Multimodal Imitation Learning for Arc Detection in Complex Railway Environments

Abstract

The pantograph-catenary system (PCS) is a critical component of railway vehicles, and its performance directly affects current collection quality. The arc rate serves as an essential measurement indicator for monitoring the PCS state. However, in complex railway environments—where arc sizes and shapes can vary significantly and are further influenced by factors such as reflected light, glare, and adverse weather—the traditional arc detection methods are easily affected by unstable current collection and power fluctuations, resulting in increased false detection rates and reduced measurement accuracy. Deep learning methods, while promising, also face limitations when dealing with such diverse arc morphologies and strong external interference. To address these challenges, this article proposes a multimodal imitation learning-based arc detection network (MILADNet). First, the measurement system fuses infrared and visible-light image features to enhance arc feature extraction in scenarios with strong glare or reflective interference, thereby mitigating false alarms caused by relying on a single sensor. Second, to overcome the lack of information on small arcs, an online imitation learning framework is introduced to improve the system’s detection sensitivity for small arcs. Finally, to address data bias arising from uneven arc distributions, an unsupervised transferable representation learning method is employed to reduce dependence on labeled data and enhance model generalization. Experimental results show that MILADNet exhibits outstanding detection performance for arcs of various sizes and in complex environments, demonstrating both high efficiency and accuracy during measurement and data processing. Beyond improving the precision and reliability of arc detection, this method offers a novel solution for the instrumentation and measurement field and shows significant potential for condition monitoring and anomaly detection in railway systems.