Author

Yinan Zhu

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Preprint Aug 2026

Uncertainty-Aware World Model for Aerial Image-Goal Navigation

The Uncertainty-Aware Navigation World Model (UA-NWM), an efficient latent world model for aerial image-goal navigation, which formulates trajectory scoring as conditional out-of-distribution detection and decomposes the prediction--goal discrepancy into uncertainty-explainable and unexplainable components.

Deyi Zhu, Hao-Yu Fan, Yinan Zhu et al. · 2 citations

Jul 2026

ActiveFly-Bench: Aligning Embodied Question Answering with Vision-Language-Action for Aerial Embodied Perception

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.

Weichen Zhang, Shiquan Yu, Yinan Zhu et al. · arXiv.org · 1 citation