Author

Xin-Hong Zhang

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2026

Mitigating Covariate Shift in Offline Imitation Learning via Trajectory Synthesis

Offline imitation learning (IL) is a practical route to embodied policy learning when online exploration is unsafe, expensive, or unavailable. Its main limitation is the closed-loop covariate shift: a policy trained only on fixed demonstrations can enter states outside the expert support, where behavioral cloning provi...

Shu-Ze Wang, Wei Xiao, Yun-Peng Mei et al. · IEEE Transactions on Automat... · 0 citations

Jul 2026

AeroAct: Action-Centered World-Action Models for Language-Conditioned Quadrotor Flight

AeroAct is the first WAM instantiated and demonstrated for real-world aerial flight, and closed-loop simulation and real-world experiments show that temporal visual context improves target tracking and object-search performance, and that WAM-based policies can be executed on a physical quadrotor.

Xin-Hong Zhang, Qiyuan Zhu, Yubo Huang et al. · arXiv.org · 0 citations

Preprint Aug 2026

FlowPilot: Real-Time World-Action Modeling for Agile UAV Navigation

FlowPilot is a compact world-action model for real-time onboard UAV navigation from depth that jointly denoises future depth observations and executable trajectories with flow matching, and a dual-stream mixture-of-transformers couples video and action experts through shared attention, allowing future-scene prediction...

Run-Qing Wang, Ding Yu, Pengyuan Min et al. · 1 citation