Chen Sang

Zinan Lv, Yeqian Qian, Chen Sang et al.

UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from real-world data, existing methods inherently couple static lighting with geometry, severely limiting policy generalization to dynamic real-world illumination. In this paper, we propose a novel end-to-end reinforcement learning framework designed for effective zero-shot transfer to unstructured outdoors. Within a high-fidelity simulation grounded in real-world data, our policy is trained to map raw monocular RGB observations directly to continuous control commands. To overcome photometric limitations, we introduce Relightable 3D Gaussian Splatting, which decomposes scene components to enable explicit, physically grounded editing of environmental lighting within the neural representation. By augmenting training with diverse synthesized lighting conditions ranging from strong directional sunlight to diffuse overcast skies, we compel the policy to learn robust, illumination-invariant visual features. Extensive real-world experiments demonstrate that a lightweight quadrotor achieves robust, collision-free navigation in complex forest environments at speeds up to 10 m/s, exhibiting significant resilience to drastic lighting variations without fine-tuning.

Min Zeng, Caiquan Liu, Shiqi Zhang et al.

In recent years, the use of large language models (LLMs) for text classification has attracted widespread attention. Despite this, the classification accuracy of LLMs has not yet universally surpassed that of smaller models. LLMs can enhance their performance in text classification through fine-tuning. However, existing data quality research based on LLMs is challenging to apply directly to solve text classification problems. To further improve the performance of LLMs in classification tasks, this paper proposes a data quality enhancement (DQE) method for text classification based on LLMs. This method starts by using a greedy algorithm to select data, dividing the dataset into sampled and unsampled subsets, and then performing fine-tuning of the LLMs using the sampled data. Subsequently, this model is used to predict the outcomes for the unsampled data, categorizing incorrectly predicted data into uncovered, difficult, and noisy data. Experimental results demonstrate that our method effectively enhances the performance of LLMs in text classification tasks and significantly improves training efficiency, saving nearly half of the training time. Our method has achieved state-of-the-art performance in several open-source classification tasks.