Author

Yu-Xin Zheng

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Preprint Oct 2026

State-Dependent Objective Coordination for End-to-End Balance and Navigation

Traditional robotic navigation systems separate mapping, planning, and low-level control through cascaded modules, introducing computational overhead and accumulated latency. End-to-end reinforcement learning offers a compact unified policy that maps onboard observations directly to control actions. However, on inheren...

Xu-Hao Huang, Xi-Tao Xu, Yu-Xin Zheng et al. · 0 citations

Open access 2026

Closed-Loop Online Safety-Oriented Planning for 3-D UAV Navigation in Unknown Cluttered Dynamic Environments

This work presents a framework for safety-oriented three-dimensional UAV navigation using simulated 16-beam LiDAR observations for environmental sensing and the vehicle state for planning and control, and evaluates the framework on three disjoint 100-case panels, seven paired ablations, sensing and obstacle-speed pertu...

Yi-Fang Wu, Shi-Lin Liu, Ya-Bin Li et al. · IEEE Access · 0 citations