Hao Liu

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.

Yi Dao, Lankai Zhang, Hao Liu et al.

Human pose estimation is fundamental to intelligent perception in the Internet of Things (IoT), enabling applications ranging from smart healthcare to human-computer interaction. While WiFi-based methods have gained traction, they often struggle with continuous motion and high computational overhead. This work presents WiFlow, a novel framework for continuous human pose estimation using WiFi signals. Unlike vision-based approaches such as two-dimensional deep residual networks that treat Channel State Information (CSI) as images, WiFlow employs an encoder-decoder architecture. The encoder captures spatio-temporal features of CSI using temporal and asymmetric convolutions, preserving the original sequential structure of signals. It then refines keypoint features of human bodies to be tracked and capture their structural dependencies via axial attention. The decoder subsequently maps the encoded high-dimensional features into keypoint coordinates. Trained on a self-collected dataset of 360,000 synchronized CSI-pose samples from 5 subjects performing continuous sequences of 8 daily activities, WiFlow achieves a Percentage of Correct Keypoints (PCK) of 97.00% at a threshold of 20% (PCK@20) and 99.48% at PCK@50, with a mean per-joint position error of 0.008m. With only 4.82M parameters, WiFlow significantly reduces model complexity and computational cost, establishing a new performance baseline for practical WiFi-based human pose estimation. Our code and datasets are available at https://github.com/DY2434/WiFlow-WiFi-Pose-Estimation-with-Spatio-Temporal-Decoupling.git.