Author

Yong-Yi Ma

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#machine learning Preprint Sep 2026

Bilinear Optimization Divergence: Diagnosing Factor-Constrained LoRA Continual Learning

Orthogonality in a LoRA factor does not by itself specify what the composed update protects: the answer depends on the task-start state, the parameterization, and the realized optimizer displacement. We formalize this question through Bilinear Optimization Divergence (BOD), an anchor-relative diagnostic of effective-up...

Yong-Shun Wang, Jianlin Su, Yong-Yi Ma · 0 citations

Preprint Sep 2026

Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robots

In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable autonomy remains challenging because robot-terrain interaction (RTI) is hybrid and discontinuous, and effective flipper-track coordination is...

Zhe Gan, Yan-Bo Chen, Li-Rong Che et al. · 0 citations