Haoyang Wang — Papers on Cortexa

arxivcs.ROcs.AI2026-07-11

ActiveFly-Bench: Aligning Embodied Question Answering with Vision-Language-Action for Aerial Embodied Perception

Weichen Zhang, Shiquan Yu, Yinan Zhu, Peizhi Tang, Shilong Ji, Zhiyuan Deng, et al.

We introduce ActiveFly-Bench, the first benchmark to bridge cyberspace reasoning and physical-world interaction for UAV embodied perception. The benchmark decomposes active perception into three hierarchical tasks: Aerial Embodied Question Answering (Air-EQA), Observation Behavio…

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arxivcs.ROcs.AIcs.CVcs.LG2026-06-29

Learning from Mistakes: Rollout-Retrieval Lifelong Policy Learning for Autonomous Driving

Cheng Gong, Haoyang Wang, Chao Lu, Zirui Li, Jianwei Gong

Autonomous driving policies should be able to improve continually as deployment exposes them to increasingly diverse and long-tail traffic situations. However, most learning-based policies are trained or fine-tuned on expert demonstrations and then rely largely on generalization…

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