arXiv subjects

Yufei Jiang

Publications and source records attributed to Yufei Jiang.

17 recordsLinked to original sources

arXiv2026

AM-Bench: A Modular Simulation Suite and Benchmark for Aerial Manipulation Policy Learning

Standardized benchmarks have played a central role in advancing robot manipulation learning, yet most focus on ground-supported manipulation systems, which limits their applicability to dynamics-critical domains such as aerial manipulation (AM). AM presents distinct system-level challenges, including environmental disturbances, coupled dynamics between the manipulator and floating base, and constrained degrees of freedom. Consequently, task performance depends jointly on robot embodiment, low-level control, and high-level policy design. We introduce AM-Bench, a modular simulation suite and benchmark for multirotor-based AM policy learning. AM-Bench includes representative embodiments spanning underactuated, fully actuated, and overactuated systems, 12 tasks across contact, transport, and constrained interaction, configurable aerodynamic disturbances and actuator saturation, standard low-level controllers, and baseline policy-learning algorithms. Unlike prior manipulation benchmarks that primarily emphasize end-to-end policy performance, AM-Bench enables system-level evaluation of how embodiment, control, disturbances, and policy choices interact. We demonstrate its diagnostic value through three simulation studies spanning high-level policies, policy--control interfaces, and embodiments, together with real-world validation of modeled effects and a hardware test of the learning pipeline.

cs.RO↗

arXiv2026

Aerial Manipulation with Contact-Aware Onboard Perception and Hybrid Control

Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture (MoCap) and emphasize position control for coarse interactions, limiting deployability. We present a fully onboard perception-control pipeline for contact-rich AM that achieves accurate motion tracking and regulated contact wrenches without MoCap. The main components are (1) an augmented visual-inertial odometry (VIO) estimator with contact-consistency factors that activate only during interaction, tightening uncertainty around the contact frame and reducing drift, and (2) image-based visual servoing (IBVS) to mitigate perception-control coupling, together with a hybrid force-motion controller that regulates contact wrenches and lateral motion for stable contact. Experiments show that our approach closes the perception-to-wrench loop using only onboard sensing, yielding an velocity estimation improvement of 66.01% at contact, reliable target approach, and stable force holding-pointing toward deployable, in-the-wild aerial manipulation.

cs.RO↗

arXiv2025

SA-WiSense: A Blind-Spot-Free Respiration Sensing Framework for Single-Antenna Wi-Fi Devices

Wi-Fi sensing offers a promising technique for contactless human respiration monitoring. A key challenge, however, is the blind spot problem caused by random phase offsets that corrupt the complementarity of respiratory signals. To address the challenge, we propose a single-antenna-Wi-Fi-sensing (SA-WiSense) framework to improve accuracy of human respiration monitoring, robust against random phase offsets. The proposed SA-WiSense framework is cost-efficient, as only a single antenna is used rather than multiple antennas as in the previous works. Therefore, the proposed framework is applicable to Internet of Thing (IoT), where most of sensors are equipped with a single antenna. On one hand, we propose a cross-subcarrier channel state information (CSI) ratio (CSCR) based blind spot mitigation approach for IoT, where the ratios of two values of CSI between subcarriers are leveraged to mitigate random phase offsets. We prove that the random phase offsets can be cancelled by the proposed CSCR approach, thereby restoring the inherent complementarity of signals for blind-spot-free sensing. On the other hand, we propose a genetic algorithm (GA) based subcarrier selection (GASS) approach by formulating an optimization problem in terms of the sensing-signal-to-noise ratio (SSNR) of CSCR between subcarriers. GA is utilized to solve the formulated optimization problem. We use commodity ESP32 microcontrollers to build an experiment test. The proposed works are validated to achieve an detection rate of 91.2% for respiration monitoring at distances up to 8.0 meters, substantially more accurate than the state-of-the-art methods with a single antenna.

eess.SP↗

arXiv2025

FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation

Enabling robots with contact-rich manipulation remains a pivotal challenge in robot learning, which is substantially hindered by the data collection gap, including its inefficiency and limited sensor setup. While prior work has explored handheld paradigms, their rod-based mechanical structures remain rigid and unintuitive, providing limited tactile feedback and posing challenges for operators. Motivated by the dexterity and force feedback of human motion, we propose FreeTacMan, a human-centric and robot-free data collection system for accurate and efficient robot manipulation. Concretely, we design a wearable gripper with visuo-tactile sensors for data collection, which can be worn by human fingers for intuitive control. A high-precision optical tracking system is introduced to capture end-effector poses while synchronizing visual and tactile feedback simultaneously. We leverage FreeTacMan to collect a large-scale multimodal dataset, comprising over 3000k paired visuo-tactile images with end-effector poses, 10k demonstration trajectories across 50 diverse contact-rich manipulation tasks. FreeTacMan achieves multiple improvements in data collection performance over prior works and enables effective policy learning from self-collected datasets. By open-sourcing the hardware and the dataset, we aim to facilitate reproducibility and support research in visuo-tactile manipulation.

cs.RO↗

arXiv2025

Multi-Reference and Adaptive Nonlinear Transform Source-Channel Coding for Wireless Image Semantic Transmission

We propose a multi-reference and adaptive nonlinear transform source-channel coding (MA-NTSCC) system for wireless image semantic transmission to improve rate-distortion (RD) performance by introducing multi-dimensional contexts into the entropy model of the state-of-the-art (SOTA) NTSCC system. Improvements in RD performance of the proposed MA-NTSCC system are particularly significant in high-resolution image transmission under low bandwidth constraints. The proposed multi-reference entropy model leverages correlations within the latent representation in both spatial and channel dimensions. In the spatial dimension, the latent representation is divided into anchors and non-anchors in a checkerboard pattern, where anchors serve as reference to estimate the mutual information between anchors and non-anchors. In the channel dimension, the latent representation is partitioned into multiple groups, and features in previous groups are analyzed to estimate the mutual information between features in previous and current groups. Taking mutual information into account, the entropy model provides an accurate estimation on the entropy, which enables efficient bandwidth allocation and enhances RD performance. Additionally, the proposed lightweight adaptation modules enable the proposed MA-NTSCC model to achieve transmission quality comparable to separately trained models across various channel conditions and bandwidth requirements. In contrast, traditional NTSCC models provide signal-to-noise ratio (SNR)-distortion performance degrading with channel quality deviating from the fixed training SNR, and consume inflexible bandwidth to transmit an image. Comprehensive experiments are conducted to verify the peak signal-to-noise ratio (PSNR) performance and adaptability of the proposed MA-NTSCC model superior to SOTA methods over both additive white Gaussian noise channel and Rayleigh fading channel.

eess.SP↗

arXiv2025

A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular planning systems often introduce latency and suboptimal performance due to limited information sharing and local minima issues. End-to-end learning approaches streamline the pipeline by mapping sensory observations directly to actions but require large-scale datasets, face significant sim-to-real gaps, or lack dynamical feasibility. In this paper, we propose a self-supervised UAV trajectory planning pipeline that integrates a learning-based depth perception with differentiable trajectory optimization. A 3D cost map guides UAV behavior without expert demonstrations or human labels. Additionally, we incorporate a neural network-based time allocation strategy to improve the efficiency and optimality. The system thus combines robust learning-based perception with reliable physics-based optimization for improved generalizability and interpretability. Both simulation and real-world experiments validate our approach across various environments, demonstrating its effectiveness and robustness. Our method achieves a 31.33% improvement in position tracking error and 49.37% reduction in control effort compared to the state-of-the-art.

cs.RO↗

arXiv2025

Briteller: Shining a Light on AI Recommendations for Children

Understanding how AI recommendations work can help the younger generation become more informed and critical consumers of the vast amount of information they encounter daily. However, young learners with limited math and computing knowledge often find AI concepts too abstract. To address this, we developed Briteller, a light-based recommendation system that makes learning tangible. By exploring and manipulating light beams, Briteller enables children to understand an AI recommender system's core algorithmic building block, the dot product, through hands-on interactions. Initial evaluations with ten middle school students demonstrated the effectiveness of this approach, using embodied metaphors, such as "merging light" to represent addition. To overcome the limitations of the physical optical setup, we further explored how AR could embody multiplication, expand data vectors with more attributes, and enhance contextual understanding. Our findings provide valuable insights for designing embodied and tangible learning experiences that make AI concepts more accessible to young learners.

cs.HC↗

arXiv2025

Task-Oriented Feature Compression for Multimodal Understanding via Device-Edge Co-Inference

With the rapid development of large multimodal models (LMMs), multimodal understanding applications are emerging. As most LMM inference requests originate from edge devices with limited computational capabilities, the predominant inference pipeline involves directly forwarding the input data to an edge server which handles all computations. However, this approach introduces high transmission latency due to limited uplink bandwidth of edge devices and significant computation latency caused by the prohibitive number of visual tokens, thus hindering delay-sensitive tasks and degrading user experience. To address this challenge, we propose a task-oriented feature compression (TOFC) method for multimodal understanding in a device-edge co-inference framework, where visual features are merged by clustering and encoded by a learnable and selective entropy model before feature projection. Specifically, we employ density peaks clustering based on K nearest neighbors to reduce the number of visual features, thereby minimizing both data transmission and computational complexity. Subsequently, a learnable entropy model with hyperprior is utilized to encode and decode merged features, further reducing transmission overhead. To enhance compression efficiency, multiple entropy models are adaptively selected based on the characteristics of the visual features, enabling a more accurate estimation of the probability distribution. Comprehensive experiments on seven visual question answering benchmarks validate the effectiveness of the proposed TOFC method. Results show that TOFC achieves up to 52% reduction in data transmission overhead and 63% reduction in system latency while maintaining identical task performance, compared with neural compression ELIC.

eess.SP↗

arXiv2025

RSSI Positioning with Fluid Antenna Systems

We introduce a novel received signal strength intensity (RSSI)-based positioning method using fluid antenna systems (FAS), leveraging their inherent channel correlation properties to improve location accuracy. By enabling a single antenna to sample multiple spatial positions, FAS exhibits high correlation between its ports. We integrate this high inter-port correlation with a logarithmic path loss model to mitigate the impact of fast fading on RSSI signals, and derive a simplified multipoint positioning model based on the established relationship between channel correlation and RSSI signal correlation. A maximum likelihood estimator (MLE) is then developed, for which we provide a closed-form solution. Results demonstrate that our approach outperforms both traditional least squares (LS) methods and single-antenna systems, achieving accuracy comparable to conventional multi-antenna positioning. Furthermore, we analyze the impact of different antenna structures on positioning performance, offering practical guidance for FAS antenna design.

eess.SP↗

arXiv2025

Performance Evaluation of V2V Visible Light Communication: Coherence Time and Throughput in Motion Scenarios

This study evaluates the performance of Vehicle-to-Vehicle Visible Light Communication in dynamic environments, focusing on the effects of speed, horizontal offset, and other factors on communication reliability. Using On-Off Keying modulation, we analyze the BER, optimal communication distance, correlation time and the maximum amount of data per communication. Our results demonstrate that maintaining an optimal vehicle distance is critical for stable communication, with speed and horizontal offset significantly influencing communication. This work extends the analysis of V-VLC to real-world dynamic scenarios, providing insights for future research.

eess.SP↗

arXiv2025

Cost-Effective Single-Antenna RSSI Positioning Through Dynamic Radiation Pattern Analysis

This paper presents a novel indoor positioning approach that leverages antenna radiation pattern characteristics through Received Signal Strength Indication (RSSI) measurements in a single-antenna system. By rotating the antenna or reconfiguring its radiation pattern, we derive a maximum likelihood estimation (MLE) algorithm that achieves near-optimal positioning accuracy approaching the Cramer-Rao lower bound (CRLB). Through theoretical analysis, we establish three fundamental theorems characterizing the estimation accuracy bounds and demonstrating how performance improves with increased signal-to-noise ratio, antenna rotation count, and radiation pattern variations. Additionally, we propose a two-position measurement strategy that eliminates dependence on receiving antenna patterns. Simulation results validate that our approach provides an effective solution for indoor robot tracking applications where both accuracy and system simplicity are essential considerations.

eess.SP↗

arXiv2024

Inference-Aware State Reconstruction for Industrial Metaverse under Synchronous/Asynchronous Short-Packet Transmission

We consider a real-time state reconstruction system for industrial metaverse. The time-varying physical process states in real space are captured by multiple sensors via wireless links, and then reconstructed in virtual space. In this paper, we use the spatial-temporal correlation of the sensor data of interest to infer the real-time data of the target sensor to reduce the mean squared error (MSE) of reconstruction for industrial metaverse under short-packet transmission (SPT). Both synchronous and asynchronous transmission modes for multiple sensors are considered. It is proved that the average MSE of reconstruction and average block error probability (BLEP) have a positive correlation under inference with synchronous transmission scheme, and they have a negative correlation in some conditions under inference with asynchronous transmission scheme. Also, it is proved that the average MSE of reconstruction with inference can be significantly lower than that without inference, even under weak mean squared spatial correlation (MSSC). In addition, closed-form MSSC thresholds are derived for the superiority regions of the inference with synchronous transmission and inference with asynchronous transmission schemes, respectively. Adaptations of blocklength and time shift of asynchronous transmission are conducted to minimize the average MSE of reconstruction. Simulation results show that the two schemes significantly outperform the no inference case, with an average MSE reduction of more than 50%.

eess.SY↗

arXiv2021

Toward UL-DL Rate Balancing: Joint Resource Allocation and Hybrid-Mode Multiple Access for UAV-BS Assisted Communication Systems

In this paper, we investigate unmanned aerial vehicle (UAV) assisted communication systems that require quasi-balanced data rates in uplink (UL) and downlink (DL), as well as users' heterogeneous traffic. To the best of our knowledge, this is the first work to explicitly investigate joint UL-DL optimization for UAV assisted systems under heterogeneous requirements. A hybrid-mode multiple access (HMMA) scheme is proposed toward heterogeneous traffic, where non-orthogonal multiple access (NOMA) targets high average data rate, while orthogonal multiple access (OMA) aims to meet users' instantaneous rate demands by compensating for their rates. HMMA enables a higher degree of freedom in multiple access and achieves a superior minimum average rate among users than the UAV assisted NOMA or OMA schemes. Under HMMA, a joint UL-DL resource allocation algorithm is proposed with a closed-form optimal solution for UL/DL power allocation to achieve quasi-balanced average rates for UL and DL. Furthermore, considering the error propagation in successive interference cancellation (SIC) of NOMA, an enhanced-HMMA scheme is proposed, which demonstrates high robustness against SIC error and a higher minimum average rate than the HMMA scheme.

eess.SP↗

arXiv2021

Incentivizing Mobile Edge Caching and Sharing: An Evolutionary Game Approach

Mobile Edge Caching is a promising technique to enhance the content delivery quality and reduce the backhaul link congestion, by storing popular content at the network edge or mobile devices (e.g. base stations and smartphones) that are proximate to content requesters. In this work, we study a novel mobile edge caching framework, which enables mobile devices to cache and share popular contents with each other via device-to-device (D2D) links. We are interested in the following incentive problem of mobile device users: whether and which users are willing to cache and share what contents, taking the user mobility and cost/reward into consideration. The problem is challenging in a large-scale network with a large number of users. We introduce the evolutionary game theory, an effective tool for analyzing large-scale dynamic systems, to analyze the mobile users' content caching and sharing strategies. Specifically, we first derive the users' best caching and sharing strategies, and then analyze how these best strategies change dynamically over time, based on which we further characterize the system equilibrium systematically. Simulation results show that the proposed caching scheme outperforms the existing schemes in terms of the total transmission cost and the cellular load. In particular, in our simulation, the total transmission cost can be reduced by 42.5%-55.2% and the cellular load can be reduced by 21.5%-56.4%.

cs.GT↗

arXiv2020

A Semi-Blind Multiuser SIMO GFDM System in the Presence of CFOs and IQ Imbalances

In this paper, we investigate an open topic of a multiuser single-input-multiple-output (SIMO) generalized frequency division multiplexing (GFDM) system in the presence of carrier frequency offsets (CFOs) and in-phase/quadrature-phase (IQ) imbalances. A low-complexity semi-blind joint estimation scheme of multiple channels, CFOs and IQ imbalances is proposed. By utilizing the subspace approach, CFOs and channels corresponding to U users are first separated into U groups. For each individual user, CFO is extracted by minimizing the smallest eigenvalue whose corresponding eigenvector is utilized to estimate channel blindly. The IQ imbalance parameters are estimated jointly with channel ambiguities by very few pilots. The proposed scheme is feasible for a wider range of receive antennas number and has no constraints on the assignment scheme of subsymbols and subcarriers, modulation type, cyclic prefix length and the number of subsymbols per GFDM symbol. Simulation results show that the proposed scheme significantly outperforms the existing methods in terms of bit error rate, outage probability, mean-square-errors of CFO estimation, channel and IQ imbalance estimation, while at much higher spectral efficiency and lower computational complexity. The Cramer-Rao lower bound is derived to verify the effectiveness of the proposed scheme, which is shown to be close to simulation results.

eess.SP↗

arXiv2020

Crowd-MECS: A Novel Crowdsourcing Framework for Mobile Edge Caching and Sharing

Crowdsourced mobile edge caching and sharing (Crowd-MECS) is emerging as a promising content delivery paradigm by employing a large crowd of existing edge devices (EDs) to cache and share popular contents. The successful technology adoption of Crowd-MECS relies on a comprehensive understanding of the complicated economic interactions and strategic decision-making of different stakeholders. In this paper, we focus on studying the economic and strategic interactions between one content provider (CP) and a large crowd of EDs, where the EDs can decide whether to cache and share contents for the CP, and the CP can decide to share a certain revenue with EDs as the incentive of caching and sharing contents. We formulate such an interaction as a two-stage Stackelberg game. In Stage I, the CP aims to maximize its own profit by deciding the ratio of revenue shared with EDs. In Stage II, EDs aim to maximize their own payoffs by choosing to be agents who cache and share contents, and meanwhile gain a certain revenue from the CP, or requesters who do not cache but request contents in the on-demand fashion. We first analyze the EDs' best responses and prove the existence and uniqueness of the equilibrium in Stage II by using the non-atomic game theory. Then, we identify the piece-wise structure and the unimodal feature of the CP's profit function, based on which we design a tailored low-complexity one-dimensional search algorithm to achieve the optimal revenue sharing ratio for the CP in Stage I. Simulation results show that both the CP's profit and the EDs' total welfare can be improved significantly (e.g., by 120% and 50%, respectively) by using the proposed Crowd-MECS, comparing with the Non-MEC system where the CP serves all EDs directly.

cs.GT↗

arXiv2016

Translingual Obfuscation

Program obfuscation is an important software protection technique that prevents attackers from revealing the programming logic and design of the software. We introduce translingual obfuscation, a new software obfuscation scheme which makes programs obscure by "misusing" the unique features of certain programming languages. Translingual obfuscation translates part of a program from its original language to another language which has a different programming paradigm and execution model, thus increasing program complexity and impeding reverse engineering. In this paper, we investigate the feasibility and effectiveness of translingual obfuscation with Prolog, a logic programming language. We implement translingual obfuscation in a tool called BABEL, which can selectively translate C functions into Prolog predicates. By leveraging two important features of the Prolog language, i.e., unification and backtracking, BABEL obfuscates both the data layout and control flow of C programs, making them much more difficult to reverse engineer. Our experiments show that BABEL provides effective and stealthy software obfuscation, while the cost is only modest compared to one of the most popular commercial obfuscators on the market. With BABEL, we verified the feasibility of translingual obfuscation, which we consider to be a promising new direction for software obfuscation.

cs.CR↗