arXiv subjects

Haoran Yin

Publications and source records attributed to Haoran Yin.

At least 37 records · Page 2Linked to original sources

arXiv2025

Ambiguity Function Analysis of AFDM Signals for Integrated Sensing and Communications

Affine frequency division multiplexing (AFDM) is a promising chirp-based waveform with high flexibility and resilience, making it well-suited for next-generation wireless networks, particularly in high-mobility scenarios. In this paper, we investigate the ambiguity functions (AFs) of AFDM signals, which fundamentally characterize their range and velocity estimation capabilities in both monostatic and bistatic settings. Specifically, we first derive the auto-ambiguity function (AAF) of an AFDM chirp subcarrier, revealing its "spike-like" local property and "periodic-like" global property along the rotated delay and Doppler dimensions. This structure naturally forms a parallelogram for each localized pulse of the AAF of the AFDM chirp subcarrier, enabling unambiguous target sensing. Then, we study the cross-ambiguity function (CAF) between two different AFDM chirp subcarriers, which exhibits the same local and global properties as the AAF but with an additional shift along the Doppler dimension. We then extend our analysis to the AF of various typical AFDM frames, considering both deterministic pilot and random data symbols. In particular, we demonstrate that inserting guard symbols in AFDM facilitates interference-free sensing. Simulation results validate our theoretical findings, highlighting AFDM's strong potential for ISAC applications.

eess.SP↗

arXiv2025

Behaviour Space Analysis of LLM-driven Meta-heuristic Discovery

We investigate the behaviour space of meta-heuristic optimisation algorithms automatically generated by Large Language Model driven algorithm discovery methods. Using the Large Language Evolutionary Algorithm (LLaMEA) framework with a GPT o4-mini LLM, we iteratively evolve black-box optimisation heuristics, evaluated on 10 functions from the BBOB benchmark suite. Six LLaMEA variants, featuring different mutation prompt strategies, are compared and analysed. We log dynamic behavioural metrics including exploration, exploitation, convergence and stagnation measures, for each run, and analyse these via visual projections and network-based representations. Our analysis combines behaviour-based projections, Code Evolution Graphs built from static code features, performance convergence curves, and behaviour-based Search Trajectory Networks. The results reveal clear differences in search dynamics and algorithm structures across LLaMEA configurations. Notably, the variant that employs both a code simplification prompt and a random perturbation prompt in a 1+1 elitist evolution strategy, achieved the best performance, with the highest Area Over the Convergence Curve. Behaviour-space visualisations show that higher-performing algorithms exhibit more intensive exploitation behaviour and faster convergence with less stagnation. Our findings demonstrate how behaviour-space analysis can explain why certain LLM-designed heuristics outperform others and how LLM-driven algorithm discovery navigates the open-ended and complex search space of algorithms. These findings provide insights to guide the future design of adaptive LLM-driven algorithm generators.

cs.NE↗

arXiv2025

BLADE: Benchmark suite for LLM-driven Automated Design and Evolution of iterative optimisation heuristics

The application of Large Language Models (LLMs) for Automated Algorithm Discovery (AAD), particularly for optimisation heuristics, is an emerging field of research. This emergence necessitates robust, standardised benchmarking practices to rigorously evaluate the capabilities and limitations of LLM-driven AAD methods and the resulting generated algorithms, especially given the opacity of their design process and known issues with existing benchmarks. To address this need, we introduce BLADE (Benchmark suite for LLM-driven Automated Design and Evolution), a modular and extensible framework specifically designed for benchmarking LLM-driven AAD methods in a continuous black-box optimisation context. BLADE integrates collections of benchmark problems (including MA-BBOB and SBOX-COST among others) with instance generators and textual descriptions aimed at capability-focused testing, such as generalisation, specialisation and information exploitation. It offers flexible experimental setup options, standardised logging for reproducibility and fair comparison, incorporates methods for analysing the AAD process (e.g., Code Evolution Graphs and various visualisation approaches) and facilitates comparison against human-designed baselines through integration with established tools like IOHanalyser and IOHexplainer. BLADE provides an `out-of-the-box' solution to systematically evaluate LLM-driven AAD approaches. The framework is demonstrated through two distinct use cases exploring mutation prompt strategies and function specialisation.

cs.SE↗

arXiv2025

DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising direction. However, the numerous denoising steps in the robotic diffusion policy and the more dynamic, open-world nature of traffic scenes pose substantial challenges for generating diverse driving actions at a real-time speed. To address these challenges, we propose a novel truncated diffusion policy that incorporates prior multi-mode anchors and truncates the diffusion schedule, enabling the model to learn denoising from anchored Gaussian distribution to the multi-mode driving action distribution. Additionally, we design an efficient cascade diffusion decoder for enhanced interaction with conditional scene context. The proposed model, DiffusionDrive, demonstrates 10$\times$ reduction in denoising steps compared to vanilla diffusion policy, delivering superior diversity and quality in just 2 steps. On the planning-oriented NAVSIM dataset, with the aligned ResNet-34 backbone, DiffusionDrive achieves 88.1 PDMS without bells and whistles, setting a new record, while running at a real-time speed of 45 FPS on an NVIDIA 4090. Qualitative results on challenging scenarios further confirm that DiffusionDrive can robustly generate diverse plausible driving actions. Code and model will be available at https://github.com/hustvl/DiffusionDrive.

cs.CV↗

arXiv2025

Optimizing Photonic Structures with Large Language Model Driven Algorithm Discovery

We study how large language models can be used in combination with evolutionary computation techniques to automatically discover optimization algorithms for the design of photonic structures. Building on the Large Language Model Evolutionary Algorithm (LLaMEA) framework, we introduce structured prompt engineering tailored to multilayer photonic problems such as Bragg mirror, ellipsometry inverse analysis, and solar cell antireflection coatings. We systematically explore multiple evolutionary strategies, including (1+1), (1+5), (2+10), and others, to balance exploration and exploitation. Our experiments show that LLM-generated algorithms, generated using small-scale problem instances, can match or surpass established methods like quasi-oppositional differential evolution on large-scale realistic real-world problem instances. Notably, LLaMEA's self-debugging mutation loop, augmented by automatically extracted problem-specific insights, achieves strong anytime performance and reliable convergence across diverse problem scales. This work demonstrates the feasibility of domain-focused LLM prompts and evolutionary approaches in solving optical design tasks, paving the way for rapid, automated photonic inverse design.

cs.NE↗

arXiv2025

Multimodal Mamba: Decoder-only Multimodal State Space Model via Quadratic to Linear Distillation

Recent Multimodal Large Language Models (MLLMs) have achieved remarkable performance but face deployment challenges due to their quadratic computational complexity, growing Key-Value cache requirements, and reliance on separate vision encoders. We propose mmMamba, a framework for developing linear-complexity native multimodal state space models through progressive distillation from existing MLLMs using moderate academic computational resources. Our approach enables the direct conversion of trained decoder-only MLLMs to linear-complexity architectures without requiring pre-trained RNN-based LLM or vision encoders. We propose an seeding strategy to carve Mamba from trained Transformer and a three-stage distillation recipe, which can effectively transfer the knowledge from Transformer to Mamba while preserving multimodal capabilities. Our method also supports flexible hybrid architectures that combine Transformer and Mamba layers for customizable efficiency-performance trade-offs. Distilled from the Transformer-based decoder-only HoVLE, mmMamba-linear achieves competitive performance against existing linear and quadratic-complexity VLMs, while mmMamba-hybrid further improves performance significantly, approaching HoVLE's capabilities. At 103K tokens, mmMamba-linear demonstrates 20.6$\times$ speedup and 75.8% GPU memory reduction compared to HoVLE, while mmMamba-hybrid achieves 13.5$\times$ speedup and 60.2% memory savings. Code and models are released at https://github.com/hustvl/mmMamba

cs.CV↗

arXiv2025

Affine Frequency Division Multiplexing: Extending OFDM for Scenario-Flexibility and Resilience

Next-generation wireless networks are conceived to provide reliable and high-data-rate communication services for diverse scenarios, such as vehicle-to-vehicle, unmanned aerial vehicles, and satellite networks. The severe Doppler spreads in the underlying time-varying channels induce destructive inter-carrier interference (ICI) in the extensively adopted orthogonal frequency division multiplexing (OFDM) waveform, leading to severe performance degradation. This calls for a new air interface design that can accommodate the severe delay-Doppler spreads in highly dynamic channels while possessing sufficient flexibility to cater to various applications. This article provides a comprehensive overview of a promising chirp-based waveform named affine frequency division multiplexing (AFDM). It is featured with two tunable parameters and achieves optimal diversity order in doubly dispersive channels (DDC). We study the fundamental principle of AFDM, illustrating its intrinsic suitability for DDC. Based on that, several potential applications of AFDM are explored. Furthermore, the major challenges and the corresponding solutions of AFDM are presented, followed by several future research directions. Finally, we draw some instructive conclusions about AFDM, hoping to provide useful inspiration for its development.

eess.SP↗

arXiv2025

Cyclic Delay-Doppler Shift: A Simple Transmit Diversity Technique for Delay-Doppler Waveforms in Doubly Selective Channels

Delay-Doppler waveform design has been considered as a promising solution to achieve reliable communication under high-mobility channels for the space-air-ground-integrated networks (SAGIN). In this paper, we introduce the cyclic delay-Doppler shift (CDDS) technique for delay-Doppler waveforms to extract transmit diversity in doubly selective channels. Two simple CDDS schemes, named time-domain CDDS (TD-CDDS) and modulation-domain CDDS (MD-CDDS), are proposed in the setting of multiple-input multiple-output (MIMO). We demonstrate the applications of CDDS on two representative delay-Doppler waveforms, namely orthogonal time frequency space (OTFS) and affine frequency division multiplexing (AFDM), by deriving their corresponding CDDS matrices. Furthermore, we prove theoretically and experimentally that CDDS can provide OTFS and AFDM with full transmit diversity gain on most occasions.

eess.SP↗

arXiv2025

High-Precision Positioning with Continuous Delay and Doppler Shift using AFT-MC Waveforms

This paper explores a novel integrated localization and communication (ILAC) system using the affine Fourier transform multicarrier (AFT-MC) waveform. Specifically, we consider a multiple-input multiple-output (MIMO) AFT-MC system with ILAC and derive a continuous delay and Doppler shift channel matrix model. Based on the derived signal model, we develop a two-step algorithm with low complexity for estimating channel parameters. Furthermore, we derive the Cramér-Rao lower bound (CRLB) of location estimation as the fundamental limit of localization. Finally, we provide some insights about the AFT-MC parameters by explaining the impact of the parameters on localization performance. Simulation results demonstrate that the AFT-MC waveform is able to provide significant localization performance improvement compared to orthogonal frequency division multiplexing (OFDM) while achieving the CRLB of location estimation.

eess.SP↗

arXiv2024

Controlling the Mutation in Large Language Models for the Efficient Evolution of Algorithms

The integration of Large Language Models (LLMs) with evolutionary computation (EC) has introduced a promising paradigm for automating the design of metaheuristic algorithms. However, existing frameworks, such as the Large Language Model Evolutionary Algorithm (LLaMEA), often lack precise control over mutation mechanisms, leading to inefficiencies in solution space exploration and potentially suboptimal convergence. This paper introduces a novel approach to mutation control within LLM-driven evolutionary frameworks, inspired by theory of genetic algorithms. Specifically, we propose dynamic mutation prompts that adaptively regulate mutation rates, leveraging a heavy-tailed power-law distribution to balance exploration and exploitation. Experiments using GPT-3.5-turbo and GPT-4o models demonstrate that GPT-3.5-turbo fails to adhere to the specific mutation instructions, while GPT-4o is able to adapt its mutation based on the prompt engineered dynamic prompts. Further experiments show that the introduction of these dynamic rates can improve the convergence speed and adaptability of LLaMEA, when using GPT-4o. This work sets the starting point for better controlled LLM-based mutations in code optimization tasks, paving the way for further advancements in automated metaheuristic design.

cs.NE↗

arXiv2024

Bayesian Optimization Framework for Efficient Fleet Design in Autonomous Multi-Robot Exploration

This study addresses the challenge of fleet design optimization in the context of heterogeneous multi-robot fleets, aiming to obtain feasible designs that balance performance and costs. In the domain of autonomous multi-robot exploration, reinforcement learning agents play a central role, offering adaptability to complex terrains and facilitating collaboration among robots. However, modifying the fleet composition results in changes in the learned behavior, and training multi-robot systems using multi-agent reinforcement learning is expensive. Therefore, an exhaustive evaluation of each potential fleet design is infeasible. To tackle these hurdles, we introduce Bayesian Optimization for Fleet Design (BOFD), a framework leveraging multi-objective Bayesian Optimization to explore fleets on the Pareto front of performance and cost while accounting for uncertainty in the design space. Moreover, we establish a sub-linear bound for cumulative regret, supporting BOFD's robustness and efficacy. Extensive benchmark experiments in synthetic and simulated environments demonstrate the superiority of our framework over state-of-the-art methods, achieving efficient fleet designs with minimal fleet evaluations.

cs.RO↗

arXiv2024

CAMAv2: A Vision-Centric Approach for Static Map Element Annotation

The recent development of online static map element (a.k.a. HD map) construction algorithms has raised a vast demand for data with ground truth annotations. However, available public datasets currently cannot provide high-quality training data regarding consistency and accuracy. For instance, the manual labelled (low efficiency) nuScenes still contains misalignment and inconsistency between the HD maps and images (e.g., around 8.03 pixels reprojection error on average). To this end, we present CAMAv2: a vision-centric approach for Consistent and Accurate Map Annotation. Without LiDAR inputs, our proposed framework can still generate high-quality 3D annotations of static map elements. Specifically, the annotation can achieve high reprojection accuracy across all surrounding cameras and is spatial-temporal consistent across the whole sequence. We apply our proposed framework to the popular nuScenes dataset to provide efficient and highly accurate annotations. Compared with the original nuScenes static map element, our CAMAv2 annotations achieve lower reprojection errors (e.g., 4.96 vs. 8.03 pixels). Models trained with annotations from CAMAv2 also achieve lower reprojection errors (e.g., 5.62 vs. 8.43 pixels).

cs.CV↗

arXiv2024

A DAFT Based Unified Waveform Design Framework for High-Mobility Communications

With the increasing demand for multi-carrier communication in high-mobility scenarios, it is urgent to design new multi-carrier communication waveforms that can resist large delay-Doppler spreads. Various multi-carrier waveforms in the transform domain were proposed for the fast time-varying channels, including orthogonal time frequency space (OTFS), orthogonal chirp division multiplexing (OCDM), and affine frequency division multiplexing (AFDM). Among these, the AFDM is a strong candidate for its low implementation complexity and ability to achieve optimal diversity. This paper unifies the waveforms based on the discrete affine Fourier transform (DAFT) by using the chirp slope factor "k" in the time-frequency representation to construct a unified design framework for high-mobility communications. The design framework is employed to verify that the bit error rate performance of the DAFT-based waveform can be enhanced when the signal-to-noise ratio (SNR) is sufficiently high by adjusting the chirp slope factor "k".

eess.SP↗

arXiv2024

GI-Free Pilot-Aided Channel Estimation for Affine Frequency Division Multiplexing Systems

The recently developed affine frequency division multiplexing (AFDM) can achieve full diversity in doubly selective channels, providing a comprehensive sparse representation of the delay-Doppler domain channel. Thus, accurate channel estimation is feasible by using just one pilot symbol. However, traditional AFDM channel estimation schemes necessitate the use of guard intervals (GI) to mitigate data-pilot interference, leading to spectral efficiency degradation. In this paper, we propose a GI-free pilot-aided channel estimation algorithm for AFDM systems, which improves spectral efficiency significantly. To mitigate the interference between the pilot and data symbols caused by the absence of GI, we perform joint interference cancellation, channel estimation, and signal detection iterately. Simulation results show that the bit error rate (BER) performance of the proposed method can approach the ideal case with perfect channel estimation.

eess.SP↗

arXiv2024

A Vision-Centric Approach for Static Map Element Annotation

The recent development of online static map element (a.k.a. HD Map) construction algorithms has raised a vast demand for data with ground truth annotations. However, available public datasets currently cannot provide high-quality training data regarding consistency and accuracy. To this end, we present CAMA: a vision-centric approach for Consistent and Accurate Map Annotation. Without LiDAR inputs, our proposed framework can still generate high-quality 3D annotations of static map elements. Specifically, the annotation can achieve high reprojection accuracy across all surrounding cameras and is spatial-temporal consistent across the whole sequence. We apply our proposed framework to the popular nuScenes dataset to provide efficient and highly accurate annotations. Compared with the original nuScenes static map element, models trained with annotations from CAMA achieve lower reprojection errors (e.g., 4.73 vs. 8.03 pixels).

cs.CV↗

arXiv2024

Impact of spatial transformations on landscape features of CEC2022 basic benchmark problems

When benchmarking optimization heuristics, we need to take care to avoid an algorithm exploiting biases in the construction of the used problems. One way in which this might be done is by providing different versions of each problem but with transformations applied to ensure the algorithms are equipped with mechanisms for successfully tackling a range of problems. In this paper, we investigate several of these problem transformations and show how they influence the low-level landscape features of a set of 5 problems from the CEC2022 benchmark suite. Our results highlight that even relatively small transformations can significantly alter the measured landscape features. This poses a wider question of what properties we want to preserve when creating problem transformations, and how to fairly measure them.

cs.NE↗

arXiv2023

A Low-Complexity Range Estimation with Adjusted Affine Frequency Division Multiplexing Waveform

Affine frequency division multiplexing (AFDM) is a recently proposed communication waveform for time-varying channel scenarios. As a chirp-based multicarrier modulation technique it can not only satisfy the needs of multiple scenarios in future mobile communication networks but also achieve good performance in radar sensing by adjusting the built-in parameters, making it a promising air interface waveform in integrated sensing and communication (ISAC) applications. In this paper, we investigate an AFDM-based radar system and analyze the radar ambiguity function of AFDM with different built-in parameters, based on which we find an AFDM waveform with the specific parameter c2 owns the near-optimal time-domain ambiguity function. Then a low-complexity algorithm based on matched filtering for high-resolution target range estimation is proposed for this specific AFDM waveform. Through simulation and analysis, the specific AFDM waveform has near-optimal range estimation performance with the proposed low-complexity algorithm while having the same bit error rate (BER) performance as orthogonal time frequency space (OTFS) using simple linear minimum mean square error (LMMSE) equalizer.

eess.SP↗

arXiv2023

Error Performance of Coded AFDM Systems in Doubly Selective Channels

Affine frequency division multiplexing (AFDM) is a strong candidate for the sixth-generation wireless network thanks to its strong resilience to delay-Doppler spreads. In this letter, we investigate the error performance of coded AFDM systems in doubly selective channels. We first study the conditional pairwise-error probability (PEP) of AFDM system and derive its conditional coding gain. Then, we show that there is a fundamental trade-off between the diversity gain and the coding gain of AFDM system, namely the coding gain declines with a descending speed with respect to the number of separable paths, while the diversity gain increases linearly. Moreover, we propose a near-optimal turbo decoder based on the sum-product algorithm for coded AFDM systems to improve its error performance. Simulation results verify our analyses and the effectiveness of the proposed turbo decoder, showing that AFDM outperforms orthogonal frequency division multiplexing (OFDM) and orthogonal time frequency space (OTFS) in both coded and uncoded cases over high-mobility channels.

cs.IT↗