arXiv subjects

Yiting Zhang

Publications and source records attributed to Yiting Zhang.

At least 19 recordsLinked to original sources

arXiv2026

Generative Models and Connected and Automated Vehicles: A Survey in Exploring the Intersection of Transportation and AI

This report investigates the history and impact of Generative Models and Connected and Automated Vehicles (CAVs), two groundbreaking forces pushing progress in technology and transportation. By focusing on the application of generative models within the context of CAVs, the study aims to unravel how this integration could enhance predictive modeling, simulation accuracy, and decision-making processes in autonomous vehicles. This thesis discusses the benefits and challenges of integrating generative models and CAV technology in transportation. It aims to highlight the progress made, the remaining obstacles, and the potential for advancements in safety and innovation.

cs.LG↗

arXiv2026

Modality-Aware Zero-Shot Pruning and Sparse Attention for Efficient Multimodal Edge Inference

Edge devices increasingly run multimodal sensing pipelines that must remain accurate despite fluctuating power budgets and unpredictable sensor dropout. Existing pruning methods fail under these conditions: they generally require fine-tuning after compression, consuming over $10\times$ the deployment energy, and they assign static importance scores that are blind to which sensors are present. We present the SentryFuse framework, which addresses both challenges jointly through two key components. First, SentryGate learns modality-conditioned importance scores during training via first-order saliency supervision and then prunes attention heads and feed-forward channels at deployment without fine-tuning. Second, SentryAttend replaces dense self-attention, a key bottleneck in contemporary multimodal architectures, with sparse grouped-query attention, yielding a net 15% reduction in GFLOPs across three different multimodal architectures. Across three applications and multimodal backbones, SentryGate achieves a 12.7% average accuracy improvement over the strongest pruning baseline, and upto to 18% under modality dropout conditions. Together, SentryFuse reduces memory by 28.2% and lowers latency by up to $1.63\times$ without further fine-tuning, establishing modality-aware zero-shot compression as a practical path to multimodal intelligence on heterogeneous edge hardware.

cs.LG↗

arXiv2025

Lithium Niobate Vertical Cavity Electro-Optic Modulator

Electro-optic modulators (EOMs) are vital for optical imaging and information processing, with free-space devices enabling LiDAR and beam control. Lithium niobate (LN), powered by the strong Pockels effect and scalable LN-on-insulator (LNOI) platform, has become a leading material for high-performance EOMs. Here we realize a vertical-cavity EOM in which an LN membrane is sandwiched between two photonic crystal (PhC) mirrors with integrated electrodes. The cavity supports sharp defect-mode resonances that shift efficiently under the Pockels effect, enabling strong modulation of transmission. Experiments show a depth of 43 % at 50 V and a bandwidth of 5 MHz. This architecture combines free-space compatibility with fabrication simplicity, opening new routes to compact electro-optic platforms for ranging, holography, and beam steering.

physics.optics↗

arXiv2025

AerialVG: A Challenging Benchmark for Aerial Visual Grounding by Exploring Positional Relations

Visual grounding (VG) aims to localize target objects in an image based on natural language descriptions. In this paper, we propose AerialVG, a new task focusing on visual grounding from aerial views. Compared to traditional VG, AerialVG poses new challenges, \emph{e.g.}, appearance-based grounding is insufficient to distinguish among multiple visually similar objects, and positional relations should be emphasized. Besides, existing VG models struggle when applied to aerial imagery, where high-resolution images cause significant difficulties. To address these challenges, we introduce the first AerialVG dataset, consisting of 5K real-world aerial images, 50K manually annotated descriptions, and 103K objects. Particularly, each annotation in AerialVG dataset contains multiple target objects annotated with relative spatial relations, requiring models to perform comprehensive spatial reasoning. Furthermore, we propose an innovative model especially for the AerialVG task, where a Hierarchical Cross-Attention is devised to focus on target regions, and a Relation-Aware Grounding module is designed to infer positional relations. Experimental results validate the effectiveness of our dataset and method, highlighting the importance of spatial reasoning in aerial visual grounding. The code and dataset will be released.

cs.CV↗

arXiv2025

AdvEvo-MARL: Shaping Internalized Safety through Adversarial Co-Evolution in Multi-Agent Reinforcement Learning

LLM-based multi-agent systems excel at planning, tool use, and role coordination, but their openness and interaction complexity also expose them to jailbreak, prompt-injection, and adversarial collaboration. Existing defenses fall into two lines: (i) self-verification that asks each agent to pre-filter unsafe instructions before execution, and (ii) external guard modules that police behaviors. The former often underperforms because a standalone agent lacks sufficient capacity to detect cross-agent unsafe chains and delegation-induced risks; the latter increases system overhead and creates a single-point-of-failure-once compromised, system-wide safety collapses, and adding more guards worsens cost and complexity. To solve these challenges, we propose AdvEvo-MARL, a co-evolutionary multi-agent reinforcement learning framework that internalizes safety into task agents. Rather than relying on external guards, AdvEvo-MARL jointly optimizes attackers (which synthesize evolving jailbreak prompts) and defenders (task agents trained to both accomplish their duties and resist attacks) in adversarial learning environments. To stabilize learning and foster cooperation, we introduce a public baseline for advantage estimation: agents within the same functional group share a group-level mean-return baseline, enabling lower-variance updates and stronger intra-group coordination. Across representative attack scenarios, AdvEvo-MARL consistently keeps attack-success rate (ASR) below 20%, whereas baselines reach up to 38.33%, while preserving-and sometimes improving-task accuracy (up to +3.67% on reasoning tasks). These results show that safety and utility can be jointly improved without relying on extra guard agents or added system overhead.

cs.AI↗

arXiv2025

Evo-MARL: Co-Evolutionary Multi-Agent Reinforcement Learning for Internalized Safety

Multi-agent systems (MAS) built on multimodal large language models exhibit strong collaboration and performance. However, their growing openness and interaction complexity pose serious risks, notably jailbreak and adversarial attacks. Existing defenses typically rely on external guard modules, such as dedicated safety agents, to handle unsafe behaviors. Unfortunately, this paradigm faces two challenges: (1) standalone agents offer limited protection, and (2) their independence leads to single-point failure-if compromised, system-wide safety collapses. Naively increasing the number of guard agents further raises cost and complexity. To address these challenges, we propose Evo-MARL, a novel multi-agent reinforcement learning (MARL) framework that enables all task agents to jointly acquire defensive capabilities. Rather than relying on external safety modules, Evo-MARL trains each agent to simultaneously perform its primary function and resist adversarial threats, ensuring robustness without increasing system overhead or single-node failure. Furthermore, Evo-MARL integrates evolutionary search with parameter-sharing reinforcement learning to co-evolve attackers and defenders. This adversarial training paradigm internalizes safety mechanisms and continually enhances MAS performance under co-evolving threats. Experiments show that Evo-MARL reduces attack success rates by up to 22% while boosting accuracy by up to 5% on reasoning tasks-demonstrating that safety and utility can be jointly improved.

cs.AI↗

arXiv2025

OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework

Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there remains room for improvement on physics-based underwater sensor modeling and rendering efficiency. In this paper, we propose OceanSim, a high-fidelity GPU-accelerated underwater simulator to address this research gap. We propose advanced physics-based rendering techniques to reduce the sim-to-real gap for underwater image simulation. We develop OceanSim to fully leverage the computing advantages of GPUs and achieve real-time imaging sonar rendering and fast synthetic data generation. We evaluate the capabilities and realism of OceanSim using real-world data to provide qualitative and quantitative results. The code and detailed documentation are made available on the project website to support the marine robotics community: https://umfieldrobotics.github.io/OceanSim.

cs.RO↗

arXiv2025

XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search

Mechanical search (MS) in cluttered environments remains a significant challenge for autonomous manipulators, requiring long-horizon planning and robust state estimation under occlusions and partial observability. In this work, we introduce XPG-RL, a reinforcement learning framework that enables agents to efficiently perform MS tasks through explainable, priority-guided decision-making based on raw sensory inputs. XPG-RL integrates a task-driven action prioritization mechanism with a learned context-aware switching strategy that dynamically selects from a discrete set of action primitives such as target grasping, occlusion removal, and viewpoint adjustment. Within this strategy, a policy is optimized to output adaptive threshold values that govern the discrete selection among action primitives. The perception module fuses RGB-D inputs with semantic and geometric features to produce a structured scene representation for downstream decision-making. Extensive experiments in both simulation and real-world settings demonstrate that XPG-RL consistently outperforms baseline methods in task success rates and motion efficiency, achieving up to 4.5$\times$ higher efficiency in long-horizon tasks. These results underscore the benefits of integrating domain knowledge with learnable decision-making policies for robust and efficient robotic manipulation. The project page for XPG-RL is https://yitingzhang1997.github.io/xpgrl/.

cs.RO↗

arXiv2025

Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction

Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focus on shape prediction alone and fail to account for contact and tension constraints, which can lead to damage to both the DLO and the robot. In this work, we propose a certifiably safe motion planning and control framework for DLO manipulation. At the core of our method is a predictive model that jointly estimates the DLO's future shape and tension. These predictions are integrated into a real-time trajectory optimizer based on polynomial zonotopes, allowing us to enforce safety constraints throughout the execution. We evaluate our framework on a simulated wire harness assembly task using a 7-DOF robotic arm. Compared to state-of-the-art methods, our approach achieves a higher task success rate while avoiding all safety violations. The results demonstrate that our method enables robust and safe DLO manipulation in contact-rich environments.

cs.RO↗

arXiv2025

Achilles Heel of Distributed Multi-Agent Systems

Multi-agent system (MAS) has demonstrated exceptional capabilities in addressing complex challenges, largely due to the integration of multiple large language models (LLMs). However, the heterogeneity of LLMs, the scalability of quantities of LLMs, and local computational constraints pose significant challenges to hosting these models locally. To address these issues, we propose a new framework termed Distributed Multi-Agent System (DMAS). In DMAS, heterogeneous third-party agents function as service providers managed remotely by a central MAS server and each agent offers its services through API interfaces. However, the distributed nature of DMAS introduces several concerns about trustworthiness. In this paper, we study the Achilles heel of distributed multi-agent systems, identifying four critical trustworthiness challenges: free riding, susceptibility to malicious attacks, communication inefficiencies, and system instability. Extensive experiments across seven frameworks and four datasets reveal significant vulnerabilities of the DMAS. These attack strategies can lead to a performance degradation of up to 80% and attain a 100% success rate in executing free riding and malicious attacks. We envision our work will serve as a useful red-teaming tool for evaluating future multi-agent systems and spark further research on trustworthiness challenges in distributed multi-agent systems.

cs.MA↗

arXiv2025

Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects

This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address these challenges, this paper proposes differentiable Discrete Elastic Rods For deformable linear Objects with Real-time Modeling (DEFORM), a novel framework that combines a differentiable physics-based model with a learning framework to model DLOs accurately and in real-time. The performance of DEFORM is evaluated in an experimental setup involving two industrial robots and a variety of sensors. A comprehensive series of experiments demonstrate the efficacy of DEFORM in terms of accuracy, computational speed, and generalizability when compared to state-of-the-art alternatives. To further demonstrate the utility of DEFORM, this paper integrates it into a perception pipeline and illustrates its superior performance when compared to the state-of-the-art methods while tracking a DLO even in the presence of occlusions. Finally, this paper illustrates the superior performance of DEFORM when compared to state-of-the-art methods when it is applied to perform autonomous planning and control of DLOs. Project page: https://roahmlab.github.io/DEFORM/.

cs.RO↗

arXiv2024

An Expeditious Spatial Mean Radiant Temperature Mapping Framework using Visual SLAM and Semantic Segmentation

Ensuring thermal comfort is essential for the well-being and productivity of individuals in built environments. Of the various thermal comfort indicators, the mean radiant temperature (MRT) is very challenging to measure. Most common measurement methodologies are time-consuming and not user-friendly. To address this issue, this paper proposes a novel MRT measurement framework that uses visual simultaneous localization and mapping (SLAM) and semantic segmentation techniques. The proposed approach follows the rule of thumb of the traditional MRT calculation method using surface temperature and view factors. However, it employs visual SLAM and creates a 3D thermal point cloud with enriched surface temperature information. The framework then implements Grounded SAM, a new object detection and segmentation tool to extract features with distinct temperature profiles on building surfaces. The detailed segmentation of thermal features not only reduces potential errors in the calculation of the MRT but also provides an efficient reconstruction of the spatial MRT distribution in the indoor environment. We also validate the calculation results with the reference measurement methodology. This data-driven framework offers faster and more efficient MRT measurements and spatial mapping than conventional methods. It can enable the direct engagement of researchers and practitioners in MRT measurements and contribute to research on thermal comfort and radiant cooling and heating systems.

cs.RO↗

arXiv2024

Bayesian Deep Learning Via Expectation Maximization and Turbo Deep Approximate Message Passing

Efficient learning and model compression algorithm for deep neural network (DNN) is a key workhorse behind the rise of deep learning (DL). In this work, we propose a message passing based Bayesian deep learning algorithm called EM-TDAMP to avoid the drawbacks of traditional stochastic gradient descent (SGD) based learning algorithms and regularization-based model compression methods. Specifically, we formulate the problem of DNN learning and compression as a sparse Bayesian inference problem, in which group sparse prior is employed to achieve structured model compression. Then, we propose an expectation maximization (EM) framework to estimate posterior distributions for parameters (E-step) and update hyperparameters (M-step), where the E-step is realized by a newly proposed turbo deep approximate message passing (TDAMP) algorithm. We further extend the EM-TDAMP and propose a novel Bayesian federated learning framework, in which and the clients perform TDAMP to efficiently calculate the local posterior distributions based on the local data, and the central server first aggregates the local posterior distributions to update the global posterior distributions and then update hyperparameters based on EM to accelerate convergence. We detail the application of EM-TDAMP to Boston housing price prediction and handwriting recognition, and present extensive numerical results to demonstrate the advantages of EM-TDAMP.

cs.LG↗

arXiv2024

Computing the Tracy-Widom Distribution for Arbitrary $β>0$

We compute the Tracy-Widom distribution describing the asymptotic distribution of the largest eigenvalue of a large random matrix by solving a boundary-value problem posed by Bloemendal in his Ph.D. Thesis (2011). The distribution is computed in two ways. The first method is a second-order finite-difference method and the second is a highly accurate Fourier spectral method. Since $β$ is simply a parameter in the boundary-value problem, any $β> 0$ can be used, in principle. The limiting distribution of the $n$th largest eigenvalue can also be computed. Our methods are available in the Julia package TracyWidomBeta.jl.

math.NA↗

arXiv2023

Strong limit theorems for step-reinforced random walks

A step-reinforced random walk is a discrete-time non-Markovian process with long range memory. At each step, with a fixed probability p, the positively step-reinforced random walk repeats one of its preceding steps chosen uniformly at random, and with complementary probability 1-p, it has an independent increment. The negatively step-reinforced random walk follows the same reinforcement algorithm but when a step is repeated its sign is also changed. Strong laws of large numbers and strong invariance principles are established for positively and negatively step-reinforced random walks in this work. Our approach relies on two general theorems on invariance principle for martingale difference sequences and a truncation argument. As by-products of our main results, the law of iterated logarithm and the functional central limit theorem are also obtained for step-reinforced random walks.

math.PR↗

arXiv2023

Bright Second Harmonic Emission from Photonic Crystal Vertical Cavity

We present a study on photonic vertical cavities consisting of nonlinear materials embedded in photonic crystals (PhCs) for resonantly enhancing second harmonic generation (SHG). Previous attempts at SHG in such structures have been limited to efficiencies of 10$^{-7}$ to 10$^{-5}$, but we demonstrate here a high SHG efficiency of 0.28% by constructing a vertical cavity with a lithium niobate membrane placed between two PhCs, which exhibits high quality resonances. Our results open up new possibilities for compact laser frequency converters that could have a revolutionary impact on the fields of nonlinear optics and photonics.

physics.optics↗

arXiv2019

A Probabilistic Analysis of the Neumann Series Iteration

Given a random matrix A with eigenvalues between -1 and 1, we analyze the number of iterations needed to solve the linear equation (I-A)x=b with the Neumann series iteration. We give sufficient conditions for convergence of an upper bound of the iteration count in distribution. Specifically, our results show that when the scaled extreme eigenvalues of A converge in distribution, this scaled upper bound on the number of iterations will converge to the reciprocal of the limiting distribution of the largest eigenvalue.

math.PR↗

arXiv2019

Sound Search by Text Description or Vocal Imitation?

Searching sounds by text labels is often difficult, as text descriptions cannot describe the audio content in detail. Query by vocal imitation bridges such gap and provides a novel way to sound search. Several algorithms for sound search by vocal imitation have been proposed and evaluated in a simulation environment, however, they have not been deployed into a real search engine nor evaluated by real users. This pilot work conducts a subjective study to compare these two approaches to sound search, and tries to answer the question of which approach works better for what kinds of sounds. To do so, we developed two web-based search engines for sound, one by vocal imitation (Vroom!) and the other by text description (TextSearch). We also developed an experimental framework to host these engines to collect statistics of user behaviors and ratings. Results showed that Vroom! received significantly higher search satisfaction ratings than TextSearch did for sound categories that were difficult for subjects to describe by text. Results also showed a better overall ease-of-use rating for Vroom! than TextSearch on the limited sound library in our experiments. These findings suggest advantages of vocal-imitation-based search for sound in practice.

cs.HC↗