高飞｜贵州师范大学｜学者主页

2026

Towards Precise Intent-Aligned VLA Aerial Navigation via Expert-Guided GRPO

Tianyang Chen, Wenjun Li, Xin zhou, Yuze Wu, Fei Gao

arXiv preprint

2026

Neural-Primitive: An Efficient End-to-end Local Planner with Primitive-based Imitation Learning for Autonomous Flight

Zhitao Liu, Guangtong Xu, Zihan Wang, Jialiang Hou, Chao Xu, Fei Gao

arXiv preprint

2026

Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

Lijie Wang, Zheng Lu, Yiming Wang, Heyang Yu, Kenghou Hoi, Bowen Hu, Di Cui, Tianyu Xin, Haoran Liao, Wanqi Zhong, Xingjie Fan, Yizhao Xu, Ziliang Wang, Fei Gao, Yiming Li

arXiv preprint

2026

PathPainter: Transferring the Generalization Ability of Image Generation Models to Embodied Navigation

Yijin Wang, Yuru Tian, Xijie Huang, Weiqi Gai, Mo Zhu, Xin Zhou, Yuze Wu, Fei Gao

arXiv preprint

2026

ATRS: Adaptive Trajectory Re-splitting via a Shared Neural Policy for Parallel Optimization

Jiajun Yu, Guodong Liu, Li Wang, Pengxiang Zhou, Wentao Liu, Yin He, Chao Xu, Fei Gao, Yanjun Cao

arXiv preprint

2026

FLAP: FOV-Constrained Active Perception Planning for Prior-Map-Free 3D Navigation

Mengke Zhang, Sitong Li, Tiancheng Lai, Ruitian Pang, Mingxuan Zhang, Qingcheng Chen, Fei Gao, Chao Xu, Yanjun Cao

arXiv preprint

2026

FLOAT Drone for Physical Interaction: Lateral Airflow Reduction, Wrench Modeling, and Adaptive Control

Junxiao Lin, Kehan Zhou, Shuhang Ji, Yimin Peng, Shen Wang, Jialiang Hou, Fei Gao

arXiv preprint

2026

OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance

Yifan He, Yang Liu, Wenhao Zhao, Hai Lin, Deping Zhang, Mingze Ma, Xin Zhou, Fei Gao, Huan Yu, Zipeng Dai, Ziming Ding

arXiv preprint

2026

TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

Yang Liu, Yifan He, Wenhao Zhao, Xiangyu Mo, Yang Xu, Hao Wei, Mingze Ma, Huan Li, Yifan Wu, Fei Gao, Zipeng Dai, Xin Zhou

arXiv preprint

2026

From bits to atoms: A survey of cross-layer safety in Embodied AI

Tuo Feng, Yue Zhang, Shiji Zhou, Zhaoxin Fan, Wenguan Wang, Xiaowei Chi, Tianyu Shen, Xiangtai Li, Xuesong Bai, Zheng Zhu, Sirui Han, Boyu Zhou, Zhaosong Wang, Shizhe Chen, Zilong Zheng, Chenjia Bai, Jiangmiao Pang, Yaodong Yang, Hao Zhao, Di Hu, Li Yi, Yan Huang, Qi Wu, Hanwang Zhang, Fei Gao, Shanghang Zhang, Hongsheng Li, Jianye Hao, Yuan Zhang, Yingjie Xia, Jian Shen, Cewu Lu, Hui Zhang, Kai Chen, Wenwu Yu, Badong Chen, Jungong Han, Yike Guo

arXiv preprint

DOI

2026

Benchmarking Interaction-Oriented Aerial Mobility across Heterogeneous Environments

Zhibo Duan, Hanlin Kong, Tianran Ma, Yuze Wu, Yuxuan Xu, Kenghou Hoi, Changheng Xie, Xin Zhou, Jianzhe Gao, Fei Gao, Wenguan Wang

arXiv preprint

2026

Precise Aggressive Aerial Maneuvers with Sensorimotor Policies

Tianyue Wu, Guangtong Xu, Zihan Wang, Junxiao Lin, Tianyang Chen, Yuze Wu, Zhichao Han, Zhiyang Liu, Fei Gao

arXiv preprint

2026

TriphiBot: A Triphibious Robot Combining FOC-based Propulsion with Eccentric Design

Xiangyu Li, Tiancheng Lai, Mingwei Lai, Junxiao Lin, Mengke Zhang, Junping Zhi, Chao Xu, Fei Gao, Yanjun Cao

arXiv preprint

2026

Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems

Yueteng Yang, Yusen Xie, Hao Wei, Qianhao Wang, Boyu Zhou, Fei Gao, Jun Ma, Jinni Zhou

arXiv preprint

2026

A Precise Real-Time Force-Aware Grasping System for Robust Aerial Manipulation

Kenghou Hoi, Yuze Wu, Annan Ding, Junjie Wang, Anke Zhao, Chengqian Zhang, Fei Gao

arXiv preprint

2026

GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning

Long Xu, Zhiqi Zhang, Mi Yan, Shengliang Deng, Chong Xia, Mingyu Dong, Jiayi Chen, Jiangran Lyu, Fei Gao, Zhizheng Zhang, He Wang

arXiv preprint

2026

TADreamer: Zero-Shot Language-Guided 3D Navigation for Terrestrial-Aerial Bimodal Robots via Video Imagination

Xiangyu Li, Tiancheng Lai, Xijie Huang, Ruitian Pang, Siqi Shen, Juncheng Chen, Zaisheng Pan, Chao Xu, Fei Gao, Yanjun Cao

arXiv preprint

2026

NavDreamer: Video Models as Zero-Shot 3D Navigators

Xijie Huang, Weiqi Gai, Tianyue Wu, Congyu Wang, Zhiyang Liu, Xin Zhou, Yuze Wu, Fei Gao

arXiv preprint

2026

Learning Air-Ground Motion Control with Temporal Mode Switching and Cross-Terrain Tracking

Ruitian Pang, Mingrui Li, Xuanting Liu, Tiancheng Lai, Juncheng Chen, Xiangyu Li, Ruibin Zhang, Qishao Wang, Jin Yu, Haiyin Piao, Fei Gao, Chao Xu, Yanjun Cao

arXiv preprint

2026

GuardPIBT: Counterfactually Gated Neural Guidance for Ultra-Large-Scale 3D Multi-Agent Path Finding

Yuan Zhou, Zhenyu Hou, Guangtong Xu, Xiaoqiang Ji, Yuqing Tang, Jialiang Hou, Fei Gao

arXiv preprint

2025

LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping

Lijie Wang, Lianjie Guo, Ziyi Xu, Qianhao Wang, Fei Gao, Xieyuanli Chen

arXiv preprint

2025

FastViDAR: Real-Time Omnidirectional Depth Estimation via Alternative Hierarchical Attention

Hangtian Zhao, Xiang Chen, Yizhe Li, Qianhao Wang, Haibo Lu, Fei Gao

arXiv preprint

2025

Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

Muqing Cao, Thien-Minh Nguyen, Shenghai Yuan, Andreas Anastasiou, Angelos Zacharia, Savvas Papaioannou, Panayiotis Kolios, Christos G. Panayiotou, Marios M. Polycarpou, Xinhang Xu, Mingjie Zhang, Fei Gao, Boyu Zhou, Ben M. Chen, Lihua Xie

arXiv preprint

2025

CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System

Zhehan Li, Jiadong Lu, Zheng Wang, Qi Liu, Zhiren Xun, Yue Wang, Fei Gao, Chao Xu, Yanjun Cao

arXiv preprint

2025

Automatic Generation of Aerobatic Flight in Complex Environments via Diffusion Models

Yuhang Zhong, Anke Zhao, Tianyue Wu, Tingrui Zhang, Fei Gao

arXiv preprint

2025

Shape-Adaptive Planning and Control for a Deformable Quadrotor

Yuze Wu, Zhichao Han, Xuankang Wu, Yuan Zhou, Junjie Wang, Zheng Fang, Fei Gao

arXiv preprint

2025

Reactive Aerobatic Flight via Reinforcement Learning

Zhichao Han, Xijie Huang, Zhuxiu Xu, Jiarui Zhang, Yuze Wu, Mingyang Wang, Tianyue Wu, Fei Gao

arXiv preprint

2025

Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process

Zhenyu Hou, Senming Tan, Zhihao Zhang, Long Xu, Mengke Zhang, Zhaoqi He, Chao Xu, Fei Gao, Yanjun Cao

arXiv preprint

2025

Rotor-Failure-Aware Quadrotors Flight in Unknown Environments

Xiaobin Zhou, Miao Wang, Chengao Li, Can Cui, Ruibin Zhang, Yongchao Wang, Chao Xu, Fei Gao

arXiv preprint

2025

FAR-AVIO: Fast and Robust Schur-Complement Based Acoustic-Visual-Inertial Fusion Odometry with Sensor Calibration

Hao Wei, Peiji Wang, Qianhao Wang, Tong Qin, Fei Gao, Yulin Si

arXiv preprint

2025

DPNet: Doppler LiDAR Motion Planning for Highly-Dynamic Environments

Wei Zuo, Zeyi Ren, Chengyang Li, Yikun Wang, Mingle Zhao, Shuai Wang, Wei Sui, Fei Gao, Yik-Chung Wu, Chengzhong Xu

arXiv preprint

DOI

2025

Embodied Navigation Foundation Model

Jiazhao Zhang, Anqi Li, Yunpeng Qi, Minghan Li, Jiahang Liu, Shaoan Wang, Haoran Liu, Gengze Zhou, Yuze Wu, Xingxing Li, Yuxin Fan, Wenjun Li, Zhibo Chen, Fei Gao, Qi Wu, Zhizheng Zhang, He Wang

arXiv preprint

2025

Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments

Long Xu, Kaixin Chai, Boyuan An, Jiaxiang Gan, Shuhang Ji, Zhenyu Hou, Qianhao Wang, Yuan Zhou, Xiaoying Li, Junxiao Lin, Zhichao Han, Chao Xu, Yanjun Cao, Fei Gao

arXiv preprint

DOI

2025

Number Adaptive Formation Flight Planning via Affine Deformable Guidance in Narrow Environments

Yuan Zhou, Jialiang Hou, Guangtong Xu, Fei Gao

arXiv preprint

2025

VLA-AN: An Efficient and Onboard Vision-Language-Action Framework for Aerial Navigation in Complex Environments

Yuze Wu, Mo Zhu, Xingxing Li, Yuheng Du, Yuxin Fan, Wenjun Li, Zhichao Han, Xin Zhou, Fei Gao

arXiv preprint

2025

Periodic Proprioceptive Stimuli Learning and Internal Model Development for Avian-inspired Flapping-wing Flight State Estimation

Chen Qian, Jiaxi Xing, Jifu Yan, Mingyu Luo, Shiyu Song, Xuyi Lian, Yongchun Fang, Fei Gao, Tiefeng Li

arXiv preprint

2025

LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping

Lijie Wang, Xiaoyi Zhong, Ziyi Xu, Kaixin Chai, Anke Zhao, Tianyu Zhao, Changjian Jiang, Qianhao Wang, Xieyuanli Chen, Fei Gao

arXiv preprint

2025

TOP: Trajectory Optimization via Parallel Optimization towards Constant Time Complexity

Jiajun Yu, Nanhe Chen, Guodong Liu, Chao Xu, Fei Gao, Yanjun Cao

arXiv preprint

2024

Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation

Lianjie Guo, Zaitian Gongye, Ziyi Xu, Yingjian Wang, Xin Zhou, Jinni Zhou, Fei Gao

arXiv preprint

2024

Learning Speed Adaptation for Flight in Clutter

Guangyu Zhao, Tianyue Wu, Yeke Chen, Fei Gao

arXiv preprint

2024

Learning to Plan Maneuverable and Agile Flight Trajectory with Optimization Embedded Networks

Zhichao Han, Long Xu, Liuao Pei, Fei Gao

arXiv preprint

2024

Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes

Jingping Wang, Tingrui Zhang, Qixuan Zhang, Chuxiao Zeng, Jingyi Yu, Chao Xu, Lan Xu, Fei Gao

arXiv preprint

DOI

2024

FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarms

Yuan Li, Anke Zhao, Yingjian Wang, Ziyi Xu, Xin Zhou, Jinni Zhou, Chao Xu, Fei Gao

arXiv preprint

2024

WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints

Chenxing Jiang, Kunyi Zhang, Sheng Yang, Shaojie Shen, Chao Xu, Fei Gao

arXiv preprint

2024

LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

Kaixin Chai, Long Xu, Qianhao Wang, Chao Xu, Peng Yin, Fei Gao

arXiv preprint

2024

Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization

Tianyue Wu, Gongye Zaitian, Qianhao Wang, Fei Gao

arXiv preprint

2024

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

Yichen Zhang, Xinyi Chen, Peize Liu, Junzhe Wang, Hetai Zou, Neng Pan, Fei Gao, Shaojie Shen

arXiv preprint

2023

LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments

Ze Wang, Kailun Yang, Hao Shi, Yufan Zhang, Zhijie Xu, Fei Gao, Kaiwei Wang

arXiv preprint

2022

Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning

Jialiang Hou, Xin Zhou, Zhongxue Gan, Fei Gao

arXiv preprint

DOI

2022

A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph

Tianyue Wu, Fei Gao

arXiv preprint

2022

ApolloRL: a Reinforcement Learning Platform for Autonomous Driving

Fei Gao, Peng Geng, Jiaqi Guo, Yuan Liu, Dingfeng Guo, Yabo Su, Jie Zhou, Xiao Wei, Jin Li, Xu Liu

arXiv preprint

精选作品

期刊论文

基于51单片机的烟草种植检测系统的设计

LRP-DS: Lightweight RepPoints with Decoupled Sampling Point Set

基于单片机的智能台灯设计

基于CC2530的分区多元数据采集系统的设计与实现

基于嵌入式系统的光纤光栅解调系统的研究

基于MCU的嵌入式设备高速数据处理系统

基于单片机的人体脉搏检测系统的设计

DSP的串行通信及在数字电压调节器的应用

基于嵌入式系统的OPC数据采集技术的研究与实现

基于AT89S52单片机的岩心图像采集仪的电机控制系统实现

基于ARM9的智能车载系统设计

基于80C196KC的电控液力自动变速器控制系统开发

基于ARM的导弹等效设备设计

基于嵌入式ARM的LCD显示接口的设计

TMS320F206对基于FAT32文件系统IDE硬盘的文件操作

用DSP的加强型同步串行口构建L3总线

利用 8098 单片机实现多道脉冲幅度分析器

单片机产品样机程序的一种简易保密方法

MCS—48系列单片机与Tp—801p微型打印机的接口设计

会议论文

西门子S7-300系列PLC与单片机的自由口通信

预印本

Towards Precise Intent-Aligned VLA Aerial Navigation via Expert-Guided GRPO

Neural-Primitive: An Efficient End-to-end Local Planner with Primitive-based Imitation Learning for Autonomous Flight

Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

PathPainter: Transferring the Generalization Ability of Image Generation Models to Embodied Navigation

ATRS: Adaptive Trajectory Re-splitting via a Shared Neural Policy for Parallel Optimization

FLAP: FOV-Constrained Active Perception Planning for Prior-Map-Free 3D Navigation

FLOAT Drone for Physical Interaction: Lateral Airflow Reduction, Wrench Modeling, and Adaptive Control

OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance

TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

From bits to atoms: A survey of cross-layer safety in Embodied AI

Benchmarking Interaction-Oriented Aerial Mobility across Heterogeneous Environments

Precise Aggressive Aerial Maneuvers with Sensorimotor Policies

TriphiBot: A Triphibious Robot Combining FOC-based Propulsion with Eccentric Design

Sphere-VIO: Fast and Robust Visual-Inertial Odometry via Unified Spherical Representation for Heterogeneous Multi-Camera Systems

A Precise Real-Time Force-Aware Grasping System for Robust Aerial Manipulation

GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning

TADreamer: Zero-Shot Language-Guided 3D Navigation for Terrestrial-Aerial Bimodal Robots via Video Imagination

NavDreamer: Video Models as Zero-Shot 3D Navigators

Learning Air-Ground Motion Control with Temporal Mode Switching and Cross-Terrain Tracking

GuardPIBT: Counterfactually Gated Neural Guidance for Ultra-Large-Scale 3D Multi-Agent Path Finding

LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping

FastViDAR: Real-Time Omnidirectional Depth Estimation via Alternative Hierarchical Attention

Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System

Automatic Generation of Aerobatic Flight in Complex Environments via Diffusion Models

Shape-Adaptive Planning and Control for a Deformable Quadrotor

Reactive Aerobatic Flight via Reinforcement Learning

Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process

Rotor-Failure-Aware Quadrotors Flight in Unknown Environments

FAR-AVIO: Fast and Robust Schur-Complement Based Acoustic-Visual-Inertial Fusion Odometry with Sensor Calibration

DPNet: Doppler LiDAR Motion Planning for Highly-Dynamic Environments

Embodied Navigation Foundation Model

Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Robots in Unstructured Environments

Number Adaptive Formation Flight Planning via Affine Deformable Guidance in Narrow Environments

VLA-AN: An Efficient and Onboard Vision-Language-Action Framework for Aerial Navigation in Complex Environments

Periodic Proprioceptive Stimuli Learning and Internal Model Development for Avian-inspired Flapping-wing Flight State Estimation

LEMON-Mapping: Loop-Enhanced Large-Scale Multi-Session Point Cloud Merging and Optimization for Globally Consistent Mapping

TOP: Trajectory Optimization via Parallel Optimization towards Constant Time Complexity

Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation

Learning Speed Adaptation for Flight in Clutter

Learning to Plan Maneuverable and Agile Flight Trajectory with Optimization Embedded Networks

Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes

FACT: Fast and Active Coordinate Initialization for Vision-based Drone Swarms

WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints

LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments

Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning

A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph

ApolloRL: a Reinforcement Learning Platform for Autonomous Driving

研究方向