5 papers · 1 filter
Hardware- and Vision-in-the-Loop Validation of Deep Monocular Pose Estimation for Autonomous Maritime UAV Flight
Maneesha Wickramasuriya, Beomyeol Yu, Jaden Shin +3
Autonomous UAV operations on ships require reliable vision-based relative pose estimation, yet at-sea validation is costly, weather-dependent, and risky. This paper presents a hard…
Reasoning Knowledge-Gap in Drone Planning via LLM-based Active Elicitation
Zeyu Fang, Beomyeol Yu, Cheng Liu +5
Human-AI joint planning in Unmanned Aerial Vehicles (UAVs) typically relies on control handover when facing environmental uncertainties, which is often inefficient and cognitively…
Knowing When to Ask: Resolving Uncertainty in Human-Robot Joint Planning via Explicit Dialogue and Implicit Intent Cues
Zeyu Fang, Yuxin Lin, Cheng Liu +6
Effective human-robot collaboration in open-world environments requires joint planning under uncertainty about the task, the environment, and the human teammate. Communication is t…
Equivariant Reinforcement Learning Frameworks for Quadrotor Low-Level Control
Beomyeol Yu, Taeyoung Lee
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unst…
Multi-Agent Reinforcement Learning for the Low-Level Control of a Quadrotor UAV
Beomyeol Yu, Taeyoung Lee
By leveraging the underlying structures of the quadrotor dynamics, we propose multi-agent reinforcement learning frameworks to innovate the low-level control of a quadrotor, where…