Huan Liu

Yougang Xiao, Hao Yang, Huan Liu et al.

Unmanned aerial vehicles (UAVs) are desirable platforms for time-efficient and cost-effective task execution. 3-D path planning is a key challenge for task decision-making. This paper proposes an improved multi-objective evolutionary algorithm based on decomposition (MOEA/D) with an adaptive areal weight adjustment (AAWA) strategy to make a tradeoff between the total flight path length and the terrain threat. AAWA is designed to improve the diversity of the solutions. More specifically, AAWA first removes a crowded individual and its weight vector from the current population and then adds a sparse individual from the external elite population to the current population. To enable the newly-added individual to evolve towards the sparser area of the population in the objective space, its weight vector is constructed by the objective function value of its neighbors. The effectiveness of MOEA/D-AAWA is validated in twenty synthetic scenarios with different number of obstacles and four realistic scenarios in comparison with other three classical methods.

Liangjie Huang, Dawei Li, Huan Liu et al.

Large Language Models (LLMs) have demonstrated remarkable self-improvement capabilities, whereby models iteratively revise their outputs through self-generated feedback. While this reflective mechanism has shown promise in enhancing task performance, recent studies suggest that it may also introduce undesirable biases-most notably, self-bias, or the tendency of LLMs to favor their own prior outputs. In this work, we extend this line of inquiry by investigating the impact on confidence estimation. We evaluate three representative self-improvement paradigms-basic prompting, Chain-of-Thought (CoT) prompting, and tuning-based methods and find that iterative self-improvement can lead to systematic overconfidence, as evidenced by a steadily increasing Expected Calibration Error (ECE) and lower accuracy with high confidence. We then further explore the integration of confidence calibration techniques with self-improvement. Specifically, we compare three strategies: (1) applying calibration after multiple rounds of self-improvement, (2) calibrating before self-improvement, and (3) applying calibration iteratively at each self-improvement step. Our results show that iterative calibration is most effective in reducing ECE, yielding improved calibration. Our work pioneers the study of self-improving LLMs from a calibration perspective, offering valuable insights into balancing model performance and reliability.

Huan Liu, Xiamiao Li, Mingfeng Fan et al.

Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm based on a tangent intersection and target guidance strategy (APPATT). Guided by a target, the elliptic tangent graph method is used to generate two sub-paths, one of which is selected based on heuristic rules when confronting an obstacle. The UAV flies along the selected sub-path and repeatedly adjusts its flight path to avoid obstacles through this way until the collision-free path extends to the target. Considering the UAV kinematic constraints, the cubic B-spline curve is employed to smooth the waypoints for obtaining a feasible path. Compared with A*, PRM, RRT and VFH, the experimental results show that APPATT can generate the shortest collision-free path within 0.05 seconds for each instance under static environments. Moreover, compared with VFH and RRTRW, APPATT can generate satisfactory collision-free paths under uncertain environments in a nearly real-time manner. It is worth noting that APPATT has the capability of escaping from simple traps within a reasonable time.