Yi‐Cheng Chen

Yicheng Chen, Jinjie Li, Wenyuan Qin et al.

Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the Neural-Enhanced Trajectory Planner (NEO-Planner), a novel approach that leverages a Neural Network (NN) Planner to provide informed initial values for trajectory optimization. The NN-Planner is trained on a dataset generated by an expert planner using batch sampling, capturing multimodal trajectory solutions. It learns to predict spatial and temporal parameters for trajectories directly from raw sensor observations. NEO-Planner starts optimization from these predictions, accelerating computation speed while maintaining explainability. Furthermore, we introduce a robust online replanning framework that accommodates planning latency for smooth trajectory tracking. Extensive simulations demonstrate that NEO-Planner reduces optimization iterations by 20%, leading to a 26% decrease in computation time compared with pure optimization-based methods. It maintains trajectory quality comparable to baseline approaches and generalizes well to unseen environments. Real-world experiments validate its effectiveness for autonomous drone navigation in cluttered, unknown environments.

Yinger Zhang, Hui Cai, Xeirui Song et al.

While enabling large language models to implement function calling (known as APIs) can greatly enhance the performance of Large Language Models (LLMs), function calling is still a challenging task due to the complicated relations between different APIs, especially in a context-learning setting without fine-tuning. This paper introduces ``Reverse Chain'', a controllable, target-driven approach designed to empower LLMs with the capability to operate external APIs only via prompts. Recognizing that most LLMs have limited tool-use capabilities, Reverse Chain limits LLMs to executing simple tasks, e.g., API Selection and Argument Completion. Furthermore, to manage a controllable multi-function calling, Reverse Chain adopts a generic rule based on a backward reasoning process. This rule determines when to do API selection or Argument completion. To evaluate the multi-tool-use capability of LLMs, we have released a compositional multi-tool task dataset, available at \url{https://anonymous.4open.science/r/reverse-chain-8681}. Extensive numerical experiments validate the remarkable proficiency of Reverse Chain in managing multiple API calls.

Bingguang Hao, Zengzhuang Xu, Maolin Wang et al.

The effective training of Large Language Models (LLMs) for function calling faces a critical challenge: balancing exploration of complex reasoning paths with stable policy optimization. Standard methods like Supervised Fine-Tuning (SFT) fail to instill robust reasoning, and traditional Reinforcement Learning (RL) struggles with inefficient exploration. We propose \textbf{EGPO}, a new RL framework built upon Group Relative Policy Optimization (GRPO), designed to address this challenge directly. The core of EGPO is an entropy-enhanced advantage function that integrates the entropy of the model's Chain-of-Thought (CoT) into the policy gradient computation. This encourages the generation of diverse reasoning strategies. To maintain optimization direction, the entropy bonus is carefully constrained by a clipping mechanism. Complemented by a strict, binary reward signal, EGPO effectively guides the model towards discovering structured and accurate tool invocation patterns. On the challenging Berkeley Function Calling Leaderboard (BFCL), a 4B-parameter model trained with EGPO sets a new state-of-the-art among models of comparable size, surpassing a range of strong competitors, including GPT-4o and Gemini-2.5.

Huan Chang, Yicheng Chen, Baochang Zhang et al.

Unmanned Aerial vehicles (UAVs) are widely used as network processors in mobile networks, but more recently, UAVs have been used in Mobile Edge Computing as mobile servers. However, there are significant challenges to use UAVs in complex environments with obstacles and cooperation between UAVs. We introduce a new multi-UAV Mobile Edge Computing platform, which aims to provide better Quality-of-Service and path planning based on reinforcement learning to address these issues. The contributions of our work include: 1) optimizing the quality of service for mobile edge computing and path planning in the same reinforcement learning framework; 2) using a sigmoid-like function to depict the terminal users' demand to ensure a higher quality of service; 3) applying synthetic considerations of the terminal users' demand, risk and geometric distance in reinforcement learning reward matrix to ensure the quality of service, risk avoidance, and the cost-savings. Simulations have shown the effectiveness and feasibility of our platform, which can help advance related researches.