arXiv subjects

Liguo Chen

Publications and source records attributed to Liguo Chen.

6 recordsLinked to original sources

arXiv2025

A New Trajectory-Oriented Approach to Enhancing Comprehensive Crowd Navigation Performance

Crowd navigation has garnered considerable research interest in recent years, especially with the proliferating application of deep reinforcement learning (DRL) techniques. Many studies, however, do not sufficiently analyze the relative priorities among evaluation metrics, which compromises the fair assessment of methods with divergent objectives. Furthermore, trajectory-continuity metrics, specifically those requiring $C^2$ smoothness, are rarely incorporated. Current DRL approaches generally prioritize efficiency and proximal comfort, often neglecting trajectory optimization or addressing it only through simplistic, unvalidated smoothness reward. Nevertheless, effective trajectory optimization is essential to ensure naturalness, enhance comfort, and maximize the energy efficiency of any navigation system. To address these gaps, this paper proposes a unified framework that enables the fair and transparent assessment of navigation methods by examining the prioritization and joint evaluation of multiple optimization objectives. We further propose a novel reward-shaping strategy that explicitly emphasizes trajectory-curvature optimization. The resulting trajectory quality and adaptability are significantly enhanced across multi-scale scenarios. Through extensive 2D and 3D experiments, we demonstrate that the proposed method achieves superior performance compared to state-of-the-art approaches.

cs.RO↗

arXiv2025

DSFormer: A Dual-Scale Cross-Learning Transformer for Visual Place Recognition

Visual Place Recognition (VPR) is crucial for robust mobile robot localization, yet it faces significant challenges in maintaining reliable performance under varying environmental conditions and viewpoints. To address this, we propose a novel framework that integrates Dual-Scale-Former (DSFormer), a Transformer-based cross-learning module, with an innovative block clustering strategy. DSFormer enhances feature representation by enabling bidirectional information transfer between dual-scale features extracted from the final two CNN layers, capturing both semantic richness and spatial details through self-attention for long-range dependencies within each scale and shared cross-attention for cross-scale learning. Complementing this, our block clustering strategy repartitions the widely used San Francisco eXtra Large (SF-XL) training dataset from multiple distinct perspectives, optimizing data organization to further bolster robustness against viewpoint variations. Together, these innovations not only yield a robust global embedding adaptable to environmental changes but also reduce the required training data volume by approximately 30\% compared to previous partitioning methods. Comprehensive experiments demonstrate that our approach achieves state-of-the-art performance across most benchmark datasets, surpassing advanced reranking methods like DELG, Patch-NetVLAD, TransVPR, and R2Former as a global retrieval solution using 512-dim global descriptors, while significantly improving computational efficiency.

cs.CV↗

arXiv2024

ISC4DGF: Enhancing Directed Grey-box Fuzzing with LLM-Driven Initial Seed Corpus Generation

Fuzz testing is crucial for identifying software vulnerabilities, with coverage-guided grey-box fuzzers like AFL and Angora excelling in broad detection. However, as the need for targeted detection grows, directed grey-box fuzzing (DGF) has become essential, focusing on specific vulnerabilities. The initial seed corpus, which consists of carefully selected input samples that the fuzzer uses as a starting point, is fundamental in determining the paths that the fuzzer explores. A well-designed seed corpus can guide the fuzzer more effectively towards critical areas of the code, improving the efficiency and success of the fuzzing process. Even with its importance, many works concentrate on refining guidance mechanisms while paying less attention to optimizing the initial seed corpus. In this paper, we introduce ISC4DGF, a novel approach to generating optimized initial seed corpus for DGF using Large Language Models (LLMs). By leveraging LLMs' deep software understanding and refined user inputs, ISC4DGF creates precise seed corpus that efficiently trigger specific vulnerabilities. Implemented on AFL and tested against state-of-the-art fuzzers like AFLGo, FairFuzz, and Entropic using the Magma benchmark, ISC4DGF achieved a 35.63x speedup and 616.10x fewer target reaches. Moreover, ISC4DGF focused on more effectively detecting target vulnerabilities, enhancing efficiency while operating with reduced code coverage.

cs.SE↗

arXiv2024

A Survey on Evaluating Large Language Models in Code Generation Tasks

This paper provides a comprehensive review of the current methods and metrics used to evaluate the performance of Large Language Models (LLMs) in code generation tasks. With the rapid growth in demand for automated software development, LLMs have demonstrated significant potential in the field of code generation. The paper begins by reviewing the historical development of LLMs and their applications in code generation. Next, it details various methods and metrics for assessing the code generation capabilities of LLMs, including code correctness, efficiency, readability, and evaluation methods based on expert review and user experience. The paper also evaluates the widely used benchmark datasets, identifying their limitations and proposing directions for future improvements. Specifically, the paper analyzes the performance of code generation models across different tasks by combining multiple evaluation metrics, such as code compilation/interpretation success rates, unit test pass rates, and performance and efficiency metrics, to comprehensively assess the practical application of LLMs in code generation. Finally, the paper discusses the challenges faced in evaluating LLMs in code generation, particularly how to ensure the comprehensiveness and accuracy of evaluation methods and how to adapt to the evolving practices of software development. These analyses and discussions provide valuable insights for further optimizing and improving the application of LLMs in code generation tasks.

cs.SE↗

arXiv2024

HeR-DRL:Heterogeneous Relational Deep Reinforcement Learning for Decentralized Multi-Robot Crowd Navigation

Crowd navigation has received significant research attention in recent years, especially DRL-based methods. While single-robot crowd scenarios have dominated research, they offer limited applicability to real-world complexities. The heterogeneity of interaction among multiple agent categories, like in decentralized multi-robot pedestrian scenarios, are frequently disregarded. This "interaction blind spot" hinders generalizability and restricts progress towards robust navigation algorithms. In this paper, we propose a heterogeneous relational deep reinforcement learning(HeR-DRL), based on customised heterogeneous GNN, in order to improve navigation strategies in decentralized multi-robot crowd navigation. Firstly, we devised a method for constructing robot-crowd heterogenous relation graph that effectively simulates the heterogeneous pair-wise interaction relationships. We proposed a new heterogeneous graph neural network for transferring and aggregating the heterogeneous state information. Finally, we incorporate the encoded information into deep reinforcement learning to explore the optimal policy. HeR-DRL are rigorously evaluated through comparing it to state-of-the-art algorithms in both single-robot and multi-robot circle crowssing scenario. The experimental results demonstrate that HeR-DRL surpasses the state-of-the-art approaches in overall performance, particularly excelling in safety and comfort metrics. This underscores the significance of interaction heterogeneity for crowd navigation. The source code will be publicly released in https://github.com/Zhouxy-Debugging-Den/HeR-DRL.

cs.RO↗

arXiv2024

Prediction of the Economic Behavior of Fishery Biotechnology Companies Based on Machine Learning-Based Deep Metacellular Automata

Ocean warming significantly affects the fishing industry, with species like Scottish herring and mackerel migrating northwards. Our research, a fusion of artificial intelligence, data science, and operations research, addresses this crisis. Using Long Short Term Memory networks, we forecast sea surface temperatures (SST) and model fish migratory patterns with Enhanced Cellular Automata. A corrective factor within our model adjusts for human impact on SST, guiding diverse mitigation scenarios. We apply operational research to strategize responses, including the modernization of fishing vessels as a less costly alternative to relocation. Our data-driven approach, suggesting fleet modernization, strategic relocation, and product diversification, offers an effective approach to mitigating the threats to the ocean warming phenomenon.

stat.AP↗