10 papers · 1 filter
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…
TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer
Yang Liu, Yifan He, Wenhao Zhao +9
Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exce…
CGFM-Nav: Cognitive Graph-Field Memory for Semantic-Guided Lifelong Multimodal Embodied Navigation
Yuxiang Xiao, Xibei Chen, Xin Zhou +3
Vision-and-Language Navigation (VLN) requires agents to reason over accumulated observations while continuously exploring unseen regions. However, existing environment representati…
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…
Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments
Qiuyue Wang, Mingsheng Li, Jian Guan +37
Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generali…
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…
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…
Flying in Clutter on Monocular RGB by Learning in 3D Radiance Fields with Domain Adaptation
Xijie Huang, Jinhan Li, Tianyue Wu +3
Modern autonomous navigation systems predominantly rely on lidar and depth cameras. However, a fundamental question remains: Can flying robots navigate in clutter using solely mono…
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…