Publications (4)
Does Robust VIO Need More Learning? Geometry-Verified Visual Measurements under Distribution Shift
Yangyang Ning, Shu Liang, Quanbo Ge +3
Learning is increasingly introduced into visual-inertial odometry (VIO), ranging from learned feature front-ends to learning-dominant motion and geometry estimation. However, learn…
Trust, Geometry, and Rules: A Credibility-Aware Reinforcement Learning Framework for Safe USV Navigation under Uncertainty
Yuhang Zhang, Shuqi Chai, Yukang Zhang +5
Autonomous navigation of Unmanned Surface Vehicles (USVs) that is safe and compliant with the International Regulations for Preventing Collisions at Sea (COLREGs) remains a formida…
Hallucination Elimination and Semantic Enhancement Framework for Vision-Language Models in Traffic Scenarios
Jiaqi Fan, Jianhua Wu, Hongqing Chu +2
Large vision-language models (LVLMs) have demonstrated remarkable capabilities in multimodal understanding and generation tasks. However, these models occasionally generate halluci…
Cascaded TD3-PID Hybrid Controller for Quadrotor Trajectory Tracking in Wind Disturbance Environments
Yukang Zhang, Shuqi Chai, Yuhang Zhang +2
This work presents a cascaded hybrid control framework for quadrotor trajectory tracking under nonlinear dynamics and external disturbances. In quadrotor systems, the altitude and…