arXiv subjects

Yuanzhi He

Publications and source records attributed to Yuanzhi He.

5 recordsLinked to original sources

arXiv2026

WEKP-PLP: A Wireless Environment Knowledge Pool-Enhanced Path Loss Prediction Framework for Shore-to-Ship Communication

Accurate shore-to-ship path loss prediction is essential for maritime mobile communication systems, but it remains challenging because dynamic sea surface conditions can alter reflection paths and multipath effects, introducing uncertainty into the observed path loss. This paper proposes a wireless environment knowledge pool-enhanced path loss prediction (WEKP-PLP) method for point prediction and interval characterization of shore-to-ship path loss. The proposed method first constructs a wireless environment knowledge pool (WEKP) from ray tracing (RT) simulations under different wind speeds, temperatures, salinities, frequencies, antenna heights, and propagation distances. The WEKP learns the mapping from environmental and system parameters to path loss residual quantiles and provides a prior that contains both the median prediction and the associated prediction interval. To adapt this prior to real scenarios, a small number of measurement samples are used to learn the residual between the WEKP median prediction and the measured path loss through Gaussian process regression (GPR). The experimental results show that the WEKP-PLP provides accurate point prediction and compact intervals with reliable coverage. The proposed method achieves an MAE of 1.03 dB and an RMSE of 1.54 dB. The ablation results further confirm that both the WEKP prior and the residual correction using a small number of measurement samples are necessary for accurate and reliable shore-to-ship path loss prediction.

eess.SP↗

arXiv2026

Detector Confidence Signals Presence Rather Than Occlusion in Cluttered Manipulation

Occlude a named object until about an eighth of it remains visible, and an open-vocabulary detector's confidence that the object is present barely changes; as the clutter around it grows the confidence can even rise. On real video the detector still reports the object present in 99% of occluded frames, on another instance of the same category. This matters because that confidence is widely read as a visibility signal, used to threshold detections, evaluate open-vocabulary detectors, ground language, retrieve instances, and gate active perception. We audit whether it reflects occlusion by pairing every view with a geometry-segmentation oracle that gives detector-free ground-truth visibility. As true visibility falls from every scene to one in eight, the confidence stays nearly constant and uncorrelated with visibility, and the detector reports the target present in about nine of ten scenes, firing on same-category distractors: it signals that the category is present somewhere, not that the specific target is visible. The failure holds across three detectors (Grounding DINO, OWLv2, and Segment Anything Model 3), nine object categories, two simulators with different renderers and object sets, built and natural occlusion, and real video. Two consequences follow: a confidence-based metric understates the value of resolving occlusion by about ten times (8 against 88 points in our active-perception setting), and a confidence-based gate fires exactly when the object is hidden. No single-view signal we tried, including a realizable localization check, flags the occlusion, because the occluders sit where the target is. We connect the effect to detector miscalibration and object hallucination, release the controlled benchmark, and recommend target-grounded signals for gating and evaluation.

cs.CV↗

arXiv2026

Sample-efficient Low-level Motion Planning for Robotic Manipulation Tasks via Zero-shot Transfer Learning

As robotic systems become more sophisticated, the growing complexity of their motion planning models and the longer training times pose substantial challenges. Evolutionary algorithms such as the Sample-efficient Cross-Entropy Method (iCEM) have recently demonstrated promising potential for low-level real-time planning by leveraging efficient knowledge reuse strategies to improve performance. Although effective in many control tasks, iCEM's performance can be constrained in more complex scenarios, particularly those requiring stacking, sliding, and shelf placement. In this work, we propose a novel iCEM+TL framework that explicitly leverages Transfer Learning (TL), where key iCEM parameters are transferred from simpler upstream tasks to guide more complex downstream tasks. Additionally, we applied Reward Redesign (RR) through task decomposition for stacking objects and shelf placement to optimize task-specific performance. Results from the simulation show that our framework achieves success rate improvements of up to 23%. The framework is further validated on a real Franka Emika robot in a stacking task, demonstrating its practical feasibility for real-world deployment.

cs.RO↗

arXiv2026

A multi-stage soft computing framework for complex disease modelling and decision support: A liver cirrhosis case study

Liver cirrhosis is a major global health problem causing millions of deaths annually, and timely detection with aggressive treatment can significantly improve patients' quality of life. Modelling complex diseases from biomedical data is computationally challenging due to high dimensionality, strong feature correlations, noise, and limited labelled samples. Conventional Machine Learning (ML) pipelines often struggle with robustness, interpretability, and generalisation under such conditions. In this study, we propose an ML-driven multi-stage decision framework for complex disease modelling and therapeutic exploration. The framework integrates single-cell transcriptomic profiling, high-dimensional network-based feature stabilisation, multi-model learning, deep representation construction, and post-hoc decision support. Specifically, single-cell sequencing data were analysed to identify key cellular subpopulations, followed by high-dimensional weighted gene co-expression network analysis (hdWGCNA) to stabilise gene modules under sparsity and noise. To enhance non-linear feature interaction modelling, tabular molecular features were restructured into two-dimensional disease maps and analysed using a CNN. Finally, molecular docking was incorporated as a decision-support module to evaluate candidate therapeutic compounds. Using liver cirrhosis as a representative case, the framework identified a disease-associated endothelial subpopulation and extracted seven robust signature genes (HSPB1, GADD45A, CLDN5, ATP1B3, C1QBP, ENPP2, and PARL). The CNN-based representation learning module outperformed conventional pipelines in classification. The framework is disease-agnostic and readily extends to other omics-driven biomedical applications involving uncertainty, heterogeneity, and limited samples.

q-bio.OT↗

arXiv2025

Terahertz Aerospace Communications: Enabling Technologies and Future Directions

To achieve ubiquitous connectivity in next-generation networks through aerospace communications while maintaining high data rates, Terahertz (THz) band communications (0.1-10 THz) with large continuous bandwidths are considered a promising candidate technology. However, key enabling techniques and practical implementations of THz communications for aerospace applications remain limited. In this paper, the wireless channel characteristics, enabling communication techniques, and networking strategies for THz aerospace communications are investigated, aiming to assess their feasibility and encourage future research efforts toward system realization. Specifically, the wireless channel characteristics across various altitudes and scenarios are first analyzed, focusing on modeling the interaction between the THz wave and the external environment, from ground to outer space. Next, key enabling communication technologies, including multiple-input multiple-output (MIMO) technique, beam alignment and tracking, integrated communication and radar sensing (ICARS), and resource allocation for networking are discussed. Finally, the existing challenges and possible future directions are summarized and discussed.

eess.SP↗