相关论文: FIRE-VLM: A Vision-Language-Driven Reinforcement L…

Fighting wildfires is a precarious task, imperiling the lives of engaging firefighters and those who reside in the fire's path. Firefighters need online and dynamic observation of the firefront to anticipate a wildfire's unknown…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…

Reward engineering has long been a challenge in Reinforcement Learning (RL) research, as it often requires extensive human effort and iterative processes of trial-and-error to design effective reward functions. In this paper, we propose…

In this study, we conduct a comprehensive benchmark of the Safe Reinforcement Learning (Safe RL) algorithms for the task of vision-driven river following of Unmanned Aerial Vehicle (UAV) in a Unity-based photo-realistic simulation…

Existing UAV vision-and-language navigation (VLN) benchmarks rarely provide realistic aerial scenes, natural process-level instructions, and sufficient scale simultaneously, making it difficult to systematically train and evaluate UAV VLN…

Small unmanned aircraft can help firefighters combat wildfires by providing real-time surveillance of the growing fires. However, guiding the aircraft autonomously given only wildfire images is a challenging problem. This work models noisy…

Recent advances in vision-language-action (VLA) models have motivated the extension of their capabilities to embodied settings, where reinforcement learning (RL) offers a principled way to optimize task success through interaction. However,…

Wildland fires pose a terrifying natural hazard, underscoring the urgent need to develop data-driven and physics-informed digital twins for wildfire prevention, monitoring, intervention, and response. In this direction of research, this…

With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…

Visual coverage path planning with unmanned aerial vehicles (UAVs) requires agents to strategically coordinate UAV motion and camera control to maximize coverage, minimize redundancy, and maintain battery efficiency. Traditional…

Simulation frameworks have been key enablers for the development and validation of autonomous driving systems. However, existing methods struggle to comprehensively address the autonomy-oriented requirements of balancing: (i) dynamical…

In this short paper, we present our ongoing work on the veriFIRE project -- a collaboration between industry and academia, aimed at using verification for increasing the reliability of a real-world, safety-critical system. The system we…

Vision-language navigation (VLN) is the task of navigating an embodied agent to carry out natural language instructions inside real 3D environments. In this paper, we study how to address three critical challenges for this task: the…

Although fusing multiple sensor modalities can enhance object detection performance, existing fusion approaches often overlook subtle variations in environmental conditions and sensor inputs. As a result, they struggle to adaptively weight…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…

Forest fires pose a significant threat to ecosystems, economies, and human health worldwide. Early detection and assessment of forest fires are crucial for effective management and conservation efforts. Unmanned Aerial Vehicles (UAVs)…

Current wildfire management systems lack integrated virtual environments that combine historical data with immersive digital representations, hindering deep analysis and effective decision making. This paper introduces FIRETWIN, a…

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…

The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…