The paper introduces VLN on the Fly, an onboard vision‑language navigation stack for aerial robots that separates grounding, planning, and control into inspectable stages. A quantized vision‑language model grounds instructions to a coarse image cell, depth estimation lifts this to a 3D goal, a fast B‑spline planner generates a feasible trajectory, and a pretrained reinforcement learning policy translates the trajectory into motor commands. In controlled indoor flights, the stack achieved the target in 13 of 15 trials with a mean goal error of 5.72 cm and 39.3% GPU utilization, and successfully tracked collision‑free trajectories in cluttered environments.
By Marco S. Tayar, Felipe Tommaselli, Gianluca Capezutto, Pedro Antonio Rabelo Saraiva, Pedro H. V. de Freitas, Lucas Kido, Guilherme Sonego, Ricardo V. Godoy, Marcelo Becker
arXiv:2606. 01478v1 Announce Type: cross Abstract: High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing the capabilities of robot algorithms.
By Martin Schuck, Marcel P. Rath, Yufei Hua, AbhisheK Goudar, SiQi Zhou, Angela P. Schoellig
arXiv:2607. 25728v1 Announce Type: cross Abstract: This paper presents a cooperative indoor UAV guidance framework that combines a shared voxel-map world model with a multi-agent Soft Actor-Critic (MASAC) controller.
By Thomas Hickling, Dylan Wynne, Yu Su, Nabil Aouf
arXiv:2609.17628v1 Announce Type: cross
Abstract: Active perception allows autonomous agents to select their viewpoints rather than passively process the viewpoints given to them, enabling them to ta...
By \"U. Bora G\"okbakan (WILLOW), St\'ephane Caron (ISIR), Philippe Sou\`eres (LAAS-GEPETTO)
arXiv:2603. 03953v2 Announce Type: replace-cross Abstract: Safe visual navigation is critical for indoor mobile robots operating in cluttered environments.
By Jaewon Lee, Jaeseok Heo, Gunmin Lee, Howoong Jun, Jeongwoo Oh, Songhwai Oh
arXiv:2606. 03963v1 Announce Type: cross Abstract: Deep reinforcement learning has shown strong potential for enabling autonomous robots to learn complex navigational tasks.
By Roohan Ahmed Khan, Yasheerah Yaqoot, Muhammad Ahsan Mustafa, Dzmitry Tsetserukou