arXiv subjects

Yukun Lu

Publications and source records attributed to Yukun Lu.

7 recordsLinked to original sources

arXiv2026

Human-Machine Bidirectional Trust-Aware Analysis and Design for Human-Led Truck Platooning

Human-led truck platooning, where a human-driven truck leads one or more autonomous followers, offers significant benefits in fuel efficiency, safety, and traffic flow. However, its successful deployment hinges on trust between the human driver and the automated systems. Unlike conventional automation, trust in this context is inherently bidirectional: the human must trust the autonomous followers, and the followers must reliably interpret and respond to the human's behavior. While prior research has extensively studied human trust in automation, the reciprocal nature of trust, especially considering the expertise of professional truck drivers, remains underexplored. This paper develops a conceptual framework of bidirectional trust for human-led platooning systems. Drawing on established trust theories (ability, benevolence, integrity) and insights from truck driver psychology, we propose distinct dimensions for human-to-automation trust and automation-to-human trust. To move beyond conceptualization, we introduce a quantitative model that operationalizes the bidirectional dynamics, using the following distance as the key interaction variable to illustrate how trust co-evolves through a feedback loop. Simulation examples demonstrate both positive reinforcement and negative spiral effects. Based on this framework and its quantitative instantiation, we derive design guidelines for autonomous followers to foster appropriate trust calibration, improve safety, and enhance user acceptance. The framework bridges human factors and engineering perspectives, providing a theoretical and preliminary quantitative foundation for future empirical and modeling research.

cs.HC↗

arXiv2026

A Scaled Three-Vehicle Platooning Platform

Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in maintaining stable and accurate path tracking during dynamic maneuvers such as lane changes, where lateral deviations and heading disturbances generated by the lead vehicle may propagate downstream to following vehicles. Robust longitudinal and lateral control systems are therefore essential not only for individual vehicle tracking performance, but also for overall platoon stability. For experimental studies, the Intelligent Mobility and Robotics Lab (IMRL) develops a scaled multi-vehicle platform for autonomous platooning research, with a particular emphasis on cooperative control and human-in-the-loop autonomy. This platform consists of one human-operable lead vehicle and two autonomous followers, enabling controlled and repeatable experiments on leader-follower coordination. Compared with full-scale field testing, this scaled platform offers a safer, lower-cost, and more flexible environment for rapid prototyping, controller validation, and multi-agent autonomy studies, while providing stronger physical realism than purely simulation-based evaluations.

cs.RO↗

arXiv2026

Rationale Behind Human-Led Autonomous Truck Platooning

Autonomous trucking has progressed rapidly in recent years, transitioning from early demonstrations to OEM-integrated commercial deployments. However, fully driverless freight operations across heterogeneous climates, infrastructure conditions, and regulatory environments remain technically and socially challenging. This paper presents a systematic rationale for human-led autonomous truck platooning as a pragmatic intermediate pathway. First, we analyze 53 major truck accidents across North America (2021-2026) and show that human-related factors remain the dominant contributors to severe crashes, highlighting both the need for advanced assistance/automated driving systems and the complexity of real-world driving environments. Second, we review recent industry developments and identify persistent limitations in long-tail edge cases, winter operations, remote-region logistics, and large-scale safety validation. Based on these findings, we argue that a human-in-the-loop (HiL) platooning architecture offers layered redundancy, adaptive judgment in uncertain conditions, and a scalable validation framework. Furthermore, the dual-use capability of follower vehicles enables an evolutionary transition from coordinated platooning to independent autonomous operation. Rather than representing a compromise, human-led platooning provides a technically grounded and societally aligned bridge toward large-scale autonomous freight deployment.

cs.RO↗

arXiv2025

Beyond Missing Data: Questionnaire Uncertainty Responses as Early Digital Biomarkers of Cognitive Decline and Neurodegenerative Diseases

Identifying preclinical biomarkers of neurodegenerative diseases remains a major challenge in aging research. In this study, we demonstrate that frequent "Don't know/can't remember" (DK) responses, often treated as missing data in touchscreen questionnaires, serve as a novel digital behavioral biomarker of early cognitive vulnerability and neurodegenerative disease risk. Using data from 502,234 UK Biobank participants, we stratified individuals based on DK response frequency (0-1, 2-4, 5-7, >7) and observed a robust, dose-dependent association with an increased risk of Alzheimer's disease (HR = 1.64, 95% CI: 1.26-2.14) and vascular dementia (HR = 1.93, 95% CI: 1.37-2.72), independent of established risk factors. As DK response frequency increased, participants exhibited higher BMI, reduced physical activity, higher smoking rates, and a higher prevalence of chronic diseases, particularly hypertension, diabetes, and depression. Further analysis revealed a dose-dependent relationship between DK response frequency and the risk of Alzheimer's disease and vascular dementia, with high DK responders showing early neurodegenerative changes, marked by elevated levels of Abeta40, Abeta42, NFL, and pTau-181. Metabolomic analysis also revealed lipid metabolism abnormalities, which may mediate this relationship. Together, these findings reframe DK response patterns as clinically meaningful signals of multidimensional neurobiological alterations, offering a scalable, low-cost, non-invasive tool for early risk identification and prevention at the population level.

stat.AP↗

arXiv2025

Can Bose-Einstein condensates enhance radioactive decay?

This paper lays out the principles of how Bose-Einstein condensates can modify radioactive decay. We highlight the challenges of many modes and short coherence times due to the $\approx$ MeV energies of the emitted radiation. Recent proposals for gamma ray and neutrino lasers claim that using a Bose-Einstein condensate as a source would solve these issues. We show that this is not the case, and the proposed experiments would have a gain of only $10^{-16}$ or smaller. We also analyze proposals for gamma ray lasers based on stimulated annihilation of positronium Bose-Einstein condensates.

quant-ph↗

arXiv2025

CoInfra: A Large-Scale Cooperative Infrastructure Perception System and Dataset for Vehicle-Infrastructure Cooperation in Adverse Weather

Vehicle-infrastructure (V2I) cooperative perception can substantially extend the range, coverage, and robustness of autonomous driving systems beyond the limits of onboard-only sensing, particularly in occluded and adverse-weather environments. However, its practical value is still difficult to quantify because existing benchmarks do not adequately capture large-scale multi-node deployments, realistic communication conditions, and adverse-weather operation. This paper presents CoInfra, a deployable cooperative infrastructure perception platform comprising 14 roadside sensor nodes connected through a commercial 5G network, together with a large-scale dataset and an open-source system stack for V2I cooperation research. The system supports synchronized multi-node sensing and delay-aware fusion under real 5G communication constraints. The released dataset covers an eight-node urban roundabout under four weather conditions (sunny, rainy, heavy snow, and freezing rain) and contains 294k LiDAR frames, 589k camera images, and 332k globally consistent 3D bounding boxes. It also includes a synchronized V2I subset collected with an autonomous vehicle. Beyond standard perception benchmarks, we further evaluate whether infrastructure sensing improves awareness of safety-critical traffic participants during roundabout interactions. In structured conflict scenarios, V2I cooperation increases critical-frame completeness from 33%-46% with vehicle-only sensing to 86%-100%. These results show that multi-node infrastructure perception can significantly improve situational awareness in conflict-rich traffic scenarios where vehicle-only sensing is most limited.

cs.RO↗

arXiv2025

DriveSOTIF: Advancing Perception SOTIF Through Multimodal Large Language Models

Human drivers possess spatial and causal intelligence, enabling them to perceive driving scenarios, anticipate hazards, and react to dynamic environments. In contrast, autonomous vehicles lack these abilities, making it challenging to manage perception-related Safety of the Intended Functionality (SOTIF) risks, especially under complex or unpredictable driving conditions. To address this gap, we propose fine-tuning multimodal large language models (MLLMs) on a customized dataset specifically designed to capture perception-related SOTIF scenarios. Benchmarking results show that fine-tuned MLLMs achieve an 11.8\% improvement in close-ended VQA accuracy and a 12.0\% increase in open-ended VQA scores compared to baseline models, while maintaining real-time performance with a 0.59-second average inference time per image. We validate our approach through real-world case studies in Canada and China, where fine-tuned models correctly identify safety risks that challenge even experienced human drivers. This work represents the first application of domain-specific MLLM fine-tuning for SOTIF domain in autonomous driving. The dataset and related resources are available at github.com/s95huang/DriveSOTIF.git

cs.RO↗