8 papers
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…
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…
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…
Automatic Generation of Aerobatic Flight in Complex Environments via Diffusion Models
Yuhang Zhong, Anke Zhao, Tianyue Wu +2
Performing striking aerobatic flight in complex environments demands manual designs of key maneuvers in advance, which is intricate and time-consuming as the horizon of the traject…
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space
Qianhao Wang, Zhepei Wang, Mingyang Wang +7
Convex polytopes have compact representations and exhibit convexity, which makes them suitable for abstracting obstacle-free spaces from various environments. Existing generation m…