Author

Yuchen Wei

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Conference Open access Aug 2026

Local String Stability-Driven Reinforcement Learning for Adaptive Swarm Coordination

This paper presents a framework that integrates input-to-state string stability (ISSS) theory with reinforcement learning to achieve stable, scalable, and adaptive swarm coordination. First, a virtual string perception decomposes $N$-agent interactions into parallel robot-following subtasks by synthesizing local virtua...

Yu-Chen Wei, Wenke E, Yu-Hsiang Su et al. · 2026 IEEE 22nd International... · 0 citations

Preprint Aug 2026

How Much, Then Where: Credit-Conserving Action-to-Token Allocation for Multi-Turn Agent Reinforcement Learning

FACTOR is introduced, which uses checkpoint-calibrated TD residuals to assign per-action credits that telescope to the trajectory advantage, and feedback-conditioned teacher-student likelihood gaps to allocate each credit across the realized action tokens.

Li-Chao Ma, Yang Sun, Shuai Zhao et al. · 3 citations

Conference Open access Jul 2026

Physics-Informed Imitation Learning for Resilient Autonomous Driving

An adaptive Lyapunov-constrained imitation learning framework for vehicle trajectory tracking is proposed that significantly outperforms state-of-the-art baselines in collision avoidance and disturbance rejection and introduces a state-dependent adaptive decay rate.

Yuchen Wei, Yu-Hsiang Su, F. Arvin et al. · 2026 IEEE/ASME International... · 0 citations