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Donglin Yang

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8 papers

2 author rows

ICLR Conference 2025 Conference Paper

SymmetricDiffusers: Learning Discrete Diffusion on Finite Symmetric Groups

Yongxing Zhang
Donglin Yang
Renjie Liao 0001

The group of permutations $S_n$, also known as the finite symmetric groups, are essential in fields such as combinatorics, physics, and chemistry. However, learning a probability distribution over $S_n$ poses significant challenges due to its intractable size and discrete nature. In this paper, we introduce *SymmetricDiffusers*, a novel discrete diffusion model that simplifies the task of learning a complicated distribution over $S_n$ by decomposing it into learning simpler transitions of the reverse diffusion using deep neural networks. We identify the riffle shuffle as an effective forward transition and provide empirical guidelines for selecting the diffusion length based on the theory of random walks on finite groups. Additionally, we propose a generalized Plackett-Luce (PL) distribution for the reverse transition, which is provably more expressive than the PL distribution. We further introduce a theoretically grounded "denoising schedule" to improve sampling and learning efficiency. Extensive experiments show that our model achieves state-of-the-art or comparable performance on solving tasks including sorting 4-digit MNIST images, jigsaw puzzles, and traveling salesman problems. Our code is released at <https://github.com/DSL-Lab/SymmetricDiffusers>.

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ICLR Conference 2025 Conference Paper

Towards Realistic UAV Vision-Language Navigation: Platform, Benchmark, and Methodology

Xiangyu Wang
Donglin Yang
Ziqin Wang
Hohin Kwan
Jinyu Chen
Wenjun Wu
Hongsheng Li 0001
Yue Liao

Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based agents, while UAV-based VLN remains relatively underexplored. Recent efforts in UAV vision-language navigation predominantly adopt ground-based VLN settings, relying on predefined discrete action spaces and neglecting the inherent disparities in agent movement dynamics and the complexity of navigation tasks between ground and aerial environments. To address these disparities and challenges, we propose solutions from three perspectives: platform, benchmark, and methodology. To enable realistic UAV trajectory simulation in VLN tasks, we propose the OpenUAV platform, which features diverse environments, realistic flight control, and extensive algorithmic support. We further construct a target-oriented VLN dataset consisting of approximately 12k trajectories on this platform, serving as the first dataset specifically designed for realistic UAV VLN tasks. To tackle the challenges posed by complex aerial environments, we propose an assistant-guided UAV object search benchmark called UAV-Need-Help, which provides varying levels of guidance information to help UAVs better accomplish realistic VLN tasks. We also propose a UAV navigation LLM that, given multi-view images, task descriptions, and assistant instructions, leverages the multimodal understanding capabilities of the MLLM to jointly process visual and textual information, and performs hierarchical trajectory generation. The evaluation results of our method significantly outperform the baseline models, while there remains a considerable gap between our results and those achieved by human operators, underscoring the challenge presented by the UAV-Need-Help task.

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NeurIPS Conference 2025 Conference Paper

UAV-Flow Colosseo: A Real-World Benchmark for Flying-on-a-Word UAV Imitation Learning

Xiangyu Wang
Donglin Yang
Yue Liao
Wenhao Zheng
Wenjun Wu
Bin Dai
Hongsheng Li
Si Liu

Unmanned Aerial Vehicles (UAVs) are evolving into language-interactive platforms, enabling more intuitive forms of human-drone interaction. While prior works have primarily focused on high-level planning and long-horizon navigation, we shift attention to language-guided fine-grained trajectory control, where UAVs execute short-range, reactive flight behaviors in response to language instructions. We formalize this problem as the Flying-on-a-Word (Flow) task and introduce UAV imitation learning as an effective approach. In this framework, UAVs learn fine-grained control policies by mimicking expert pilot trajectories paired with atomic language instructions. To support this paradigm, we present UAV-Flow, the first real-world benchmark for language-conditioned, fine-grained UAV control. It includes a task formulation, a large-scale dataset collected in diverse environments, a deployable control framework, and a simulation suite for systematic evaluation. Our design enables UAVs to closely imitate the precise, expert-level flight trajectories of human pilots and supports direct deployment without sim-to-real gap. We conduct extensive experiments on UAV-Flow, benchmarking VLN and VLA paradigms. Results show that VLA models are superior to VLN baselines and highlight the critical role of spatial grounding in the fine-grained Flow setting.

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IROS Conference 2024 Conference Paper

Realistic Rainy Weather Simulation for LiDARs in CARLA Simulator

Donglin Yang
Xinyu Cai
Zhenfeng Liu
Wentao Jiang
Bo Zhang 0069
Guohang Yan
Xing Gao 0005
Si Liu 0001

Data augmentation methods to enhance perception performance in adverse weather have recently attracted considerable attention. Most of the LiDAR data augmentation methods post-process the existing dataset by physics-based models or machine-learning methods. However, due to the limited environmental annotations and the fixed vehicle trajectories in existing datasets, it is challenging to edit the scene and expand the diversity of traffic flow and scenario. To this end, we propose a simulator-based physical modeling approach to augment LiDAR data in rainy weather, enhancing the performance of the perception model. We complete the modeling task of the rainy weather effect in the CARLA simulator and establish a data collection pipeline for LiDAR. Furthermore, we pay special attention to the spray generated by vehicles in rainy weather and simulate this phenomenon through the Spray Emitter method we developed. In addition, considering the influence of different weather conditions on point cloud intensity, we develop a prediction network to forecast the intensity of the LiDAR echo. This enables us to complete the rainy weather simulation of 4D point cloud data. In the experiment, we observe that the model augmented by our synthetic dataset improves the performance for 3D object detection in rainy weather. Both code and dataset are available at https://github.com/PJLab-ADG/PCSim#rainypcsim.

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ICLR Conference 2024 Conference Paper

ReSimAD: Zero-Shot 3D Domain Transfer for Autonomous Driving with Source Reconstruction and Target Simulation

Bo Zhang 0069
Xinyu Cai
Jiakang Yuan
Donglin Yang
Jianfei Guo
Xiangchao Yan
Renqiu Xia
Botian Shi

Domain shifts such as sensor type changes and geographical situation variations are prevalent in Autonomous Driving (AD), which poses a challenge since AD model relying on the previous domain knowledge can be hardly directly deployed to a new domain without additional costs. In this paper, we provide a new perspective and approach of alleviating the domain shifts, by proposing a Reconstruction-Simulation-Perception (ReSimAD) scheme. Specifically, the implicit reconstruction process is based on the knowledge from the previous old domain, aiming to convert the domain-related knowledge into domain-invariant representations, e.g., 3D scene-level meshes. Besides, the point clouds simulation process of multiple new domains is conditioned on the above reconstructed 3D meshes, where the target-domain-like simulation samples can be obtained, thus reducing the cost of collecting and annotating new-domain data for the subsequent perception process. For experiments, we consider different cross-domain situations such as Waymo-to-KITTI, Waymo-to-nuScenes, etc, to verify the zero-shot target-domain perception using ReSimAD. Results demonstrate that our method is beneficial to boost the domain generalization ability, even promising for 3D pre-training. Code and simulated points are available at: https://github.com/PJLab-ADG/3DTrans

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NeurIPS Conference 2023 Conference Paper

On Sparse Modern Hopfield Model

Jerry Yao-Chieh Hu
Donglin Yang
Dennis Wu
Chenwei Xu
Bo-Yu Chen
Han Liu

We introduce the sparse modern Hopfield model as a sparse extension of the modern Hopfield model. Like its dense counterpart, the sparse modern Hopfield model equips a memory-retrieval dynamics whose one-step approximation corresponds to the sparse attention mechanism. Theoretically, our key contribution is a principled derivation of a closed-form sparse Hopfield energy using the convex conjugate of the sparse entropic regularizer. Building upon this, we derive the sparse memory retrieval dynamics from the sparse energy function and show its one-step approximation is equivalent to the sparse-structured attention. Importantly, we provide a sparsity-dependent memory retrieval error bound which is provably tighter than its dense analog. The conditions for the benefits of sparsity to arise are therefore identified and discussed. In addition, we show that the sparse modern Hopfield model maintains the robust theoretical properties of its dense counterpart, including rapid fixed point convergence and exponential memory capacity. Empirically, we use both synthetic and real-world datasets to demonstrate that the sparse Hopfield model outperforms its dense counterpart in many situations.

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ICML Conference 2022 Conference Paper

Adaptive Model Design for Markov Decision Process

Siyu Chen 0001
Donglin Yang
Jiayang Li 0001
Senmiao Wang
Zhuoran Yang
Zhaoran Wang 0001

In a Markov decision process (MDP), an agent interacts with the environment via perceptions and actions. During this process, the agent aims to maximize its own gain. Hence, appropriate regulations are often required, if we hope to take the external costs/benefits of its actions into consideration. In this paper, we study how to regulate such an agent by redesigning model parameters that can affect the rewards and/or the transition kernels. We formulate this problem as a bilevel program, in which the lower-level MDP is regulated by the upper-level model designer. To solve the resulting problem, we develop a scheme that allows the designer to iteratively predict the agent’s reaction by solving the MDP and then adaptively update model parameters based on the predicted reaction. The algorithm is first theoretically analyzed and then empirically tested on several MDP models arising in economics and robotics.

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KR Conference 2022 Conference Paper

Open Relation Extraction with Non-existent and Multi-span Relationships

Huifan Yang
Da-Wei Li
Zekun Li
Donglin Yang
Bin Wu

Open relation extraction (ORE) aims to assign semantic relationships among arguments, essential to the automatic construction of knowledge graphs (KG). The previous ORE methods and some benchmark datasets consider a relation between two arguments as definitely existing and in a simple single-span form, neglecting possible non-existent relationships and flexible, expressive multi-span relations. However, detecting non-existent relations is necessary for a pipelined information extraction system (first performing named entity recognition then relation extraction), and multi-span relationships contribute to the diversity of connections in KGs. To fulfill the practical demands of ORE, we design a novel Query-based Multi-head Open Relation Extractor (QuORE) to extract single/multi-span relations and detect non-existent relationships effectively. Moreover, we re-construct some public datasets covering English and Chinese to derive augmented and multi-span relation tuples. Extensive experiment results show that our method outperforms the state-of-the-art ORE model LOREM in the extraction of existing single/multi-span relations and the overall performances on four datasets with non-existent relationships.

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