子雨 李

Dr. 子雨 李

orcid

Research Focus & Metrics

Academic Career Length

1Year (2026-Present)

(Calculated once Scilit publication data is synced: current year − year of first publication + 1)

Representative Publications

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11 June 2026 in Drones
Verified
Journal Article
Open access
PDF file
YLYuze Liu
Yuze Liu
CXChangming Xu
Changming Xu
KXKewen Xiao
Kewen Xiao
YWYuhua Wu
Yuhua Wu
子李子雨 李
子雨 李
City-scale unmanned aerial vehicle vision-and-language navigation (UAV-VLN) requires accurate upstream target localization from an overhead map, onboard observation, and language description. Existing VLM-based methods often treat road names, landmarks, and spatial relations as raw text, leaving the model to search a large map and implicitly infer geometric constraints. This paper proposes GPOD, an inference-time candidate-prior interface for the upstream target-localization stage in city-scale UAV-VLN. GPOD converts language anchors, spatial relations, target-category cues, static map objects, and vehicle detections into ranked candidate priors through branch-specific candidate generation, thereby reformulating unconstrained full-map coordinate regression as candidate-prior-conditioned coordinate prediction. The static branch aligns language constraints with map-object geometries, while the dynamic branch uses YOLOv8l-VisDrone with Slicing Aided Hyper Inference (SAHI) to construct detection-conditioned vehicle candidates. In the GPOD-VLM setting, ranked candidates are injected as structured spatial prompts and the base VLM predicts the final continuous coordinates; GPOD-Direct is a candidate-direct diagnostic variant that directly uses candidate centers without VLM coordinate regression. On the CityNav localization protocol, GPOD improves FlightGPT Overall SR@20m from 15.23% to 25.61% and consistently reduces Mean Navigation Error (Mean NE) across splits and backbones. On Val-Unseen, GPOD-Direct (Top-1) reaches 32.59% SR@20m, showing that ranked candidate priors provide strong discrete localization signals. These results show that inference-time candidate priors can reduce city-scale search ambiguity without updating the base VLM parameters, while also revealing a candidate-utilization gap in the current prompt-based continuous coordinate-regression interface.