相关论文: VizFlyt: Perception-centric Pedagogical Framework …

Detecting Human-Object Interactions (HOI) in zero-shot settings, where models must handle unseen classes, poses significant challenges. Existing methods that rely on aligning visual encoders with large Vision-Language Models (VLMs) to tap…

Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…

Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…

Future robots are envisioned as versatile systems capable of performing a variety of household tasks. The big question remains, how can we bridge the embodiment gap while minimizing physical robot learning, which fundamentally does not…

Referring Multi-Object Tracking (RMOT) aims to achieve precise object detection and tracking through natural language instructions, representing a fundamental capability for intelligent robotic systems. However, current RMOT research…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

Vision-language navigation (VLN) requires intelligent agents to navigate environments by interpreting linguistic instructions alongside visual observations, serving as a cornerstone task in Embodied AI. Current VLN research for unmanned…

It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…

Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…

QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…

While Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities in robotic manipulation, deploying them on specific and complex downstream tasks still demands effective post-training. In parallel,…

Multi-object tracking (MOT) in UAV-based video is challenging due to variations in viewpoint, low resolution, and the presence of small objects. While other research on MOT dedicated to aerial videos primarily focuses on the academic aspect…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning approaches directly map high-dimensional RGB observations…

Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…

Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…

This paper introduces VLN-Pilot, a novel framework in which a large Vision-and-Language Model (VLLM) assumes the role of a human pilot for indoor drone navigation. By leveraging the multimodal reasoning abilities of VLLMs, VLN-Pilot…

Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional World Model into a robust system, trained entirely within…

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…

Industrial facilities often require periodic visual inspections of key installations. Examining these points of interest is time consuming, potentially hazardous or require special equipment to reach. MAVs are ideal platforms to automate…