Yang Yang

Fanfu Xue, En Yu, Yantian Shen et al.

UAV Vision-Language Navigation (UAV-VLN) is typically formulated as a holistic search-and-reach problem, where long-range target discovery and final target approach are optimized and evaluated jointly. This formulation makes it difficult to assess a critical capability of aerial embodied agents, namely whether a UAV can accurately ground a visible target and translate vision-language evidence into precise 3D motion once the target enters its field of view. To address this limitation, we introduce UAV-VLN-FOV, a target-visible navigation task that isolates the see-and-reach stage and enables a more diagnostic evaluation of terminal reaching ability. We further propose 3DG-VLN, a vision-language waypoint prediction framework guided by dynamic 3D direction cues to enhance fine-grained visual grounding and spatial direction alignment for precise target reaching. Specifically, 3DG-VLN adaptively processes high-resolution front-view and downward-view observations to preserve fine-grained visual and geometric details for target grounding. It also updates the target-relative direction online during closed-loop navigation, allowing the agent to maintain spatial alignment with the target and reduce accumulated direction drift. To support this task, we construct a dedicated high-resolution benchmark which contains 2,717 trajectories with target-oriented high-level instructions, high-resolution front-view and downward-view egocentric observations, and continuous 3D waypoint annotations. Experiments show that 3DG-VLN outperforms competitive UAV-VLN baselines, achieving a 13.82\% improvement in success rate. Real-world trials further demonstrate the potential of 3DG-VLN for practical see-and-reach navigation. The source code and benchmark are available at https://github.com/xuefanfu/3DG-VLN.

Mingjiao Yan, Yang Yang, Zongliang Zhang et al.

Nonlinear geotechnical analysis often involves complex geometries, staged construction, local failure, and mesh-dependent stress and plastic strain responses. This study develops a polygonal cell-based smoothed finite element method (CS-FEM) for nonlinear geotechnical analysis and implements it in ABAQUS through the user element subroutine. The proposed method combines Wachspress interpolation with cell-based strain smoothing, in which the smoothed strain--displacement matrix is evaluated by boundary integration over polygonal smoothing subcells. This formulation avoids direct calculation of shape-function derivatives inside polygonal elements and enables standard polygonal meshes and hybrid quadtree meshes with hanging nodes to be handled in a unified framework. Nonlinear geomaterial behavior is incorporated through incremental elasto-plastic constitutive updates, including the Mohr--Coulomb model and the Duncan--Chang model. Several benchmark and engineering examples, including a perforated plate, strip footing, core rockfill dam, tunnel excavation, and slope stability problems, are presented for verification. The results show that the proposed method accurately predicts displacement, stress, plastic strain, bearing capacity, and factor of safety, while providing improved mesh flexibility and computational efficiency for nonlinear geotechnical analysis.