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Author

Hao-Yun Feng

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Conference Aug 2026

Counterfactual Multi-Agent Credit Assignment Optimization Fused with Spatial Causal Adjacency Matrix

Counterfactual Multi-Agent Policy Gradients (COMA) are often hampered by dense, irrelevant noise in the centralized critic, which stems from the full-conditioning assumption in high-dimensional action spaces and results in unstable gradient estimation. To address this fundamental limitation, this paper introduces SCAM-...

Rui-Xing Pang, Zhen-Dong Li, Xu-Yang Tao et al. · 0 citations
Conference Aug 2026

Enhancing Visual-Inertial SLAM via Dynamic-Aware Soft Suppression in DBA-Fusion

Visual-Inertial SLAM (VI-SLAM) systems are sensitive to dynamic objects because moving foreground regions may corrupt feature tracking, optical-flow estimation, and subsequent pose optimization. To mitigate this problem, this paper presents a dynamic-aware image-domain soft suppression frontend for DBA-Fusion. The prop...

Zhen-Dong Li, Rui-Xing Pang, Xu-Yang Tao et al. · 0 citations
Preprint Sep 2026

DUGM-R: Uncertainty-Aware Dynamic Grid Mapping and Risk-Triggered Recovery for Learned Local Navigation

Learned local navigation in crowded indoor environments is sensitive to how dynamic obstacle motion is represented, while collision-prone behaviour may persist after nominal policy training. We present a risk-aware reinforcement-learning framework that addresses these two issues through an uncertainty-aware Dynamic Unc...

Hao-Yun Feng, A. Rubio-Solis, Zhao-Dong Guo et al. · 0 citations

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