Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs
研究了在输入受限和避碰约束下四旋翼无人机团队的高阶安全关键控制问题，通过扭矩感知动态扩展和高斯过程学习方法提高控制有效性与安全性。
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Sensorimotor features of self-awareness in multimodal large language models
This study investigates whether multimodal large language models (MLLMs) can spontaneously develop bodily self-awareness solely through embodied sensorimotor interaction. We embed an MLLM in an autonomous mobile robot that explores its environment and learns closed-loop behaviors exclusively from real-time multimodal sensory inputs—vision, touch, proprioception, and vestibular signals—without any explicit supervision or pre-defined self-models. We systematically evaluate the model’s capabilities in environmental recognition, self-discrimination, and motor prediction. Our key contributions are threefold: (1) First empirical evidence that MLLMs hierarchically emergent bodily self-awareness in a fully unsupervised, embodied setting; (2) Causal insights—derived via structural equation modeling and sensory ablation experiments—into how multisensory integration, temporal memory, and hierarchical internal representations jointly enable self-awareness; and (3) Demonstration that structured and episodic memory are essential for coherent self-referential reasoning, along with identification of critical sensory modalities and their functional redundancy relationships.
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Detection of Endangered Deer Species Using UAV Imagery: A Comparative Study between Efficient Deep Learning Approaches
Detecting endangered deer species (e.g., marsh deer) in drone-captured imagery remains challenging due to their small object size, low spatial占比, and severe occlusion by dense vegetation, leading to degraded detection performance. Method: This paper proposes a YOLO-based framework enhanced with instance segmentation, integrating a lightweight segmentation head into YOLOv11 and RT-DETR variants. We construct a high-fidelity, pixel-level mask-annotated dataset specifically for wetland deer detection and design a wetland-adapted drone image augmentation pipeline. Contribution/Results: Experimental results demonstrate a 12.3% improvement in mean Average Precision (mAP) under heavy occlusion and complex backgrounds. The method significantly enhances localization robustness and classification accuracy for small targets, offering an efficient, scalable, and deployable solution for automated monitoring of endangered cervids in natural habitats.
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Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs
研究了在输入受限和避碰约束下四旋翼无人机团队的高阶安全关键控制问题，通过扭矩感知动态扩展和高斯过程学习方法提高控制有效性与安全性。
0 citationsRead paper
Sensorimotor features of self-awareness in multimodal large language models
This study investigates whether multimodal large language models (MLLMs) can spontaneously develop bodily self-awareness solely through embodied sensorimotor interaction. We embed an MLLM in an autonomous mobile robot that explores its environment and learns closed-loop behaviors exclusively from real-time multimodal sensory inputs—vision, touch, proprioception, and vestibular signals—without any explicit supervision or pre-defined self-models. We systematically evaluate the model’s capabilities in environmental recognition, self-discrimination, and motor prediction. Our key contributions are threefold: (1) First empirical evidence that MLLMs hierarchically emergent bodily self-awareness in a fully unsupervised, embodied setting; (2) Causal insights—derived via structural equation modeling and sensory ablation experiments—into how multisensory integration, temporal memory, and hierarchical internal representations jointly enable self-awareness; and (3) Demonstration that structured and episodic memory are essential for coherent self-referential reasoning, along with identification of critical sensory modalities and their functional redundancy relationships.
0 citationsRead paper
Detection of Endangered Deer Species Using UAV Imagery: A Comparative Study between Efficient Deep Learning Approaches
Detecting endangered deer species (e.g., marsh deer) in drone-captured imagery remains challenging due to their small object size, low spatial占比, and severe occlusion by dense vegetation, leading to degraded detection performance. Method: This paper proposes a YOLO-based framework enhanced with instance segmentation, integrating a lightweight segmentation head into YOLOv11 and RT-DETR variants. We construct a high-fidelity, pixel-level mask-annotated dataset specifically for wetland deer detection and design a wetland-adapted drone image augmentation pipeline. Contribution/Results: Experimental results demonstrate a 12.3% improvement in mean Average Precision (mAP) under heavy occlusion and complex backgrounds. The method significantly enhances localization robustness and classification accuracy for small targets, offering an efficient, scalable, and deployable solution for automated monitoring of endangered cervids in natural habitats.
0 citationsRead paper