13 papers
Deliberate Before You Fly: Vision-Guided Spatial Deliberation for UAV See-and-Reach Navigation
Fanfu Xue, En Yu, Bohang Liu +4
UAV see-and-reach navigation requires an aerial agent to approach a language-specified target visible in its initial view and stop reliably near it. Existing methods typically map…
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Renhao Lu, Mingxin Wang, Chenyang Cao +5
Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the sta…
EvoPolicyGym: Evaluating Autonomous Policy Evolution in Interactive Environments
Zhilin Wang, Han Song, Runzhe Zhan +13
Autonomous agents are increasingly expected to improve executable policies through feedback, yet existing evaluations often collapse this process into a final score or confound it…
Stage-Transition Dense Reward Modeling for Reinforcement Learning
Yang Yang, Bingjie Chen, Zihan Wang +4
Reinforcement learning for long-horizon robotic manipulation is often limited by sparse and delayed rewards, while manually designing dense shaping signals is costly and brittle to…
Causal Reward World Models: Zero-shot Reward Design for Automated Skill Generation
Yang Yang, Yuchuang Tong, Zhengtao Zhang +6
Automated Reward Design (ARD) aims to replace manual reward engineering in reinforcement learning with language-driven reward function synthesis. However, existing approaches based…
See-and-Reach: Precise Vision-Language Navigation for UAVs within the Field of View
Fanfu Xue, En Yu, Yantian Shen +5
UAV Vision-Language Navigation (UAV-VLN) is typically formulated as a holistic search-and-reach problem, where long-range target discovery and final target approach are optimized a…