Aerial image-goal navigation requires an unmanned aerial vehicle (UAV) to reach a target location specified by a goal image. Existing world-model-based methods rank candidate trajectories using predicted futures, but typically rely on only one or a few point predictions, which is inadequate for large-scale outdoor envi...
Deyi Zhu, Hao-Yu Fan, Yinan Zhu et al.· 2 citations
Causal Action Effect Reweighting (CAER), a general training paradigm that redistributes supervision toward the tokens whose predicted future is causally affected by the action, is introduced.
Jian-Jie Fang, Xvyuan Liu, Zi-You Wang et al.· 0 citations
The first benchmark to bridge cyberspace reasoning and physical-world interaction for UAV embodied perception is introduced, and ActiveFly, a closed-loop UAV agent that integrates visual-language reasoning with fine-grained control, is developed and deployed on a physical UAV platform.
This work designs a structured Chain-of-Thought (CoT) framework that explicitly models 3D environmental perception to ensure robust spatial understanding and reasoning and introduces a novel RL algorithm featuring multi-objective process rewards and a tailored advantage estimation method, facilitating fine-grained cred...
Zile Zhou, Huining Yuan, Weichen Zhang et al.· 0 citations
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