6 papers · 1 filter
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…
Grounded Vision-Language Navigation for UAVs with Open-Vocabulary Goal Understanding
Yuhang Zhang, Haosheng Yu, Jiaping Xiao +1
Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating co…
FM-Planner: Foundation Model Guided Path Planning for Autonomous Drone Navigation
Jiaping Xiao, Cheng Wen Tsao, Yuhang Zhang +1
Path planning is a critical component in autonomous drone operations, enabling safe and efficient navigation through complex environments. Recent advances in foundation models, par…
Learning Resilient Formation Control of Drones with Graph Attention Network
Jiaping Xiao, Xu Fang, Qianlei Jia +1
The rapid advancement of drone technology has significantly impacted various sectors, including search and rescue, environmental surveillance, and industrial inspection. Multidrone…
Clustering-based Learning for UAV Tracking and Pose Estimation
Jiaping Xiao, Phumrapee Pisutsin, Cheng Wen Tsao +1
UAV tracking and pose estimation plays an imperative role in various UAV-related missions, such as formation control and anti-UAV measures. Accurately detecting and tracking UAVs i…