arXiv subjects

Yuze Wu

Publications and source records attributed to Yuze Wu.

29 records · Page 2Linked to original sources

arXiv2025

Embodied Navigation Foundation Model

Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions. Despite significant progress in large Vision-Language Models (VLMs), which exhibit remarkable zero-shot performance on general vision-language tasks, their generalization ability in embodied navigation remains largely confined to narrow task settings and embodiment-specific architectures. In this work, we introduce a cross-embodiment and cross-task Navigation Foundation Model (NavFoM), trained on eight million navigation samples that encompass quadrupeds, drones, wheeled robots, and vehicles, and spanning diverse tasks such as vision-and-language navigation, object searching, target tracking, and autonomous driving. NavFoM employs a unified architecture that processes multimodal navigation inputs from varying camera configurations and navigation horizons. To accommodate diverse camera setups and temporal horizons, NavFoM incorporates identifier tokens that embed camera view information of embodiments and the temporal context of tasks. Furthermore, to meet the demands of real-world deployment, NavFoM controls all observation tokens using a dynamically adjusted sampling strategy under a limited token length budget. Extensive evaluations on public benchmarks demonstrate that our model achieves state-of-the-art or highly competitive performance across multiple navigation tasks and embodiments without requiring task-specific fine-tuning. Additional real-world experiments further confirm the strong generalization capability and practical applicability of our approach.

cs.RO↗

arXiv2025

Ground-Effect-Aware Modeling and Control for Multicopters

The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to external torques, and the influence of ground airflow on models such as the rotor drag and the mixing matrix. This article collects and analyzes the dynamics data of near-ground multicopter flight through various methods, including force measurement platforms and real-world flights. For the first time, we summarize the mathematical model of the external torque of multicopters under ground effect. The influence of ground airflow on rotor drag and the mixing matrix is also verified through adequate experimentation and analysis. Through simplification and derivation, the differential flatness of the multicopter's dynamic model under ground effect is confirmed. To mitigate the influence of these disturbance models on control, we propose a control method that combines dynamic inverse and disturbance models, ensuring consistent control effectiveness at both high and low altitudes. In this method, the additional thrust and variations in rotor drag under ground effect are both considered and compensated through feedforward models. The leveling torque of ground effect can be equivalently represented as variations in the center of gravity and the moment of inertia. In this way, the leveling torque does not explicitly appear in the dynamic model. The final experimental results show that the method proposed in this paper reduces the control error (RMSE) by \textbf{45.3\%}. Please check the supplementary material at: https://github.com/ZJU-FAST-Lab/Ground-effect-controller.

cs.RO↗

arXiv2025

Reactive Aerobatic Flight via Reinforcement Learning

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory optimization and tracking control, suffer from tracking inaccuracies, computational latency, and sensitivity to initial conditions, limiting their effectiveness in dynamic, high-agility scenarios. Inspired by recent breakthroughs in data-driven methods, we propose a reinforcement learning-based framework that directly maps drone states and aerobatic intentions to control commands, eliminating modular separation to enable quadrotors to perform end-to-end policy optimization for extreme aerobatic maneuvers. To ensure efficient and stable training, we introduce an automated curriculum learning strategy that dynamically adjusts aerobatic task difficulty. Enabled by domain randomization for robust zero-shot sim-to-real transfer, our approach is validated in demanding real-world experiments, including the first demonstration of a drone autonomously performing continuous inverted flight while reactively navigating a moving gate, showcasing unprecedented agility.

cs.RO↗

arXiv2025

Shape-Adaptive Planning and Control for a Deformable Quadrotor

Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome these challenges, while also enhancing maneuverability and enabling novel tasks like object grasping. This paper presents a novel approach to autonomous motion planning and control for deformable quadrotors. We introduce a shape-adaptive trajectory planner that incorporates deformation dynamics into path generation, using a scalable kinodynamic A* search to handle deformation parameters in complex environments. The backend spatio-temporal optimization is capable of generating optimally smooth trajectories that incorporate shape deformation. Additionally, we propose an enhanced control strategy that compensates for external forces and torque disturbances, achieving a 37.3\% reduction in trajectory tracking error compared to our previous work. Our approach is validated through simulations and real-world experiments, demonstrating its effectiveness in narrow-gap traversal and multi-modal deformable tasks.

cs.RO↗

arXiv2024

Model-Based Planning and Control for Terrestrial-Aerial Bimodal Vehicles with Passive Wheels

Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering robust and efficient autonomous navigation in unknown environments. To resolve this issue, we develop a model-based planning and control framework for terrestrial aerial bi-modal vehicles. This work begins by deriving a unified dynamic model and the corresponding differential flatness. Leveraging differential flatness, an optimization-based trajectory planner is proposed, which takes into account both solution quality and computational efficiency. Moreover, we design a tracking controller using nonlinear model predictive control based on the proposed unified dynamic model to achieve accurate trajectory tracking and smooth mode transition. We validate our framework through extensive benchmark comparisons and experiments, demonstrating its effectiveness in terms of planning quality and control performance.

cs.RO↗

arXiv2023

Long distance electron-electron scattering detected with point contacts

We measure electron transport through point contacts in an electron gas in AlGaAs/GaAs heterostructures and graphene for a range of temperatures, magnetic fields and electron densities. We find a magnetoconductance peak around B = 0. With increasing temperature, the width of the peak increases monotonically, while its amplitude first increases and then decreases. For GaAs point contacts the peak is particularly sharp at relatively low temperatures $T\approx$1.5 K: the curve rounds on a scale of few tens of $μ$T hinting at length scales of several millimeters for the corresponding scattering processes. We propose a model based on the transition between different transport regimes with increasing temperature: from ballistic transport to few electron-electron scatterings to hydrodynamic superballistic flow to hydrodynamic Poiseuille-like flow. The model is in qualitative and, in many cases, quantitative agreement with the experimental observations.

cond-mat.mes-hall↗

arXiv2023

Phase Transitions of Structured Codes of Graphs

We consider the symmetric difference of two graphs on the same vertex set $[n]$, which is the graph on $[n]$ whose edge set consists of all edges that belong to exactly one of the two graphs. Let $\mathcal{F}$ be a class of graphs, and let $M_{\mathcal{F}}(n)$ denote the maximum possible cardinality of a family $\mathcal{G}$ of graphs on $[n]$ such that the symmetric difference of any two members in $\mathcal{G}$ belongs to $\mathcal{F}$. These concepts are recently investigated by Alon, Gujgiczer, Körner, Milojević, and Simonyi, with the aim of providing a new graphic approach to coding theory. In particular, $M_{\mathcal{F}}(n)$ denotes the maximum possible size of this code. Existing results show that as the graph class $\mathcal{F}$ changes, $M_{\mathcal{F}}(n)$ can vary from $n$ to $2^{(1+o(1))\binom{n}{2}}$. We study several phase transition problems related to $M_{\mathcal{F}}(n)$ in general settings and present a partial solution to a recent problem posed by Alon et. al.

math.CO↗

arXiv2023

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor configuration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to navigate through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely navigate through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient navigation through challenging terrains while conserving energy.

cs.RO↗

arXiv2023

Ring-Rotor: A Novel Retractable Ring-shaped Quadrotor with Aerial Grasping and Transportation Capability

This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability, Ring-Rotor uses only one servo motor for morphing but reduces the largest dimension of the vehicle by approximately 31.4\%. It can guarantee passibility while flying through small spaces in its compact form and energy saving in its standard form. Meanwhile, the vehicle breaks the cross configuration of general quadrotors with four arms connected to the central body and innovates a ring-shaped mechanical structure with spare central space. Based on this, an ingenious whole-body aerial grasping and transportation scheme is designed to carry various shapes of objects without the external manipulator mechanism. Moreover, we exploit a nonlinear model predictive control (NMPC) strategy that uses a time-variant physical parameter model to adapt to the quadrotor morphology. Above mentioned applications are performed in real-world experiments to demonstrate the system's high versatility.

cs.RO↗

arXiv2022

Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles

Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive navigation framework to bring complete autonomy to this class of vehicles. The framework mainly includes 1) a hierarchical motion planner that generates safe and low-power terrestrial-aerial trajectories in unknown environments and 2) a unified motion controller which dynamically adjusts energy consumption in terrestrial locomotion. Extensive real-world experiments and benchmark comparisons are conducted on a customized robot platform to validate the proposed framework's robustness and performance. During the tests, the robot safely traverses complex environments with terrestrial-aerial integrated mobility, and achieves $7\times$ energy savings in terrestrial locomotion. Finally, we will release our code and hardware configuration for the reference of the community.

cs.RO↗

arXiv2020

Duplex Mikaelian lenses and duplex Maxwell's fish eye lenses

In this paper, we report two new kinds of absolute optical instruments that can make stigmatically images for geometric optics in two dimensional space. One is called the duplex Mikaelian lens, which is made by splicing two half Mikaelian lenses with different periods. The other is exponential conformal transformer of duplex Mikaelian lens with the ratio of different periods of its two half Mikaelian lenses a rational number, which we call duplex Maxwell's fish eye lens. Duplex Mikaelian lenses have continuous translation symmetry with arbitrary real number, while duplex Maxwell's fish eye lenses have continuous rotational symmetry from 0 to 2*Pi. Hence each duplex Maxwell's fish eye lens corresponds to a duplex Mikaelian lens. We further demonstrate the caustic effect of geometric optics in duplex Mikaelian lenses and duplex Maxwell's fish eye lenses. In addition, we investigate the Talbot effect of wave optics in the duplex Mikaelian lens based on numeric calculations. Our findings based on splicing and exponential conformal mapping enlarge the family of absolute optical instruments.

physics.optics↗