arXiv subjects

Liyong Ren

Publications and source records attributed to Liyong Ren.

7 recordsLinked to original sources

arXiv2026

Momentum-constrained Hybrid Heuristic Trajectory Optimization Framework with Residual-enhanced DRL for Visually Impaired Scenarios

Safe and efficient assistive planning for visually impaired scenarios remains challenging, since existing methods struggle with multi-objective optimization, generalization, and interpretability. In response, this paper proposes a Momentum-Constrained Hybrid Heuristic Trajectory Optimization Framework (MHHTOF). To balance multiple objectives of comfort and safety, the framework designs a Heuristic Trajectory Sampling Cluster (HTSC) with a Momentum-Constrained Trajectory Optimization (MTO), which suppresses abrupt velocity and acceleration changes. In addition, a novel residual-enhanced deep reinforcement learning (DRL) module refines candidate trajectories, advancing temporal modeling and policy generalization. Finally, a dual-stage cost modeling mechanism (DCMM) is introduced to regulate optimization, where costs in the Frenet space ensure consistency, and reward-driven adaptive weights in the Cartesian space integrate user preferences for interpretability and user-centric decision-making. Experimental results show that the proposed framework converges in nearly half the iterations of baselines and achieves lower and more stable costs. In complex dynamic scenarios, MHHTOF further demonstrates stable velocity and acceleration curves with reduced risk, confirming its advantages in robustness, safety, and efficiency.

cs.RO↗

arXiv2026

Trajectory Generation with Endpoint Regulation and Momentum-Aware Dynamics for Visually Impaired Scenarios

Trajectory generation for visually impaired scenarios requires smooth and temporally consistent state in structured, low-speed dynamic environments. However, traditional jerk-based heuristic trajectory sampling with independent segment generation and conventional smoothness penalties often lead to unstable terminal behavior and state discontinuities under frequent regenerating. This paper proposes a trajectory generation approach that integrates endpoint regulation to stabilize terminal states within each segment and momentum-aware dynamics to regularize the evolution of velocity and acceleration for segment consistency. Endpoint regulation is incorporated into trajectory sampling to stabilize terminal behavior, while a momentum-aware dynamics enforces consistent velocity and acceleration evolution across consecutive trajectory segments. Experimental results demonstrate reduced acceleration peaks and lower jerk levels with decreased dispersion, smoother velocity and acceleration profiles, more stable endpoint distributions, and fewer infeasible trajectory candidates compared with a baseline planner.

cs.RO↗

arXiv2026

RPIQ: Residual-Projected Multi-Collaboration Closed-Loop and Single Instance Quantization for Visually Impaired Assistance

Visually impaired users face significant challenges in daily information access and real-time environmental perception, and there is an urgent need for intelligent assistive systems with accurate recognition capabilities. Although large-scale models provide effective solutions for perception and reasoning, their practical deployment on assistive devices is severely constrained by excessive memory consumption and high inference costs. Moreover, existing quantization strategies often ignore inter-block error accumulation, leading to degraded model stability. To address these challenges, this study proposes a novel quantization framework -- Residual-Projected Multi-Collaboration Closed-Loop and Single Instance Quantization(RPIQ), whose quantization process adopts a multi-collaborative closed-loop compensation scheme based on Single Instance Calibration and Gauss-Seidel Iterative Quantization. Experiments on various types of large-scale models, including language models such as OPT, Qwen, and LLaMA, as well as vision-language models such as CogVLM2, demonstrate that RPIQ can compress models to 4-bit representation while significantly reducing peak memory consumption (approximately 60%-75% reduction compared to original full-precision models). The method maintains performance highly close to full-precision models across multiple language and visual tasks, and exhibits excellent recognition and reasoning capabilities in key applications such as text understanding and visual question answering in complex scenarios. While verifying the effectiveness of RPIQ for deployment in real assistive systems, this study also advances the computational efficiency and reliability of large models, enabling them to provide visually impaired users with the required information accurately and rapidly.

cs.LG↗

arXiv2026

Scene-Aware Vectorized Memory Multi-Agent Framework with Cross-Modal Differentiated Quantization VLMs for Visually Impaired Assistance

Visually impaired individuals face significant challenges in environmental perception. Traditional assistive technologies often lack adaptive intelligence, focusing on individual components rather than integrated systems. While Vision-Language Models (VLMs) offer a promising path to richer, integrated understanding, their deployment is severely limited by substantial computational requirements, demanding dozens of gigabytes of memory. To address these gaps in computational efficiency and integrated design, this study proposes a dual technological innovation framework: a cross-modal differentiated quantization framework for VLMs and a scene-aware vectorized memory multi-agent system. The quantization framework implements differentiated strategies, reducing memory from 38GB to 11.3GB. The multi-agent system uses vectorized memory and perception-memory-reasoning workflows to provide environmental information beyond the current view, achieving 2.83-3.52s latency to initial speech output. Experiments show the quantized 19B-parameter model only experiences a 2.05% performance drop on MMBench and maintains 63.7 accuracy on OCR-VQA (original: 64.9), outperforming smaller models with equivalent memory. This research advances computational efficiency and assistive technology, offering comprehensive assistance in scene perception, text recognition, and navigation.

cs.CV↗

arXiv2025

Momentum-constrained Hybrid Heuristic Trajectory Optimization Framework with Residual-enhanced DRL for Visually Impaired Scenarios

This paper proposes a momentum-constrained hybrid heuristic trajectory optimization framework (MHHTOF) tailored for assistive navigation in visually impaired scenarios, integrating trajectory sampling generation, optimization and evaluation with residual-enhanced deep reinforcement learning (DRL). In the first stage, heuristic trajectory sampling cluster (HTSC) is generated in the Frenet coordinate system using third-order interpolation with fifth-order polynomials and momentum-constrained trajectory optimization (MTO) constraints to ensure smoothness and feasibility. After first stage cost evaluation, the second stage leverages a residual-enhanced actor-critic network with LSTM-based temporal feature modeling to adaptively refine trajectory selection in the Cartesian coordinate system. A dual-stage cost modeling mechanism (DCMM) with weight transfer aligns semantic priorities across stages, supporting human-centered optimization. Experimental results demonstrate that the proposed LSTM-ResB-PPO achieves significantly faster convergence, attaining stable policy performance in approximately half the training iterations required by the PPO baseline, while simultaneously enhancing both reward outcomes and training stability. Compared to baseline method, the selected model reduces average cost and cost variance by 30.3% and 53.3%, and lowers ego and obstacle risks by over 77%. These findings validate the framework's effectiveness in enhancing robustness, safety, and real-time feasibility in complex assistive planning tasks.

cs.RO↗

arXiv2016

Spectrum of a class of matrices and its applications

In this paper, we give the spectrum of a matrix by using the quotient matrix, then we apply this result to various matrices associated to a graph and a digraph, including adjacency matrix, (signless) Laplacian matrix, distance matrix, distance (signless) Laplacian matrix, to obtain some known and new results. Moreover, we propose some problems for further research.

math.CO↗

arXiv2016

Distance and distance signless Laplacian spread of connected graphs

For a connected graph $G$ on $n$ vertices, recall that the distance signless Laplacian matrix of $G$ is defined to be $\mathcal{Q}(G)=Tr(G)+\mathcal{D}(G)$, where $\mathcal{D}(G)$ is the distance matrix, $Tr(G)=diag(D_1, D_2, \ldots, D_n)$ and $D_{i}$ is the row sum of $\mathcal{D}(G)$ corresponding to vertex $v_{i}$. Denote by $ρ^{\mathcal{D}}(G),$ $ρ_{min}^{\mathcal{D}}(G)$ the largest eigenvalue and the least eigenvalue of $\mathcal{D}(G)$, respectively. And denote by $q^{\mathcal{D}}(G)$, $q_{min}^{\mathcal{D}}(G)$ the largest eigenvalue and the least eigenvalue of $\mathcal{Q}(G)$, respectively. The distance spread of a graph $G$ is defined as $S_{\mathcal{D}}(G)=ρ^{\mathcal{D}}(G)- ρ_{min}^{\mathcal{D}}(G)$, and the distance signless Laplacian spread of a graph $G$ is defined as $S_{\mathcal{Q}}(G)=q^{\mathcal{D}}(G)-q_{min}^{\mathcal{D}}(G)$. In this paper, we point out an error in the result of Theorem 2.4 in "Distance spectral spread of a graph" [G.L. Yu, et al, Discrete Applied Mathematics. 160 (2012) 2474--2478] and rectify it. As well, we obtain some lower bounds on ddistance signless Laplacian spread of a graph.

math.CO↗