5 papers
Skytopia: Monocular Drone Navigation with Action-Conditioned Latent World Models
Yuhang Zhang, Rangya Zhang, Yujing Shang +6
Monocular drone navigation requires reaching a goal in an unseen environment from a single forward-facing camera, which offers few cues for depth and scale. World models address th…
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…
TopoStreamer: Temporal Lane Segment Topology Reasoning in Autonomous Driving
Yiming Yang, Yueru Luo, Bingkun He +8
Lane segment topology reasoning constructs a comprehensive road network by capturing the topological relationships between lane segments and their semantic types. This enables end-…