Yuanyang Qi

Yiming Hu, Yangchuan Huang, Shuying Liu et al.

Urban rail transit provides significant comprehensive benefits such as large traffic volume and high speed, serving as one of the most important components of urban traffic construction management and congestion solution. Using real passenger flow data of an Asian subway system from April to June of 2018, this work analyzes the space-time distribution of the passenger flow using short-term traffic flow prediction. Stations are divided into four types for passenger flow forecasting, and meteorological records are collected for the same period. Then, machine learning methods with different inputs are applied and multivariate regression is performed to evaluate the improvement effect of each weather element on passenger flow forecasting of representative metro stations on hourly basis. Our results show that by inputting weather variables the precision of prediction on weekends enhanced while the performance on weekdays only improved marginally, while the contribution of different elements of weather differ. Also, different categories of stations are affected differently by weather. This study provides a possible method to further improve other prediction models, and attests to the promise of data-driven analytics for optimization of short-term scheduling in transit management.

Xiaowen Tao, Yinuo Wang, Haitao Ding et al.

With the growth of intelligent civil infrastructure and smart cities, operation and maintenance (O&M) increasingly requires safe, efficient, and energy-conscious robotic manipulation of articulated components, including access doors, service drawers, and pipeline valves. However, existing robotic approaches either focus primarily on grasping or target object-specific articulated manipulation, and they rarely incorporate explicit actuation energy into multi-objective optimisation, which limits their scalability and suitability for long-term deployment in real O&M settings. Therefore, this paper proposes an articulation-agnostic and energy-aware reinforcement learning framework for robotic manipulation in intelligent infrastructure O&M. The method combines part-guided 3D perception, weighted point sampling, and PointNet-based encoding to obtain a compact geometric representation that generalises across heterogeneous articulated objects. Manipulation is formulated as a Constrained Markov Decision Process (CMDP), in which actuation energy is explicitly modelled and regulated via a Lagrangian-based constrained Soft Actor-Critic scheme. The policy is trained end-to-end under this CMDP formulation, enabling effective articulated-object operation while satisfying a long-horizon energy budget. Experiments on representative O&M tasks demonstrate 16%-30% reductions in energy consumption, 16%-32% fewer steps to success, and consistently high success rates, indicating a scalable and sustainable solution for infrastructure O&M manipulation.

Yinuo Wang, Yuanyang Qi, Jinzhao Zhou et al.

End-to-end reinforcement learning (RL) for humanoid locomotion is appealing for its compact perception-action mapping, yet practical policies often suffer from training instability, inefficient feature fusion, and high actuation cost. We present HuMam, a state-centric end-to-end RL framework that employs a single-layer Mamba encoder to fuse robot-centric states with oriented footstep targets and a continuous phase clock. The policy outputs joint position targets tracked by a low-level PD loop and is optimized with PPO. A concise six-term reward balances contact quality, swing smoothness, foot placement, posture, and body stability while implicitly promoting energy saving. On the JVRC-1 humanoid in mc-mujoco, HuMam consistently improves learning efficiency, training stability, and overall task performance over a strong feedforward baseline, while reducing power consumption and torque peaks. To our knowledge, this is the first end-to-end humanoid RL controller that adopts Mamba as the fusion backbone, demonstrating tangible gains in efficiency, stability, and control economy.