Junru Song
Publications
CoNav-UAV: Cooperative Dual-Altitude Aerial Navigation via Stackelberg Learning
Target-oriented vision-and-language navigation (VLN) on aerial platforms is attracting growing attention for missions such as disaster rescue, infrastructure inspection, and security patrol. In this task, an unmanned aerial vehicle (UAV) needs to locate targets given only a concise description of their appearance and surroundings. This requires global exploration and grounding as well as collision-free close-range approach, two interleaved processes difficult to reconcile within a single agent. Most existing methods transfer the ground VLN paradigm to a low-altitude UAV and compensate for its inefficient exploration with external assistance. A recent attempt deploys two UAVs at complementary altitudes yet still relies on privileged information and trains its two agents independently, precluding any mutual adaptation essential for cooperation. Here we propose CoNav-UAV, which explicitly models the task as a Stackelberg game between a high-altitude leader and a low-altitude follower, with the system operating on onboard visual and linguistic inputs alone. To solve this game, we introduce Iterative Stackelberg Learning. The leader's high-level vision-language reasoning is refined via memory-based in-context learning, while the follower's precise motion control is updated via DAgger-style expert distillation. The alternation drives both agents toward a Stackelberg equilibrium. CoNav-UAV consistently outperforms single- and dual-agent baselines across three high-fidelity urban scenes from the AerialVLN benchmark. Success rate improves by up to 30.8 points on the learning scene, and 9.0 points under cross-scene transfer while using about 3x less adaptation data. Further analyses validate the complementary gains of the leader and follower updates and reveal robust gains yet distinct learning dynamics across VLM backbones.
Delineating Knowledge Boundaries for Honest Large Vision-Language Models
Large Vision-Language Models (VLMs) have achieved remarkable multimodal performance yet remain prone to factual hallucinations, particularly in long-tail or specialized domains. Moreover, current models exhibit a weak capacity to refuse queries that exceed their parametric knowledge. In this paper, we propose a systematic framework to enhance the refusal capability of VLMs when facing such unknown questions. We first curate a model-specific "Visual-Idk" (Visual-I don't know) dataset, leveraging multi-sample consistency probing to distinguish between known and unknown facts. We then align the model using supervised fine-tuning followed by preference-aware optimization (e.g., DPO, ORPO) to effectively delineate its knowledge boundaries. Results on the Visual-Idk dataset show our method improves the Truthful Rate from 57.9\% to 67.3\%. Additionally, internal probing also demonstrates that the model genuinely recognizes its boundaries instead of just memorizing refusal patterns. Our framework further generalizes to out-of-distribution medical and perceptual domains, providing a robust path toward more trustworthy and prudent visual assistants.