Author

Lifeng Zhou

3 papers indexed here

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Preprint Oct 2026

Onboard Lightweight LLM Reasoning for Human-Aware Safe UAV Navigation

Aerial robots operating near people must treat a pedestrian, a parked car, and a wall differently, yet conventional perception--planning stacks reduce all of them to occupied geometry---a \emph{human-aware safety gap} in which category-specific clearance is unavailable to the planner and temporary occlusions remove ped...

Si-Wei Cai, Yu-Wei Wu, Vijay Kumar et al. · 0 citations

Preprint Aug 2026

Latent World Models with Monotone Planning Costs for Image-Goal Navigation

This work proposes a latent world model built on a frozen DINO-family encoder and trains it with two complementary objectives, achieving state-of-the-art image-goal navigation performance while reducing orientation error by $2.7\times over the same-encoder DINO WM baseline.

Amirhosein Chahe, Si-Wei Cai, Lifeng Zhou · 3 citations

#computer vision Preprint Aug 2026

GlanceWAM: Sparse Test-Time Imagination for World-Action Models

GlanceWAM is introduced, which decouples imagination from control within a single video DiT: an asynchronous proposer glances ahead on a slow clock to imagine a single lookahead frame seconds into the future in the background, while an action head decodes action chunks at control rate purely in latent space without blo...

Lin-Han Wang, Zi-Jian An, Mingyuan Zhang et al. · 3 citations