AeroDPO輕量無人機導航技術

Computer Science > Robotics arXiv:2608.

07557 (cs) [Submitted on 2 Aug 2026] Title:AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization Authors:Peng Xu, Chengcheng Wang, Shaohua Wan View a PDF of the paper titled AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization, by Peng Xu and 2 other authors View PDF HTML (experimental) Abstract:Vision-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) requires rapid and reactive control in complex 3D environments.

Recent minimalist end-to-end paradigms show great promise but typically rely on massive language models containing billions of parameters, incurring prohibitive latency for real-world edge deployment.In this paper, we challenge this parameter-heavy reliance.

Comprehensive cross-scale evaluations reveal the critical insight that perception quality fundamentally outweighs language reasoning capacity.We demonstrate that a lightweight 2B model equipped with high-fidelity visual inputs completely matches the overall success rates of massive 7B baselines.

However, this minimalist policy exposes a fundamental robustness flaw inherent to pure Behavior Cloning (BC).Lacking explicit negative feedback, the agent fails to internalize robust spatial constraints and exhibits alarming collision rates in out-of-distribution (OOD) scenarios.

To overcome this vulnerability without relying on unscalable human annotations, we propose AeroDPO, a zero-cost automated Direct Preference Optimization pipeline driven by deterministic physical simulation state rollback.

Upon detecting collisions, the system autonomously rewinds the environment to extract causal reasoning errors as rejected actions, applies decoupled privileged interventions to synthesize collision-avoidance preferred maneuvers, and leverages an offline vision language inspector to filter visual ambiguities.

By equipping our 2B model with this automated data flywheel, AeroDPO boosts success rates to 49.16% on unmapped scenarios while drastically suppressing collision rates, establishing a new SOTA for autonomous aerial agents.Comments: 7 pages, 3 figures, 4 tables Subjects: Robotics (cs.

RO); Artificial Intelligence (cs.AI); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.07557 [cs.RO] (or arXiv:2608.07557v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.

07557 Focus to learn more arXiv-issued DOI via DataCite Submission history From: Peng Xu [view email] [v1] Sun, 2 Aug 2026 13:32:09 UTC (1,316 KB) Full-text links: Access Paper: View a PDF of the paper titled AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization, by Peng Xu and 2 other authorsView PDFHTML (experimental)TeX Source view license Current browse context: cs.

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