Yuanzhi He

Yuanzhi He, Victor Romero-Cano, José J. Patiño et al.

As robotic systems become more sophisticated, the growing complexity of their motion planning models and the longer training times pose substantial challenges. Evolutionary algorithms such as the Sample-efficient Cross-Entropy Method (iCEM) have recently demonstrated promising potential for low-level real-time planning by leveraging efficient knowledge reuse strategies to improve performance. Although effective in many control tasks, iCEM's performance can be constrained in more complex scenarios, particularly those requiring stacking, sliding, and shelf placement. In this work, we propose a novel iCEM+TL framework that explicitly leverages Transfer Learning (TL), where key iCEM parameters are transferred from simpler upstream tasks to guide more complex downstream tasks. Additionally, we applied Reward Redesign (RR) through task decomposition for stacking objects and shelf placement to optimize task-specific performance. Results from the simulation show that our framework achieves success rate improvements of up to 23%. The framework is further validated on a real Franka Emika robot in a stacking task, demonstrating its practical feasibility for real-world deployment.

Xueyuan Huang, Yuheng Wang, Yuanzhi He et al.

Liver cirrhosis is a major global health problem causing millions of deaths annually, and timely detection with aggressive treatment can significantly improve patients' quality of life. Modelling complex diseases from biomedical data is computationally challenging due to high dimensionality, strong feature correlations, noise, and limited labelled samples. Conventional Machine Learning (ML) pipelines often struggle with robustness, interpretability, and generalisation under such conditions. In this study, we propose an ML-driven multi-stage decision framework for complex disease modelling and therapeutic exploration. The framework integrates single-cell transcriptomic profiling, high-dimensional network-based feature stabilisation, multi-model learning, deep representation construction, and post-hoc decision support. Specifically, single-cell sequencing data were analysed to identify key cellular subpopulations, followed by high-dimensional weighted gene co-expression network analysis (hdWGCNA) to stabilise gene modules under sparsity and noise. To enhance non-linear feature interaction modelling, tabular molecular features were restructured into two-dimensional disease maps and analysed using a CNN. Finally, molecular docking was incorporated as a decision-support module to evaluate candidate therapeutic compounds. Using liver cirrhosis as a representative case, the framework identified a disease-associated endothelial subpopulation and extracted seven robust signature genes (HSPB1, GADD45A, CLDN5, ATP1B3, C1QBP, ENPP2, and PARL). The CNN-based representation learning module outperformed conventional pipelines in classification. The framework is disease-agnostic and readily extends to other omics-driven biomedical applications involving uncertainty, heterogeneity, and limited samples.