相关论文: FlightBench: Benchmarking Learning-based Methods f…

We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…

Autonomous exploration and mapping of unknown terrains employing single or multiple robots is an essential task in mobile robotics and has therefore been widely investigated. Nevertheless, given the lack of unified data sets, metrics, and…

Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based…

This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

While Vision-Language Models (VLMs) have advanced highlevel reasoning in autonomous driving, their ability to ground this reasoning in the underlying physics of ego-motion remains poorly understood. We introduce EgoDyn-Bench, a diagnostic…

Understanding 3D spatial relationships remains a major limitation of current Vision-Language Models (VLMs). Prior work has addressed this issue by creating spatial question-answering (QA) datasets based on single images or indoor videos.…

High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…

VIP navigation requires multiple DNN models for identification, posture analysis, and depth estimation to ensure safe mobility. Using a hazard vest as a unique identifier enhances visibility while selecting the right DNN model and computing…

Vision-Language Models (VLMs) have advanced rapidly in multimodal perception and language understanding, yet it remains unclear whether they can reliably ground language into spatially coherent, plausibly executable actions in 3D digital…

It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…

Existing aerial-robotics benchmarks target vehicles from hundreds of grams to several kilograms and typically expose only high-level state data. They omit the actuator-level signals required to study nano-scale quadrotors, where…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Unmanned Aerial Vehicle (UAV) Vision-and-Language Navigation (VLN) is vital for applications such as disaster response, logistics delivery, and urban inspection. However, existing methods often struggle with insufficient multimodal fusion,…

Validating autonomous driving neural networks often demands expensive equipment and complex setups, limiting accessibility for researchers and educators. We introduce DriveNetBench, an affordable and configurable benchmarking system…

UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…