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ImagineUAV addresses the brittleness of standard Vision-Language-Action models in UAVs by integrating latent video diffusion to simulate environmental evolution before kinodynamic planning refines collision-free trajectories. This approach achieves real-time execution with only 1.3B parameters, outperforming baselines on both benchmarks and physical flights. The work demonstrates that imagination-driven world modeling is a viable path toward robust, instruction-following aerial navigation.
ImagineUAV: Aerial Vision-Language Navigation via World-Action Modeling and Kinodynamic Planning
arXiv:2606.01205v2 Announce Type: replace Abstract: Vision-language navigation (VLN) for UAVs demands grounding free-form instructions into 6-DoF flight under partial observability. While Vision-Language-Action (VLA) models excel at semantic reasoning, they suffer from brittleness due to geometric inconsistency and dynamics mismatch. To address this, we propose ImagineUAV, an imagination-driven framework leveraging cascaded world-action modeling. Instead of direct regression, ImagineUAV employs a latent video diffusion model to generate instruction-conditioned future observations, explicitly imagining environmental evolution, from which 6-DoF motions are inferred via an action extractor. A kinodynamic planner then refines these estimates into collision-free trajectories. Additionally, a step-distilled inference pipeline ensures real-time execution. With only 1.3B parameters, ImagineUAV outperforms prior VLN and VLA baselines on benchmarks and real-world flights, validating the practicality of imagination-driven aerial navigation.
Abstract:Vision-language navigation (VLN) for UAVs demands grounding free-form instructions into 6-DoF flight under partial observability. While Vision-Language-Action (VLA) models excel at semantic reasoning, they suffer from brittleness due to geometric inconsistency and dynamics mismatch. To address this, we propose ImagineUAV, an imagination-driven framework leveraging cascaded world-action modeling. Instead of direct regression, ImagineUAV employs a latent video diffusion model to generate instruction-conditioned future observations, explicitly imagining environmental evolution, from which 6-DoF motions are inferred via an action extractor. A kinodynamic planner then refines these estimates into collision-free trajectories. Additionally, a step-distilled inference pipeline ensures real-time execution. With only 1.3B parameters, ImagineUAV outperforms prior VLN and VLA baselines on benchmarks and real-world flights, validating the practicality of imagination-driven aerial navigation.
Robotics (cs.RO)
arXiv:2606.01205 [cs.RO]
(or arXiv:2606.01205v2 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.01205 Focus to learn more arXiv-issued DOI via DataCite
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