arXiv subjects

Yuanlong Yu

Publications and source records attributed to Yuanlong Yu.

At least 19 recordsLinked to original sources

arXiv2026

DiDrive: A Risk-Aware Hierarchical Diffusion Framework for Safe Offline Reinforcement Learning in Autonomous Driving

While diffusion models effectively capture multimodal behavioral priors for autonomous driving, offline reinforcement learning (RL) policies remain susceptible to distribution shift, heavy-tailed risk signals, out-of-distribution (OOD) action generation, and high-dimensional state redundancy. To address these challenges, we propose DiDrive, a distribution-guided offline diffusion framework featuring two synergistic components: the Risk-Aware Hierarchical Diffusion (RHDif) architecture and the 3DICE policy optimization paradigm. In the state space, RHDif utilizes a low-level risk-gated encoder and a high-level contextual modulator to filter environmental redundancy and focus on safety-critical threats. In the action space, 3DICE mitigates OOD overestimation and gradient oscillation through in-sample calibrated guidance, spatiotemporal optimization, and ensemble-based candidate ranking. Evaluations on the CARLA benchmark demonstrate DiDrive's superiority over baselines like IQL, CQL, and Diffusion-QL, particularly in complex, high-density traffic scenarios with 60 vehicles, where it achieves an 85% success rate and a 4295.68 average reward, providing a robust pathway for safe autonomous driving decision-making.

cs.LG↗

arXiv2026

Dynamic-TD3: A Novel Algorithm for UAV Path Planning with Dynamic Obstacle Trajectory Prediction

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage risky trial-and-error, while most constraint-based methods suffer degraded performance under sensor noise and intent uncertainty. We propose Dynamic-TD3, a physically enhanced framework that enforces strict safety constraints while maintaining maneuverability by modeling navigation as a Constrained Markov Decision Process (CMDP). This framework integrates an Adaptive Trajectory Relational Evolution Mechanism (ATREM) to capture long-range intentions and employs a Physically Aware Gated Kalman Filter (PAG-KF) to mitigate non-stationary observation noise. The resulting state representation drives a dual-criterion policy that balances mission efficiency against hard safety constraints via Lagrangian relaxation. In experiments with aggressive dynamic threats, this approach demonstrates superior collision avoidance performance, reduced energy consumption, and smoother flight trajectories.

cs.RO↗

arXiv2025

KGMark: A Diffusion Watermark for Knowledge Graphs

Knowledge graphs (KGs) are ubiquitous in numerous real-world applications, and watermarking facilitates protecting intellectual property and preventing potential harm from AI-generated content. Existing watermarking methods mainly focus on static plain text or image data, while they can hardly be applied to dynamic graphs due to spatial and temporal variations of structured data. This motivates us to propose KGMARK, the first graph watermarking framework that aims to generate robust, detectable, and transparent diffusion fingerprints for dynamic KG data. Specifically, we propose a novel clustering-based alignment method to adapt the watermark to spatial variations. Meanwhile, we present a redundant embedding strategy to harden the diffusion watermark against various attacks, facilitating the robustness of the watermark to the temporal variations. Additionally, we introduce a novel learnable mask matrix to improve the transparency of diffusion fingerprints. By doing so, our KGMARK properly tackles the variation challenges of structured data. Experiments on various public benchmarks show the effectiveness of our proposed KGMARK. Our code is available at https://github.com/phrara/kgmark.

cs.CR↗

arXiv2025

Auditing Meta-Cognitive Hallucinations in Reasoning Large Language Models

The development of Reasoning Large Language Models (RLLMs) has significantly improved multi-step reasoning capabilities, but it has also made hallucination problems more frequent and harder to eliminate. While existing approaches mitigate hallucinations through external knowledge integration, model parameter analysis, or self-verification, they often fail to capture how hallucinations emerge and evolve across the reasoning chain. In this work, we study the causality of hallucinations under constrained knowledge domains by auditing the Chain-of-Thought (CoT) trajectory and assessing the model's cognitive confidence in potentially erroneous or biased claims. Our analysis reveals that in long-CoT settings, RLLMs can iteratively reinforce biases and errors through flawed reflective reasoning, eventually leading to hallucinated reasoning paths. Surprisingly, even direct interventions at the origin of hallucinations often fail to reverse their effects, as reasoning chains exhibit 'chain disloyalty' -- a resistance to correction and a tendency to preserve flawed logic. Furthermore, we show that existing hallucination detection methods are less reliable and interpretable than previously assumed in complex reasoning scenarios. Unlike methods such as circuit tracing that require access to model internals, our black-box auditing approach supports interpretable long-chain hallucination attribution, offering better generalizability and practical utility. Our code is available at: https://github.com/Winnie-Lian/AHa_Meta_Cognitive

cs.CY↗

arXiv2023

Parameter Exchange for Robust Dynamic Domain Generalization

Agnostic domain shift is the main reason of model degradation on the unknown target domains, which brings an urgent need to develop Domain Generalization (DG). Recent advances at DG use dynamic networks to achieve training-free adaptation on the unknown target domains, termed Dynamic Domain Generalization (DDG), which compensates for the lack of self-adaptability in static models with fixed weights. The parameters of dynamic networks can be decoupled into a static and a dynamic component, which are designed to learn domain-invariant and domain-specific features, respectively. Based on the existing arts, in this work, we try to push the limits of DDG by disentangling the static and dynamic components more thoroughly from an optimization perspective. Our main consideration is that we can enable the static component to learn domain-invariant features more comprehensively by augmenting the domain-specific information. As a result, the more comprehensive domain-invariant features learned by the static component can then enforce the dynamic component to focus more on learning adaptive domain-specific features. To this end, we propose a simple yet effective Parameter Exchange (PE) method to perturb the combination between the static and dynamic components. We optimize the model using the gradients from both the perturbed and non-perturbed feed-forward jointly to implicitly achieve the aforementioned disentanglement. In this way, the two components can be optimized in a mutually-beneficial manner, which can resist the agnostic domain shifts and improve the self-adaptability on the unknown target domain. Extensive experiments show that PE can be easily plugged into existing dynamic networks to improve their generalization ability without bells and whistles.

cs.CV↗

arXiv2023

MetaFBP: Learning to Learn High-Order Predictor for Personalized Facial Beauty Prediction

Predicting individual aesthetic preferences holds significant practical applications and academic implications for human society. However, existing studies mainly focus on learning and predicting the commonality of facial attractiveness, with little attention given to Personalized Facial Beauty Prediction (PFBP). PFBP aims to develop a machine that can adapt to individual aesthetic preferences with only a few images rated by each user. In this paper, we formulate this task from a meta-learning perspective that each user corresponds to a meta-task. To address such PFBP task, we draw inspiration from the human aesthetic mechanism that visual aesthetics in society follows a Gaussian distribution, which motivates us to disentangle user preferences into a commonality and an individuality part. To this end, we propose a novel MetaFBP framework, in which we devise a universal feature extractor to capture the aesthetic commonality and then optimize to adapt the aesthetic individuality by shifting the decision boundary of the predictor via a meta-learning mechanism. Unlike conventional meta-learning methods that may struggle with slow adaptation or overfitting to tiny support sets, we propose a novel approach that optimizes a high-order predictor for fast adaptation. In order to validate the performance of the proposed method, we build several PFBP benchmarks by using existing facial beauty prediction datasets rated by numerous users. Extensive experiments on these benchmarks demonstrate the effectiveness of the proposed MetaFBP method.

cs.CV↗

arXiv2023

Memory-Constrained Semantic Segmentation for Ultra-High Resolution UAV Imagery

Amidst the swift advancements in photography and sensor technologies, high-definition cameras have become commonplace in the deployment of Unmanned Aerial Vehicles (UAVs) for diverse operational purposes. Within the domain of UAV imagery analysis, the segmentation of ultra-high resolution images emerges as a substantial and intricate challenge, especially when grappling with the constraints imposed by GPU memory-restricted computational devices. This paper delves into the intricate problem of achieving efficient and effective segmentation of ultra-high resolution UAV imagery, while operating under stringent GPU memory limitation. The strategy of existing approaches is to downscale the images to achieve computationally efficient segmentation. However, this strategy tends to overlook smaller, thinner, and curvilinear regions. To address this problem, we propose a GPU memory-efficient and effective framework for local inference without accessing the context beyond local patches. In particular, we introduce a novel spatial-guided high-resolution query module, which predicts pixel-wise segmentation results with high quality only by querying nearest latent embeddings with the guidance of high-resolution information. Additionally, we present an efficient memory-based interaction scheme to correct potential semantic bias of the underlying high-resolution information by associating cross-image contextual semantics. For evaluation of our approach, we perform comprehensive experiments over public benchmarks and achieve superior performance under both conditions of small and large GPU memory usage limitations. We will release the model and codes in the future.

cs.CV↗

arXiv2022

Monocular BEV Perception of Road Scenes via Front-to-Top View Projection

HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation separately, which often causes distortion and missing content. To push the limits of the technology, we present a novel framework that reconstructs a local map formed by road layout and vehicle occupancy in the bird's-eye view given a front-view monocular image only. We propose a front-to-top view projection (FTVP) module, which takes the constraint of cycle consistency between views into account and makes full use of their correlation to strengthen the view transformation and scene understanding. In addition, we also apply multi-scale FTVP modules to propagate the rich spatial information of low-level features to mitigate spatial deviation of the predicted object location. Experiments on public benchmarks show that our method achieves the state-of-the-art performance in the tasks of road layout estimation, vehicle occupancy estimation, and multi-class semantic estimation. For multi-class semantic estimation, in particular, our model outperforms all competitors by a large margin. Furthermore, our model runs at 25 FPS on a single GPU, which is efficient and applicable for real-time panorama HD map reconstruction.

cs.CV↗

arXiv2022

Dynamic Domain Generalization

Domain generalization (DG) is a fundamental yet very challenging research topic in machine learning. The existing arts mainly focus on learning domain-invariant features with limited source domains in a static model. Unfortunately, there is a lack of training-free mechanism to adjust the model when generalized to the agnostic target domains. To tackle this problem, we develop a brand-new DG variant, namely Dynamic Domain Generalization (DDG), in which the model learns to twist the network parameters to adapt the data from different domains. Specifically, we leverage a meta-adjuster to twist the network parameters based on the static model with respect to different data from different domains. In this way, the static model is optimized to learn domain-shared features, while the meta-adjuster is designed to learn domain-specific features. To enable this process, DomainMix is exploited to simulate data from diverse domains during teaching the meta-adjuster to adapt to the upcoming agnostic target domains. This learning mechanism urges the model to generalize to different agnostic target domains via adjusting the model without training. Extensive experiments demonstrate the effectiveness of our proposed method. Code is available at: https://github.com/MetaVisionLab/DDG

cs.LG↗

arXiv2021

Semi-Supervised Domain Generalization with Evolving Intermediate Domain

Domain Generalization (DG) aims to generalize a model trained on multiple source domains to an unseen target domain. The source domains always require precise annotations, which can be cumbersome or even infeasible to obtain in practice due to the vast amount of data involved. Web data, however, offers an opportunity to access large amounts of unlabeled data with rich style information, which can be leveraged to improve DG. From this perspective, we introduce a novel paradigm of DG, termed as Semi-Supervised Domain Generalization (SSDG), to explore how the labeled and unlabeled source domains can interact, and establish two settings, including the close-set and open-set SSDG. The close-set SSDG is based on existing public DG datasets, while the open-set SSDG, built on the newly-collected web-crawled datasets, presents a novel yet realistic challenge that pushes the limits of current technologies. A natural approach of SSDG is to transfer knowledge from labeled data to unlabeled data via pseudo labeling, and train the model on both labeled and pseudo-labeled data for generalization. Since there are conflicting goals between domain-oriented pseudo labeling and out-of-domain generalization, we develop a pseudo labeling phase and a generalization phase independently for SSDG. Unfortunately, due to the large domain gap, the pseudo labels provided in the pseudo labeling phase inevitably contain noise, which has negative affect on the subsequent generalization phase. Therefore, to improve the quality of pseudo labels and further enhance generalizability, we propose a cyclic learning framework to encourage a positive feedback between these two phases, utilizing an evolving intermediate domain that bridges the labeled and unlabeled domains in a curriculum learning manner...

cs.CV↗

arXiv2021

Ultra-high Resolution Image Segmentation via Locality-aware Context Fusion and Alternating Local Enhancement

Ultra-high resolution image segmentation has raised increasing interests in recent years due to its realistic applications. In this paper, we innovate the widely used high-resolution image segmentation pipeline, in which an ultra-high resolution image is partitioned into regular patches for local segmentation and then the local results are merged into a high-resolution semantic mask. In particular, we introduce a novel locality-aware context fusion based segmentation model to process local patches, where the relevance between local patch and its various contexts are jointly and complementarily utilized to handle the semantic regions with large variations. Additionally, we present the alternating local enhancement module that restricts the negative impact of redundant information introduced from the contexts, and thus is endowed with the ability of fixing the locality-aware features to produce refined results. Furthermore, in comprehensive experiments, we demonstrate that our model outperforms other state-of-the-art methods in public benchmarks. Our released codes are available at: https://github.com/liqiokkk/FCtL.

cs.CV↗

arXiv2020

A Homotopy Coordinate Descent Optimization Method for $l_0$-Norm Regularized Least Square Problem

This paper proposes a homotopy coordinate descent (HCD) method to solve the $l_0$-norm regularized least square ($l_0$-LS) problem for compressed sensing, which combine the homotopy technique with a variant of coordinate descent method. Differs from the classical coordinate descent algorithms, HCD provides three strategies to speed up the convergence: warm start initialization, active set updating, and strong rule for active set initialization. The active set is pre-selected using a strong rule, then the coordinates of the active set are updated while those of inactive set are unchanged. The homotopy strategy provides a set of warm start initial solutions for a sequence of decreasing values of the regularization factor, which ensures all iterations along the homotopy solution path are sparse. Computational experiments on simulate signals and natural signals demonstrate effectiveness of the proposed algorithm, in accurately and efficiently reconstructing sparse solutions of the $l_0$-LS problem, whether the observation is noisy or not.

cs.LG↗

arXiv2020

Joint Adaptive Graph and Structured Sparsity Regularization for Unsupervised Feature Selection

Feature selection is an important data preprocessing in data mining and machine learning which can be used to reduce the feature dimension without deteriorating model's performance. Since obtaining annotated data is laborious or even infeasible in many cases, unsupervised feature selection is more practical in reality. Though lots of methods for unsupervised feature selection have been proposed, these methods select features independently, thus it is no guarantee that the group of selected features is optimal. What's more, the number of selected features must be tuned carefully to obtain a satisfactory result. To tackle these problems, we propose a joint adaptive graph and structured sparsity regularization unsupervised feature selection (JASFS) method in this paper, in which a $l_{2,0}$-norm regularization term with respect to transformation matrix is imposed in the manifold learning for feature selection, and a graph regularization term is incorporated into the learning model to learn the local geometric structure of data adaptively. An efficient and simple iterative algorithm is designed to solve the proposed optimization problem with the analysis of computational complexity. After optimized, a subset of optimal features will be selected in group, and the number of selected features will be determined automatically. Experimental results on eight benchmarks demonstrate the effectiveness and efficiency of the proposed method compared with several state-of-the-art approaches.

cs.LG↗

arXiv2020

Robust Multi-class Feature Selection via $l_{2,0}$-Norm Regularization Minimization

Feature selection is an important data pre-processing in data mining and machine learning, which can reduce feature size without deteriorating model's performance. Recently, sparse regression based feature selection methods have received considerable attention due to their good performance. However, because the $l_{2,0}$-norm regularization term is non-convex, this problem is very hard to solve. In this paper, unlike most of the other methods which only solve the approximate problem, a novel method based on homotopy iterative hard threshold (HIHT) is proposed to solve the $l_{2,0}$-norm regularization least square problem directly for multi-class feature selection, which can produce exact row-sparsity solution for the weights matrix. What'more, in order to reduce the computational time of HIHT, an acceleration version of HIHT (AHIHT) is derived. Extensive experiments on eight biological datasets show that the proposed method can achieve higher classification accuracy (ACC) with fewest number of selected features (No.fea) comparing with the approximate convex counterparts and state-of-the-art feature selection methods. The robustness of classification accuracy to the regularization parameter and the number of selected feature are also exhibited.

cs.LG↗

arXiv2020

An Internal Covariate Shift Bounding Algorithm for Deep Neural Networks by Unitizing Layers' Outputs

Batch Normalization (BN) techniques have been proposed to reduce the so-called Internal Covariate Shift (ICS) by attempting to keep the distributions of layer outputs unchanged. Experiments have shown their effectiveness on training deep neural networks. However, since only the first two moments are controlled in these BN techniques, it seems that a weak constraint is imposed on layer distributions and furthermore whether such constraint can reduce ICS is unknown. Thus this paper proposes a measure for ICS by using the Earth Mover (EM) distance and then derives the upper and lower bounds for the measure to provide a theoretical analysis of BN. The upper bound has shown that BN techniques can control ICS only for the outputs with low dimensions and small noise whereas their control is NOT effective in other cases. This paper also proves that such control is just a bounding of ICS rather than a reduction of ICS. Meanwhile, the analysis shows that the high-order moments and noise, which BN cannot control, have great impact on the lower bound. Based on such analysis, this paper furthermore proposes an algorithm that unitizes the outputs with an adjustable parameter to further bound ICS in order to cope with the problems of BN. The upper bound for the proposed unitization is noise-free and only dominated by the parameter. Thus, the parameter can be trained to tune the bound and further to control ICS. Besides, the unitization is embedded into the framework of BN to reduce the information loss. The experiments show that this proposed algorithm outperforms existing BN techniques on CIFAR-10, CIFAR-100 and ImageNet datasets.

cs.LG↗

arXiv2019

Visualizing the Invisible: Occluded Vehicle Segmentation and Recovery

In this paper, we propose a novel iterative multi-task framework to complete the segmentation mask of an occluded vehicle and recover the appearance of its invisible parts. In particular, to improve the quality of the segmentation completion, we present two coupled discriminators and introduce an auxiliary 3D model pool for sampling authentic silhouettes as adversarial samples. In addition, we propose a two-path structure with a shared network to enhance the appearance recovery capability. By iteratively performing the segmentation completion and the appearance recovery, the results will be progressively refined. To evaluate our method, we present a dataset, the Occluded Vehicle dataset, containing synthetic and real-world occluded vehicle images. We conduct comparison experiments on this dataset and demonstrate that our model outperforms the state-of-the-art in tasks of recovering segmentation mask and appearance for occluded vehicles. Moreover, we also demonstrate that our appearance recovery approach can benefit the occluded vehicle tracking in real-world videos.

cs.CV↗

arXiv2019

Enhancement Mask for Hippocampus Detection and Segmentation

Detection and segmentation of the hippocampal structures in volumetric brain images is a challenging problem in the area of medical imaging. In this paper, we propose a two-stage 3D fully convolutional neural network that efficiently detects and segments the hippocampal structures. In particular, our approach first localizes the hippocampus from the whole volumetric image while obtaining a proposal for a rough segmentation. After localization, we apply the proposal as an enhancement mask to extract the fine structure of the hippocampus. The proposed method has been evaluated on a public dataset and compares with state-of-the-art approaches. Results indicate the effectiveness of the proposed method, which yields mean Dice Similarity Coefficients (i.e. DSC) of $0.897$ and $0.900$ for the left and right hippocampus, respectively. Furthermore, extensive experiments manifest that the proposed enhancement mask layer has remarkable benefits for accelerating training process and obtaining more accurate segmentation results.

cs.CV↗

arXiv2018

An Intelligent Extraversion Analysis Scheme from Crowd Trajectories for Surveillance

In recent years, crowd analysis is important for applications such as smart cities, intelligent transportation system, customer behavior prediction, and visual surveillance. Understanding the characteristics of the individual motion in a crowd can be beneficial for social event detection and abnormal detection, but it has rarely been studied. In this paper, we focus on the extraversion measure of individual motions in crowds based on trajectory data. Extraversion is one of typical personalities that is often observed in human crowd behaviors and it can reflect not only the characteristics of the individual motion, but also the that of the holistic crowd motions. To our best knowledge, this is the first attempt to analyze individual extraversion of crowd motions based on trajectories. To accomplish this, we first present a effective composite motion descriptor, which integrates the basic individual motion information and social metrics, to describe the extraversion of each individual in a crowd. The social metrics consider both the neighboring distribution and their interaction pattern. Since our major goal is to learn a universal scoring function that can measure the degrees of extraversion across varied crowd scenes, we incorporate and adapt the active learning technique to the relative attribute approach. Specifically, we assume the social groups in any crowds contain individuals with the similar degree of extraversion. Based on such assumption, we significantly reduce the computation cost by clustering and ranking the trajectories actively. Finally, we demonstrate the performance of our proposed method by measuring the degree of extraversion for real individual trajectories in crowds and analyzing crowd scenes from a real-world dataset.

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