Yuling Li

Kui Wu, Beiyu Guo, Hao Chen et al.

Search-and-rescue (SAR) requires embodied agents to explore unfamiliar environments under multimodal uncertainty, perform multi-stage interactions, and retrieve spatial memory over long horizons. Existing benchmarks typically evaluate these capabilities in isolation, leaving unclear how failures compound when they must be composed in realistic workflows. We introduce RescueBench, a photo-realistic diagnostic benchmark that instantiates SAR as a four-stage pipeline: multimodal exploration, target rescue, memory-guided return, and final handoff. By combining sequential task composition with stage-level evaluation, RescueBench enables analysis of how exploration and memory failures propagate through embodied rescue workflows. It contains five progressive difficulty levels that vary in environmental complexity, clue ambiguity, and spatial hierarchy, along with an automatic episode generation and annotation pipeline for scalable evaluation and training. We evaluate seven baselines, an oracle reference, and human players, showing that no baselines complete the full task at the greatest difficulty. Stage-level diagnosis identifies autonomous exploration as the dominant failure mode and spatial memory as a second, independent bottleneck, suggesting that these limitations are not resolved by current topological visual-language navigation or map-based methods. Code is available in https://github.com/wukui-muc/RescueBench

Yuling Li, Kui Yu, Yuhong Zhang et al.

Recent years have witnessed increasing interest in few-shot knowledge graph completion (FKGC), which aims to infer unseen query triples for a few-shot relation using a few reference triples about the relation. The primary focus of existing FKGC methods lies in learning relation representations that can reflect the common information shared by the query and reference triples. To this end, these methods learn entity-pair representations from the direct neighbors of head and tail entities, and then aggregate the representations of reference entity pairs. However, the entity-pair representations learned only from direct neighbors may have low expressiveness when the involved entities have sparse direct neighbors or share a common local neighborhood with other entities. Moreover, merely modeling the semantic information of head and tail entities is insufficient to accurately infer their relational information especially when they have multiple relations. To address these issues, we propose a Relation-Specific Context Learning (RSCL) framework, which exploits graph contexts of triples to learn global and local relation-specific representations for few-shot relations. Specifically, we first extract graph contexts for each triple, which can provide long-term entity-relation dependencies. To encode the extracted graph contexts, we then present a hierarchical attention network to capture contextualized information of triples and highlight valuable local neighborhood information of entities. Finally, we design a hybrid attention aggregator to evaluate the likelihood of the query triples at the global and local levels. Experimental results on two public datasets demonstrate that RSCL outperforms state-of-the-art FKGC methods.

Yuling Li, Yubo Sun, Gennian Ge

In this paper, we investigate the problem of designing $(n, N; \mathcal{B})$-reconstruction codes for $N\in \{14,11,9,5\}$, where $\mathcal{B}$ is the single-deletion single-substitution ball function that maps a sequence to the set of all sequences obtainable via one deletion and one substitution. Such a code is defined by the requirement that the intersection size of any two distinct single-deletion single-substitution balls is strictly less than the given number of noisy reads $N$. Note that for any $1\le N<N'$, an $(n, N; \mathcal{B})$-reconstruction code is also an $(n, N'; \mathcal{B})$-reconstruction code. It follows that the problem of designing $(n, N; \mathcal{B})$-reconstruction codes with less redundancy becomes more challenging as $N$ decreases, particularly because the problem for $N=1$ already reduces to the coding problem of single-deletion and single-substitution correcting codes. To the best of our knowledge, most existing results focus on the case where $N$ is a linear function of $n$, while only a limited number consider constant $N$. When $N=1$, the best known $(n, 1; \mathcal{B})$-reconstruction codes (single-deletion and single-substitution correcting codes) require $(4+o(1))\log n$ redundant bits. In this work, we show that this redundancy can be reduced to $3\log n+4$ when $N=5$. As $N$ increases further to $9$ and $11$, the redundancy can be improved to $2\log n+12\log\log n+O(1)$ and $\log n +12\log \log n+O(1)$, respectively. Finally, for $N=14$, we provide a reconstruction code with $\log n+3$ bits of redundancy, which is only two bits more than the best known $(n, 18; \mathcal{B})$-reconstruction codes.

Claire E. Heaney, Yuling Li, Omar K. Matar et al.

This paper presents the first classical Convolutional Neural Network (CNN) that can be applied directly to data from unstructured finite element meshes or control volume grids. CNNs have been hugely influential in the areas of image classification and image compression, both of which typically deal with data on structured grids. Unstructured meshes are frequently used to solve partial differential equations and are particularly suitable for problems that require the mesh to conform to complex geometries or for problems that require variable mesh resolution. Central to the approach are space-filling curves, which traverse the nodes or cells of a mesh tracing out a path that is as short as possible (in terms of numbers of edges) and that visits each node or cell exactly once. The space-filling curves (SFCs) are used to find an ordering of the nodes or cells that can transform multi-dimensional solutions on unstructured meshes into a one-dimensional (1D) representation, to which 1D convolutional layers can then be applied. Although developed in two dimensions, the approach is applicable to higher dimensional problems. To demonstrate the approach, the network we choose is a convolutional autoencoder (CAE) although other types of CNN could be used. The approach is tested by applying CAEs to data sets that have been reordered with an SFC. Sparse layers are used at the input and output of the autoencoder, and the use of multiple SFCs is explored. We compare the accuracy of the SFC-based CAE with that of a classical CAE applied to two idealised problems on structured meshes, and then apply the approach to solutions of flow past a cylinder obtained using the finite-element method and an unstructured mesh.

Yuling Li, Yixin Yin, Sen Zhang et al.

Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong persistent-excitation (PE) condition should be satisfied to guarantee the parameter convergence. This paper proposes a novel composite adaptive control to guarantee parameter convergence without PE condition for nonlinear teleoperation systems with dynamic uncertainties and time-varying communication delays. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. New tracking performance measures are proposed to evaluate the position tracking between the master and the slave. Simulation studies are given to show the effectiveness of the proposed method.

Yuling Li, Kun Liu, Wei He et al.

In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the master-slave synchronization, Round-Robin scheduling protocol and Try-Once-Discard scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under Round-Robin and Try-Once-Discard scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results.