Zhi-Rui Dai

Expanding Safe Sets with Learning-Based Barrier Functions and Reachability

AdaGeoVLN: Selective Geometry Across Representation Depth and Navigation Time for Vision-Language Navigation

Bounded navigation-aware retention preserves navigation performance while considerably reducing GFM-KV memory relative to larger-memory temporal retention, which support jointly examining the geometric representations exposed to the policy and the historical evidence retained for future inference.

From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs

An Octree REsidual Network (OREN) is developed that pairs an explicit octree prior with an implicit neural residual to reconstruct SDFs online from point cloud observations with the efficiency of volumetric methods and the accuracy and differentiability of neural methods.