Kai-Yi Wong

Perceptual Aliasing and Uncertainty in Repetitive Environments for Monocular UAV Navigation Using Perception-Aware Reinforcement Learning

PEARL-Nav (Perception-Enhanced and Uncertainty-Aware Reinforcement Learning for Navigation), a unified framework that incorporates perception reliability into decision-making, is proposed, outperforming state-of-the-art methods and confirming the value of modeling perceptual uncertainty for robust navigation in repetit...