signals from the UCMHs due to the dark matter annihilation for the radio, X-ray and $γ$-ray band. We found that for the radio emission the UCMHs can provide one kind of source for the radio excess observed by ARCADE 2. But the X-ray signals due to the ICS effect or the $γ$-ray signals mainly due to the prompt emission from dark matter would exceed the present observations, such as Fermi, COMPTEL and CHANDRA. We found that the strongest limits on the fraction of UCMHs come from the X-ray observations and the constraints from the radio data are the weakest.

astro-ph.HE↗
arXiv2013

Dark Matter Decay and the Abundance of Ultracompact Minihalos

Ultracompact minihalos would be formed if there are larger density perturbations ($0.0003 < δρ/ρ< 0.3$) in the earlier epoch. The density profile of them is steeper than the standard dark matter halos. If the dark matter can annihilate or decay into the standard particles, e.g., photons, these objects would be the potential astrophysical sources. In order to be consistent with the observations, such as $Fermi$, the abundance of ultracompact minihalos must be constrained. On the other hand, the formation of these objects has very tight relation with the primordial curvature perturbations on smaller scale, so the fraction of ultracompact minihalos is very important for modern cosmology. In previous works, the studies are focused on the dark matter annihilation for these objects. But if the dark matter is not annihilated, the dark matter decay is another important possible case. On the other hand, the abundance of ultracompact minihalos is related to many other parameters, such as the mass of dark matter, the decay channels and the density profile of dark matter halo. One of the important aspects of this work is that we investigate the $γ$-ray signals from nearby ultracompact minihalos due to dark matter decay and another important aspect is to study in detail how the different decay channels and density profiles affect the constraints on the abundance of ultracompact minihalos.

astro-ph.CO↗
arXiv2011

Liouville theorems for F-harmonic maps and their applications

We prove several Liouville theorems for F-harmonic maps from some complete Riemannian manifolds by assuming some conditions on the Hessian of the distance function, the degrees of F(t) and the asymptotic behavior of the map at infinity. In particular, the results can be applied to F-harmonic maps from some pinched manifolds, and can deduce a Bernstein type result for an entire minimal graph.

math.DG↗