Author

Chuanhang Qiu

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Preprint Aug 2026

GAFT: Geo-Anchored Fine-Tuning for Hazard Identification from Rare Failures

Off-road navigation can fail when physical structures induce irrecoverable states such as high-centering or entrapment, requiring human interventions. Identifying these structures is crucial, yet challenging. Such failure events are rare and costly to collect, resulting in limited training data. Moreover, the collected...

Yan-Ran Xu, Chuanhang Qiu, Yue Wang et al. · 0 citations

#machine learning Preprint Aug 2026

Local Reference Geometry Residual Augmentation for Imbalanced Time Series Classification

Local Reference Geometry (LRG), a lightweight post-hoc feature augmentation module applied between a fixed feature extractor and the classifier head, is proposed, supporting the proposed local-geometry failure hypothesis.

Chuanhang Qiu, Yan-Ran Xu, Yue Wang et al. · 0 citations