Author

Ze-Rui Li

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Preprint Sep 2026

VLM-MPPI: Grounding Natural Language in Behaviorally Diverse Trajectories for Aerial Navigation

We present a hierarchical UAV navigation framework that aligns natural-language intent with dynamically feasible flight behaviors in cluttered indoor environments. To bridge the gap between abstract semantics and low-level control, we employ a parallelized ensemble of six behavior-conditioned Model Predictive Path Inte...

Hanbing Zhang, Fang-Guo Zhao, Ze-Rui Li et al. · 0 citations

Jul 2026

Embodied Agents Take Control: Minimal-Interface Zero-Shot Agents Rival Industrial-Scale Policies in Vision-and-Language Navigation

The results show that a general-purpose model can already achieve competitive embodied control without a navigation policy, and term this organization agentic embodied control: the reasoning model directly steers every action, keeping reasoning and control aligned.

Jian Zhou, Xun-Yi Zhao, Gengze Zhou et al. · arXiv.org · 1 citation