8 citations · 8 across the 20 of their papers we have counts for
23 papers
Benchmarking Interaction-Oriented Aerial Mobility across Heterogeneous Environments
Zhibo Duan, Hanlin Kong, Tianran Ma +8
Aerial mobile manipulation requires unmanned aerial vehicles (UAVs) to traverse heterogeneous environments such as indoor and outdoor domains, and connect navigation with subsequen…
DiffWAM: A Fast and Efficient Navigation World Action Model
Mo Zhu, Yuze Wu, Xijie Huang +3
Pretrained video foundation models encode rich semantic and spatiotemporal priors for embodied navigation, yet converting these priors into UAV motion typically requires expensive…
Revisiting On-policy Adversarial Black-Box Distillation: Calibrating Groupwise Reward Geometry for Effective Advantage Construction
Xiao Cui, Mo Zhu, Yulei Qin +3
Black-box distillation is a practical route for transferring capabilities from API-accessible large language models that expose only text outputs into smaller student models. Recen…
D-VLC: Decentralized Vision-Language Collaboration for Heterogeneous Embodied Multi-Robot Systems in Unknown Environments
Yuan Zhou, Ruitong Lin, Shen Wang +5
Multi-robot systems, particularly heterogeneous robot swarms, can improve the efficiency of complex task execution through parallel collaboration and complementary capabilities. Ho…
PathPainter: Transferring the Generalization Ability of Image Generation Models to Embodied Navigation
Yijin Wang, Yuru Tian, Xijie Huang +5
Bird's-eye-view (BEV) images have been demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges re…
Towards Precise Intent-Aligned VLA Aerial Navigation via Expert-Guided GRPO
Tianyang Chen, Wenjun Li, Xin zhou +2
Vision-Language-Action (VLA) models offer a promising end-to-end paradigm for unmanned aerial vehicles (UAVs) to accomplish complex tasks specified by fine-grained instructions. Ho…
Can MLLMs Reason Beyond Language? VisReason: A Comprehensive Benchmark for Vision-Centric Reasoning
Longteng Guo, Yifan Wang, Pengkang Huo +4
Recent multimodal large language models (MLLMs) achieve strong performance on visual reasoning benchmarks, yet it remains unclear to what extent such performance reflects reasoning…
FlyMirage: A Fully Automated Generation Pipeline for Diverse and Scalable UAV Flight Data via Generative World Model
Jinhan Li, Xijie Huang, Weiqi Gai +10
In the field of Vision-Language Navigation (VLN), aerial datasets remain limited in their ability to combine scale, diversity, and realism, often relying on either costly real-worl…
Precise Aggressive Aerial Maneuvers with Sensorimotor Policies
Tianyue Wu, Guangtong Xu, Zihan Wang +6
Precise aggressive maneuvers with lightweight onboard sensors remains a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding…
NavDreamer: Video Models as Zero-Shot 3D Navigators
Xijie Huang, Weiqi Gai, Tianyue Wu +5
Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture…
A Precise Real-Time Force-Aware Grasping System for Robust Aerial Manipulation
Kenghou Hoi, Yuze Wu, Annan Ding +4
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors un…
USS-Nav: Unified Spatio-Semantic Scene Graph for Lightweight UAV Zero-Shot Object Navigation
Weiqi Gai, Yuman Gao, Yuan Zhou +6
Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requi…
VLA-AN: An Efficient and Onboard Vision-Language-Action Framework for Aerial Navigation in Complex Environments
Yuze Wu, Mo Zhu, Xingxing Li +6
This paper proposes VLA-AN, an efficient and onboard Vision-Language-Action (VLA) framework dedicated to autonomous drone navigation in complex environments. VLA-AN addresses four…
Embodied Navigation Foundation Model
Jiazhao Zhang, Anqi Li, Yunpeng Qi +14
Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions.…
Ground-Effect-Aware Modeling and Control for Multicopters
Tiankai Yang, Kaixin Chai, Jialin Ji +3
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to exte…
Reactive Aerobatic Flight via Reinforcement Learning
Zhichao Han, Xijie Huang, Zhuxiu Xu +5
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive man…
Shape-Adaptive Planning and Control for a Deformable Quadrotor
Yuze Wu, Zhichao Han, Xuankang Wu +4
Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their sh…
FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations
Junxiao Lin, Shuhang Ji, Yuze Wu +3
How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generat…
GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction
Rui Jin, Yuman Gao, Yingjian Wang +2
Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However…
Model-Based Planning and Control for Terrestrial-Aerial Bimodal Vehicles with Passive Wheels
Ruibin Zhang, Junxiao Lin, Yuze Wu +5
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the…
Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability
Yuze Wu, Fan Yang, Ze Wang +4
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors…
Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning
Zhi Zheng, Jin Wang, Yuze Wu +7
The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and e…
Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles
Ruibin Zhang, Yuze Wu, Lixian Zhang +2
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles…