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Qiyuan Zhu

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Jul 2026

AeroAct: Action-Centered World-Action Models for Language-Conditioned Quadrotor Flight

AeroAct is the first WAM instantiated and demonstrated for real-world aerial flight, and closed-loop simulation and real-world experiments show that temporal visual context improves target tracking and object-search performance, and that WAM-based policies can be executed on a physical quadrotor.

Xin-Hong Zhang, Qiyuan Zhu, Yubo Huang et al. · 0 citations
Preprint Aug 2026

Fewer Tokens, Smaller Cache: Reward-Coordinated Efficient Reasoning

ReCo (Reward-Coordinated Compression), a step-wise framework in which a lightweight process-reward estimator scores each completed step and drives three components: reward-adaptive KV-cache compression that shrinks the retained cache harder at high-reward steps and less at low-reward ones, and a confidence-based early...

Qi-Yuan Zhu, De-Zhi Li, Pengyu Cheng et al. · 1 citation

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