FM-Planner shows Llama-3.1-8B can match A* on simple drone obstacle courses and, after LoRA fine-tuning plus YOLO perception, completes three real indoor flights, though with no statistical baselines.
An efficient rrt-based framework for planning short and smooth wheeled robot motion under kinodynamic constraints,
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FM-Planner: Foundation Model Guided Path Planning for Autonomous Drone Navigation
FM-Planner shows Llama-3.1-8B can match A* on simple drone obstacle courses and, after LoRA fine-tuning plus YOLO perception, completes three real indoor flights, though with no statistical baselines.