arXiv subjects

Jingyi Huang

Publications and source records attributed to Jingyi Huang.

11 recordsLinked to original sources

arXiv2026

Correct-by-Construction Behavior Tree Synthesis from Signal Temporal Logic Specifications with Application to Robotic Missions

Behavior Trees (BTs) are widely adopted for complex task execution in robotics, providing modular, reactive control but lacking formal guarantees. However, existing correct-by-construction synthesis from Linear Temporal Logic (LTL) cannot express quantitative timing constraints. This letter synthesizes correct-by-construction BTs from Signal Temporal Logic (STL) specifications. The workspace is modeled as a timed transition system and abstracted into a zone graph, and an augmented state space tracking both logical progress and timing constraints is introduced. A hierarchical fixed-point algorithm computes winning sets for an STL fragment encompassing safety, reachability, response, recurrence, and persistence, yielding BT subtrees with a runtime constraint function. Correctness guarantees are proven and complexity bounds are derived. Simulations demonstrate specification satisfaction with strictly positive robustness, and a physical quadrotor experiment with six STL specifications validates practical deployability.

cs.RO↗

arXiv2026

Reliability-Aware LLM Alignment from Inconsistent Human Feedback

Reinforcement Learning from Human Feedback (RLHF) is critical for aligning Large Language Models (LLMs) with human preferences. However, its efficacy is often compromised by the inherent inconsistency and subjectivity of human annotations. Existing preference optimization frameworks, such as Direct Preference Optimization (DPO), typically treat ambiguous pairs with high annotator disagreement identically to those with unanimous consensus, forcing models to overfit to inconsistent supervision signals and leading to suboptimal alignment. In this work, we propose Reliability-Guided Preference Optimization (RGPO), a robust framework designed to mitigate the impact of inconsistent human feedback. RGPO estimates annotator reliability and infers latent ground truth labels from noisy human feedback to identify robust preferences. Furthermore, we introduce a reliability-aware consistency optimization that dynamically modulates the training objective based on the consensus level of annotations, ensuring the model prioritizes high-consensus supervision signals. Extensive experiments on LLM alignment benchmarks demonstrate that RGPO effectively reduces inconsistency and noise in training data and achieves superior performance compared to widely adopted RLHF baselines. Our code and configurations are available at https://github.com/GenieHuang/RGPO.

cs.AI↗

arXiv2026

Graph-VQE: A CUDA-Q Multi-QPU Simulation Framework for Hamiltonian-Aware Protein-Folding VQE

The Variational Quantum Eigensolver (VQE) is essential for molecular simulation in drug discovery, but hardware noise and algorithmic limits restrict its precision. While the NVIDIA CUDA-Q platform mitigates some hardware issues via exact simulation, it lacks Qiskit support and restricts parallelization. To solve this, we introduce Graph-VQE, a novel framework that extends CUDA-Q with optimization-level parallelism. Graph-VQE leverages amino acid sequence structures by partitioning Hamiltonian interaction graphs into weakly coupled clusters using Louvain community detection. These clusters undergo restricted updates on the full-Hamiltonian objective, followed by a global refinement stage utilizing Hamiltonian batching. Furthermore, a custom Qiskit-CUDA-Q integration layer enables standard workflows with GPU acceleration. Evaluations on protein folding tasks prove that Graph-VQE outperforms baselines, achieving lower final energies. It delivers competitive RMSD and binding affinity compared to AlphaFold3 and IBM quantum processors while maintaining stable quality across multi-GPU environments, thereby providing a highly practical path toward high-fidelity biomolecular simulations.

cs.ET↗

arXiv2025

Use of Retrieval-Augmented Large Language Model Agent for Long-Form COVID-19 Fact-Checking

The COVID-19 infodemic calls for scalable fact-checking solutions that handle long-form misinformation with accuracy and reliability. This study presents SAFE (system for accurate fact extraction and evaluation), an agent system that combines large language models with retrieval-augmented generation (RAG) to improve automated fact-checking of long-form COVID-19 misinformation. SAFE includes two agents - one for claim extraction and another for claim verification using LOTR-RAG, which leverages a 130,000-document COVID-19 research corpus. An enhanced variant, SAFE (LOTR-RAG + SRAG), incorporates Self-RAG to refine retrieval via query rewriting. We evaluated both systems on 50 fake news articles (2-17 pages) containing 246 annotated claims (M = 4.922, SD = 3.186), labeled as true (14.1%), partly true (14.4%), false (27.0%), partly false (2.2%), and misleading (21.0%) by public health professionals. SAFE systems significantly outperformed baseline LLMs in all metrics (p < 0.001). For consistency (0-1 scale), SAFE (LOTR-RAG) scored 0.629, exceeding both SAFE (+SRAG) (0.577) and the baseline (0.279). In subjective evaluations (0-4 Likert scale), SAFE (LOTR-RAG) also achieved the highest average ratings in usefulness (3.640), clearness (3.800), and authenticity (3.526). Adding SRAG slightly reduced overall performance, except for a minor gain in clearness. SAFE demonstrates robust improvements in long-form COVID-19 fact-checking by addressing LLM limitations in consistency and explainability. The core LOTR-RAG design proved more effective than its SRAG-augmented variant, offering a strong foundation for scalable misinformation mitigation.

cs.IR↗

arXiv2025

Data-Driven Performance Guarantees for Parametric Optimization Problems

We propose a data-driven method to establish probabilistic performance guarantees for parametric optimization problems solved via iterative algorithms. Our approach addresses two key challenges: providing convergence guarantees to characterize the worst-case number of iterations required to achieve a predefined tolerance, and upper bounding a performance metric after a fixed number of iterations. These guarantees are particularly useful for online optimization problems with limited computational time, where existing performance guarantees are often unavailable or unduly conservative. We formulate the convergence analysis problem as a scenario optimization program based on a finite set of sampled parameter instances. Leveraging tools from scenario optimization theory enables us to derive probabilistic guarantees on the number of iterations needed to meet a given tolerance level. Using recent advancements in scenario optimization, we further introduce a relaxation approach to trade the number of iterations against the risk of violating convergence criteria thresholds. Additionally, we analyze the trade-off between solution accuracy and time efficiency for fixed-iteration optimization problems by casting them into scenario optimization programs. Numerical simulations demonstrate the efficacy of our approach in providing reliable probabilistic convergence guarantees and evaluating the trade-off between solution accuracy and computational cost.

math.OC↗

arXiv2025

Knowledge-guided machine learning for county-level corn yield prediction under drought

Remote sensing (RS) technique, enabling the non-contact acquisition of extensive ground observations, is a valuable tool for crop yield predictions. Traditional process-based models struggle to incorporate large volumes of RS data, and most users lack understanding of crop growth mechanisms. In contrast, machine learning (ML) models are often criticized as "black boxes" due to their limited interpretability. To address these limitations, we utilized Knowledge-Guided Machine Learning (KGML), a framework that leverages the strengths of both process-based and ML models. Existing works have either overlooked the role of soil moisture in corn growth or did not embed this effect into their models. To bridge this gap, we developed the Knowledge-Guided Machine Learning with Soil Moisture (KGML-SM) framework, treating soil moisture as an intermediate variable in corn growth to emphasize its key role in plant development. Additionally, based on the prior knowledge that the model may overestimate under drought conditions, we designed a drought-aware loss function that penalized predicted yield in drought-affected areas. Our experiments showed that the KGML-SM model outperformed other traditional ML models. We explored the relationships between drought, soil moisture, and corn yield prediction by assessing the importance of different features within the model, and analyzing how soil moisture impacts predictions across different regions and time periods. Finally we provided interpretability for prediction errors to guide future model optimization.

cs.LG↗

arXiv2025

Predictive Control Barrier Functions: Bridging model predictive control and control barrier functions

In this paper, we establish a connection between model predictive control (MPC) techniques and Control Barrier Functions (CBFs). Recognizing the similarity between CBFs and Control Lyapunov Functions (CLFs), we propose a MPC formulation that ensures invariance and safety without relying on explicit stability conditions. The value function of our proposed MPC is a CBF, which we refer to as the Predictive Control Barrier Function (PCBF), similar to traditional MPC formulations which encode stability by having value functions as CLFs. Our formulation is simpler than previous PCBF approaches and is based on weaker assumptions while proving a similar theorem that guarantees safety recovery. Notably, our MPC formulation does not require the value function to be strictly decreasing to ensure convergence to a safe invariant set. Numerical examples demonstrate the effectiveness of our approach in guaranteeing safety and constructing non-conservative CBFs.

math.OC↗

arXiv2024

Multi-UAV Formation Control with Static and Dynamic Obstacle Avoidance via Reinforcement Learning

This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its multi-objective nature, the large exploration space, and the sim-to-real gap. To address these challenges, we propose a two-stage reinforcement learning (RL) pipeline. In the first stage, we randomly search for a reward function that balances key objectives: directed flight, obstacle avoidance, formation maintenance, and zero-shot policy deployment. The second stage applies this reward function to more complex scenarios and utilizes curriculum learning to accelerate policy training. Additionally, we incorporate an attention-based observation encoder to improve formation maintenance and adaptability to varying obstacle densities. Experimental results in both simulation and real-world environments demonstrate that our method outperforms both planning-based and RL-based baselines in terms of collision-free rates and formation maintenance across static, dynamic, and mixed obstacle scenarios. Ablation studies further confirm the effectiveness of our curriculum learning strategy and attention-based encoder. Animated demonstrations are available at: https://sites.google.com/view/ uav-formation-with-avoidance/.

cs.RO↗

arXiv2023

Spatiotemporal Transformer for Imputing Sparse Data: A Deep Learning Approach

Effective management of environmental resources and agricultural sustainability heavily depends on accurate soil moisture data. However, datasets like the SMAP/Sentinel-1 soil moisture product often contain missing values across their spatiotemporal grid, which poses a significant challenge. This paper introduces a novel Spatiotemporal Transformer model (ST-Transformer) specifically designed to address the issue of missing values in sparse spatiotemporal datasets, particularly focusing on soil moisture data. The ST-Transformer employs multiple spatiotemporal attention layers to capture the complex spatiotemporal correlations in the data and can integrate additional spatiotemporal covariates during the imputation process, thereby enhancing its accuracy. The model is trained using a self-supervised approach, enabling it to autonomously predict missing values from observed data points. Our model's efficacy is demonstrated through its application to the SMAP 1km soil moisture data over a 36 x 36 km grid in Texas. It showcases superior accuracy compared to well-known imputation methods. Additionally, our simulation studies on other datasets highlight the model's broader applicability in various spatiotemporal imputation tasks.

cs.LG↗

arXiv2022

Trade-off on Sim2Real Learning: Real-world Learning Faster than Simulations

Deep Reinforcement Learning (DRL) experiments are commonly performed in simulated environments due to the tremendous training sample demands from deep neural networks. In contrast, model-based Bayesian Learning allows a robot to learn good policies within a few trials in the real world. Although it takes fewer iterations, Bayesian methods pay a relatively higher computational cost per trial, and the advantage of such methods is strongly tied to dimensionality and noise. In here, we compare a Deep Bayesian Learning algorithm with a model-free DRL algorithm while analyzing our results collected from both simulations and real-world experiments. While considering Sim and Real learning, our experiments show that the sample-efficient Deep Bayesian RL performance is better than DRL even when computation time (as opposed to number of iterations) is taken in consideration. Additionally, the difference in computation time between Deep Bayesian RL performed in simulation and in experiments point to a viable path to traverse the reality gap. We also show that a mix between Sim and Real does not outperform a purely Real approach, pointing to the possibility that reality can provide the best prior knowledge to a Bayesian Learning. Roboticists design and build robots every day, and our results show that a higher learning efficiency in the real-world will shorten the time between design and deployment by skipping simulations.

cs.RO↗

arXiv2021

Forward-Selected Panel Data Approach for Program Evaluation

Policy evaluation is central to economic data analysis, but economists mostly work with observational data in view of limited opportunities to carry out controlled experiments. In the potential outcome framework, the panel data approach (Hsiao, Ching and Wan, 2012) constructs the counterfactual by exploiting the correlation between cross-sectional units in panel data. The choice of cross-sectional control units, a key step in its implementation, is nevertheless unresolved in data-rich environment when many possible controls are at the researcher's disposal. We propose the forward selection method to choose control units, and establish validity of the post-selection inference. Our asymptotic framework allows the number of possible controls to grow much faster than the time dimension. The easy-to-implement algorithms and their theoretical guarantee extend the panel data approach to big data settings.

econ.EM↗