arXiv subjects

Zengxiang Lei

Publications and source records attributed to Zengxiang Lei.

5 recordsLinked to original sources

arXiv2026

Worst-Case Hidden-Vehicle Trajectory Search in Spatiotemporal Occlusion Regions

Occlusion creates fundamental uncertainty in autonomous driving. Existing methods often propagate frame-wise hypotheses or optimize ego behavior against prescribed hidden-agent predictions, leaving the worst history-consistent interaction unexplored. We introduce History-Conditioned Minimax Trajectory Search (HC-MTS), which combines temporal occlusion reasoning with response-aware search. First, HC-MTS constructs finite hidden-state modes, each certified by a backward witness satisfying multi-frame visibility, occupancy, semantic-map support, and class-specific kinematic constraints. It then solves a bilevel minimax problem: an inner finite oracle maximizes the ego driving score over destination attainment and ride comfort, while the outer search selects the legal hidden-vehicle trajectory that minimizes this best-response value. Across eight Waymo Open Motion Dataset scenarios, increasing the visibility-memory horizon from K=1 to K=20 reduces the mean per-scenario vehicle, pedestrian, and total retained hidden-seed counts by 18.12%, 21.67%, and 18.45%, respectively. HC-MTS identifies six avoidable counterexamples, while no legal collision-producing attacker is found in the remaining two scenes within the finite search budget.

cs.RO↗

arXiv2026

Stable GFlowNets with TV Monitoring and Probabilistic Guarantees

Generative Flow Networks (GFlowNets) sample diverse structured objects in proportion to reward and have been applied to molecular discovery and biological-sequence design, where finding multiple high-quality candidates is more useful than returning a single optimum. Despite their theoretical promise, practical training is often unstable, exhibiting severe loss spikes and mode collapse. To address this, we first assess the sensitivity of GFlowNet objectives, demonstrating that a small Total Variation (TV) distance between the learned and target distributions does not preclude an unbounded training loss. Motivated by this mismatch, we establish converse guarantees by deriving loss-to-TV bounds that certify global fidelity from bounded trajectory balance losses. Lastly, we propose Stable GFlowNets, which leverages our theory to stabilize training via adaptive reference flow and improves the trade-off among mode coverage, robustness, and certifiability.

cs.LG↗

arXiv2025

Robust and Flexible Microtransit Design: Chance-Constrained Dial-a-Ride Problem with Soft Time Windows

Microtransit offers a promising blend of rideshare flexibility and public transit efficiency. In practice, it faces unanticipated but spatially aligned requests, passengers seeking to join ongoing schedules, leading to underutilized capacity and degraded service if not properly managed. At the same time, it must accommodate diverse passenger needs, from routine errands to time-sensitive trips such as medical appointments. To meet these expectations, incorporating time flexibility is essential. However, existing models seldom consider both spontaneous and heterogeneous demand, limiting their real-world applicability. We propose a robust and flexible microtransit framework that integrates time flexibility and demand uncertainty via a Chance-Constrained Dial-A-Ride Problem with Soft Time Windows (CCDARP-STW). Demand uncertainty is captured through nonlinear chance constraints with controllable violation probabilities, while time flexibility is modeled with soft time windows and penalized cost. We develop a bounded-support relaxation using limited statistical information to linearize the chance constraints and solve the model using a tailored Branch-and-Cut-and-Price (BCP) algorithm with a probabilistic dominance rule. This rule improves computational efficiency, reducing explored labels by 17.40% and CPU time by 22.27% in robust cases. A case study based on real-world Chicago data shows our framework yields 11.55 minutes and 11.13 miles of savings versus conventional microtransit, and achieves the highest service reliability (96.46%) among robust models.

math.OC↗

arXiv2025

D4+: Emergent Adversarial Driving Maneuvers with Approximate Functional Optimization

Intelligent mechanisms implemented in autonomous vehicles, such as proactive driving assist and collision alerts, reduce traffic accidents. However, verifying their correct functionality is difficult due to complex interactions with the environment. This problem is exacerbated in adversarial environments, where an attacker can control the environment surrounding autonomous vehicles to exploit vulnerabilities. To preemptively identify vulnerabilities in these systems, in this paper, we implement a scenario-based framework with a formal method to identify the impact of malicious drivers interacting with autonomous vehicles. The formalization of the evaluation requirements utilizes metric temporal logic (MTL) to identify a safety condition that we want to test. Our goal is to find, through a rigorous testing approach, any trace that violates this MTL safety specification. Our results can help designers identify the range of safe operational behaviors that prevent malicious drivers from exploiting the autonomous features of modern vehicles.

cs.CR↗

arXiv2023

Comparison of home detection algorithms using smartphone GPS data

Estimation of people's home locations using location-based services data from smartphones is a common task in human mobility assessment. However, commonly used home detection algorithms (HDAs) are often arbitrary and unexamined. In this study, we review existing HDAs and examine five HDAs using eight high-quality mobile phone geolocation datasets. These include four commonly used HDAs as well as an HDA proposed in this work. To make quantitative comparisons, we propose three novel metrics to assess the quality of detected home locations and test them on eight datasets across four U.S. cities. We find that all three metrics show a consistent rank of HDAs' performances, with the proposed HDA outperforming the others. We infer that the temporal and spatial continuity of the geolocation data points matters more than the overall size of the data for accurate home detection. We also find that HDAs with high (and similar) performance metrics tend to create results with better consistency and closer to common expectations. Further, the performance deteriorates with decreasing data quality of the devices, though the patterns of relative performance persist. Finally, we show how the differences in home detection can lead to substantial differences in subsequent inferences using two case studies - (i) hurricane evacuation estimation, and (ii) correlation of mobility patterns with socioeconomic status. Our work contributes to improving the transparency of large-scale human mobility assessment applications.

cs.CY↗