51 citations · 156 across the 15 of their papers we have counts for
12 papers · 1 filter
Flying to Image-Specified Objects: 3D Quadrotor Navigation via Cross-Graph Memory and Viewpoint Planning
Junjie Gao, Yuqi Chen, Yongzhou Pan +3
Instance-Specific Image-Goal Navigation (InstanceImageNav) requires a robot to navigate toward the exact object instance depicted in a query image. Extending this task to quadrotor…
GaussFly: Contrastive Reinforcement Learning for Visuomotor Policies in 3D Gaussian Fields
Yuhang Zhang, Mingsheng Li, Yujing Shang +4
Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning…
Learning Adaptive Cross-Embodiment Visuomotor Policy with Contrastive Prompt Orchestration
Yuhang Zhang, Chao Yan, Jiaxi Yu +2
Learning adaptive visuomotor policies for embodied agents remains a formidable challenge, particularly when facing cross-embodiment variations such as diverse sensor configurations…
Oracle-Guided Masked Contrastive Reinforcement Learning for Visuomotor Policies
Yuhang Zhang, Jiaping Xiao, Chao Yan +1
A prevailing approach for learning visuomotor policies is to employ reinforcement learning to map high-dimensional visual observations directly to action commands. However, the com…
Grounded Vision-Language Navigation for UAVs with Open-Vocabulary Goal Understanding
Yuhang Zhang, Haosheng Yu, Jiaping Xiao +1
Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating co…
FM-Planner: Foundation Model Guided Path Planning for Autonomous Drone Navigation
Jiaping Xiao, Cheng Wen Tsao, Yuhang Zhang +1
Path planning is a critical component in autonomous drone operations, enabling safe and efficient navigation through complex environments. Recent advances in foundation models, par…
Learning Resilient Formation Control of Drones with Graph Attention Network
Jiaping Xiao, Xu Fang, Qianlei Jia +1
The rapid advancement of drone technology has significantly impacted various sectors, including search and rescue, environmental surveillance, and industrial inspection. Multidrone…
Clustering-based Learning for UAV Tracking and Pose Estimation
Jiaping Xiao, Phumrapee Pisutsin, Cheng Wen Tsao +1
UAV tracking and pose estimation plays an imperative role in various UAV-related missions, such as formation control and anti-UAV measures. Accurately detecting and tracking UAVs i…
Vision-based Learning for Drones: A Survey
Jiaping Xiao, Rangya Zhang, Yuhang Zhang +1
Drones as advanced cyber-physical systems are undergoing a transformative shift with the advent of vision-based learning, a field that is rapidly gaining prominence due to its prof…
Target Search and Navigation in Heterogeneous Robot Systems with Deep Reinforcement Learning
Yun Chen, Jiaping Xiao
Collaborative heterogeneous robot systems can greatly improve the efficiency of target search and navigation tasks. In this paper, we design a heterogeneous robot system consisting…
Learning Multi-Pursuit Evasion for Safe Targeted Navigation of Drones
Jiaping Xiao, Mir Feroskhan
Safe navigation of drones in the presence of adversarial physical attacks from multiple pursuers is a challenging task. This paper proposes a novel approach, asynchronous multi-sta…
Collaborative Target Search with a Visual Drone Swarm: An Adaptive Curriculum Embedded Multistage Reinforcement Learning Approach
Jiaping Xiao, Phumrapee Pisutsin, Mir Feroskhan
Equipping drones with target search capabilities is highly desirable for applications in disaster rescue and smart warehouse delivery systems. Multiple intelligent drones that can…