8 papers
FalconApp: Rapid iPhone Deployment of End-to-End Perception via Automatically Labeled Synthetic Data
Yan Miao, Will Shen, Sayan Mitra
Reliable perception for robotics depends on large-scale labeled data, yet real-world datasets rely on heavy manual annotation and are time-consuming to produce. We present FalconAp…
FalconTrack: Photorealistic Auto-Labeled Perception and Physics-Aware Vision-Based Aerial Tracking
Yan Miao, Karteek Gandiboyina, Noah Giles +4
Vision-based aerial tracking is critical in GPS-denied environments. Reliable perception for tracking depends on large-scale labeled data, yet most photorealistic datasets rely on…
Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion
Bharawee Phoompho, Gokul Puthumanaillam, Yan Miao +4
Reliable trajectory planning under partial observability depends not only on computing a feasible geometric path, but also on whether the robot receives informative observations wh…
FalconWing: An Ultra-Light Indoor Fixed-Wing UAV Platform for Vision-Based Autonomy
Yan Miao, Will Shen, Hang Cui +1
We introduce FalconWing, an ultra-light (150 g) indoor fixed-wing UAV platform for vision-based autonomy. Controlled indoor environment enables year-round repeatable UAV experiment…
Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0
Yan Miao, Ege Yuceel, Georgios Fainekos +3
Visual policy design is crucial for aerial navigation. However, state-of-the-art visual policies often overfit to a single track and their performance degrades when track geometry…
Towards Unified Probabilistic Verification and Validation of Vision-Based Autonomy
Jordan Peper, Yan Miao, Sayan Mitra +1
Precise and comprehensive situational awareness is a critical capability of modern autonomous systems. Deep neural networks that perceive task-critical details from rich sensory si…