From the 2 of 9 linked papers with an AI index.
7 papers · 1 filter
NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation
Junjie An, Yi Wu, Xiao Liu +5
NavCMPO is a two-stage framework for mapless visual navigation that combines few-step diffusion trajectory generation, critic‑guided refinement, and PPO fine‑tuning to improve succ…
SoftNav: Injecting 3D Scene Tokens into VLMs for Embodied Navigation
Yi Wu, Junjie An, Xiao Liu +6
SoftNav introduces a method to embed continuous 3D object representations as soft tokens directly into a frozen vision‑language model, enabling efficient embodied navigation with m…
D3P: Dynamic Denoising Diffusion Policy via Reinforcement Learning
Shu-Ang Yu, Feng Gao, Yi Wu +2
Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deploym…
What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study
Jiayu Chen, Chao Yu, Yuqing Xie +9
Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat traj…
Neural Internal Model Control: Learning a Robust Control Policy via Predictive Error Feedback
Feng Gao, Chao Yu, Yu Wang +1
Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinea…
FlightBench: Benchmarking Learning-based Methods for Ego-vision-based Quadrotors Navigation
Shu-Ang Yu, Chao Yu, Feng Gao +2
Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-t…