相关论文: FlightBench: Benchmarking Learning-based Methods f…
Existing vision-language understanding benchmarks largely consist of images of objects in their usual contexts. As a consequence, recent multimodal large language models can perform well with only a shallow visual understanding by relying…
Benchmarking has been the cornerstone of progress in computer vision, natural language processing, and the broader deep learning domain, driving algorithmic innovation through standardized datasets and reproducible evaluation protocols. The…
Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
Transferring and integrating knowledge across first-person (egocentric) and third-person (exocentric) viewpoints is intrinsic to human intelligence, enabling humans to learn from others and convey insights from their own experiences.…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
Navigation is a rich and well-grounded problem domain that drives progress in many different areas of research: perception, planning, memory, exploration, and optimisation in particular. Historically these challenges have been separately…
Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolution vision or compute-intensive planners, rendering them…
Safe visual navigation is critical for indoor mobile robots operating in cluttered environments. Existing benchmarks, however, often neglect collisions or are designed for outdoor scenarios, making them unsuitable for indoor visual…
Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…
Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…
In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Multimodal Large Language Models (MLLMs) have demonstrated strong generalization in vision-language tasks, yet their ability to understand and act within embodied environments remains underexplored. We present NavBench, a benchmark to…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Quadrotors are indispensable in civilian, industrial, and military domains, undertaking complex, high-precision tasks once reserved for specialized systems. Across all contexts, energy efficiency remains a critical constraint: quadrotors…
Rapid advances in multimodal models demand benchmarks that rigorously evaluate understanding and reasoning in safety-critical, dynamic real-world settings. We present AccidentBench, a large-scale benchmark that combines vehicle accident…
Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…