Designed a systematic semantic perturbation evaluation framework revealing that state-of-the-art VLA models ignore language instructions despite high benchmark scores. Proposed multi-task same-scene training approach and constructed augmented dataset for fine-tuning.

End-to-end dual-policy RL framework for vision-based aerial ObjectNav without external localization or global maps. Evaluated on AI2-THOR and IsaacSim.

Built a robust pipeline to generate various 3D paths in the Habitat simulator. Overcame challenges of the simulator initially designed only for ground robots by designing a robust 3D navigation algorithm and obstacle detection method. Trained a strong and general policy for drone navigation.

Led a team to develop an autonomous exploration system using ROS2 and LiDAR. Implemented SLAM algorithms including Cartographer and Navigation2 for real-time mapping and path planning. Integrated YOLOv11 for object detection and deployed the complete system on embedded hardware.