2026
AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
Yizhe Zhang, Jianping Li†, Liangliang Yin, Zhen Dong, Bisheng Yang
Active Control & SLAM
arXiv Preprint 2026
AWARE is a human-in-the-loop active control framework for improving LiDAR-inertial odometry on resource-constrained UAVs in feature-sparse environments. The key idea is to exploit whole-body yaw rotations through an RL-guided differentiable MPC controller, enabling the UAV to actively seek informative viewpoints while preserving flight safety and operator intent.
AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
Yizhe Zhang, Jianping Li†, Liangliang Yin, Zhen Dong, Bisheng Yang
Active Control & SLAM
arXiv Preprint 2026
AWARE is a human-in-the-loop active control framework for improving LiDAR-inertial odometry on resource-constrained UAVs in feature-sparse environments. The key idea is to exploit whole-body yaw rotations through an RL-guided differentiable MPC controller, enabling the UAV to actively seek informative viewpoints while preserving flight safety and operator intent.
2025
ARMOR: Adaptive Meshing with Reinforcement Optimization for Real-time 3D Monitoring in Unexposed Scenes
Yizhe Zhang, Jianping Li†, Xin Zhao, Zhen Dong, Bisheng Yang
Adaptive Underground Meshing
arXiv Preprint 2025
ARMOR is a scene-adaptive framework for real-time 3D meshing in unexposed environments such as tunnels, caves, and lava tubes. The key idea is to jointly optimize geometry reconstruction and parameter tuning with spatio-temporal smoothing and reinforcement learning, enabling robust online meshing under diverse and unstructured scene conditions.
ARMOR: Adaptive Meshing with Reinforcement Optimization for Real-time 3D Monitoring in Unexposed Scenes
Yizhe Zhang, Jianping Li†, Xin Zhao, Zhen Dong, Bisheng Yang
Adaptive Underground Meshing
arXiv Preprint 2025
ARMOR is a scene-adaptive framework for real-time 3D meshing in unexposed environments such as tunnels, caves, and lava tubes. The key idea is to jointly optimize geometry reconstruction and parameter tuning with spatio-temporal smoothing and reinforcement learning, enabling robust online meshing under diverse and unstructured scene conditions.
2024
NeRF-based Localization and Meshing with Wearable Laser Scanning System: A Case Study in Underground Environment
Yizhe Zhang, Jianping Li†, Xin Zhao, Youqi Liao, Zhen Dong, Bisheng Yang
Underground Meshing
ISPRS-Annals 2024 Oral
NeRF-based Localization and Meshing is a wearable framework for real-time localization and mesh reconstruction in complex underground environments. The key idea is to couple LiDAR-inertial odometry with a scan-block representation that synchronizes poses and sequential laser frames, enabling efficient NeRF-based meshing with improved local accuracy.
NeRF-based Localization and Meshing with Wearable Laser Scanning System: A Case Study in Underground Environment
Yizhe Zhang, Jianping Li†, Xin Zhao, Youqi Liao, Zhen Dong, Bisheng Yang
Underground Meshing
ISPRS-Annals 2024 Oral
NeRF-based Localization and Meshing is a wearable framework for real-time localization and mesh reconstruction in complex underground environments. The key idea is to couple LiDAR-inertial odometry with a scan-block representation that synchronizes poses and sequential laser frames, enabling efficient NeRF-based meshing with improved local accuracy.