{"id":"https://openalex.org/W7134841518","doi":"https://doi.org/10.48550/arxiv.2603.07181","title":"FreeFly-Thinking : Aligning Chain-of-Thought Reasoning with Continuous UAV Navigation","display_name":"FreeFly-Thinking : Aligning Chain-of-Thought Reasoning with Continuous UAV Navigation","publication_year":2026,"publication_date":"2026-03-07","ids":{"openalex":"https://openalex.org/W7134841518","doi":"https://doi.org/10.48550/arxiv.2603.07181"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.07181","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07181","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.07181","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101248250","display_name":"Jiaxu Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Jiaxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128684512","display_name":"Shaobo Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Shaobo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128667461","display_name":"Zhiyuan Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Zhiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128631171","display_name":"Zhenjun Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Zhenjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128666294","display_name":"Tao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Tao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.002300000051036477,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0010999999940395355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6693000197410583},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5601000189781189},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5228999853134155},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4885999858379364},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.39010000228881836},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.37290000915527344}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7408000230789185},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6693000197410583},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5601000189781189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5580999851226807},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5228999853134155},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4885999858379364},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4537999927997589},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4032000005245209},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.39010000228881836},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.35339999198913574},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C2778761605","wikidata":"https://www.wikidata.org/wiki/Q3565782","display_name":"Navigational aid","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.30570000410079956},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.267300009727478},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2572000026702881},{"id":"https://openalex.org/C36301306","wikidata":"https://www.wikidata.org/wiki/Q179435","display_name":"Satellite navigation","level":3,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.07181","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07181","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.07181","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07181","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.6965755820274353,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language":[0],"Navigation":[1,36],"aims":[2],"to":[3,6],"enable":[4],"agents":[5],"understand":[7],"natural":[8,89],"language":[9,61,90],"instructions":[10,62],"and":[11,60,86,102,115],"carry":[12],"out":[13],"appropriate":[14],"navigation":[15,84,119],"actions":[16],"in":[17,29,117],"real-world":[18],"environments.":[19],"Most":[20],"work":[21],"focuses":[22],"on":[23,106],"indoor":[24],"settings,":[25],"with":[26],"little":[27],"research":[28],"complex":[30],"outdoor":[31],"scenes.":[32],"Current":[33],"UAV":[34,56,81,118],"Vision-and-Language":[35],"models":[37],"typically":[38],"act":[39],"as":[40],"black":[41],"boxes":[42],"without":[43],"explicit":[44],"reasoning.":[45],"We":[46,77,94],"introduce":[47],"FreeFly-thinking,":[48],"an":[49],"end-to-end":[50],"VLN":[51],"framework":[52],"that":[53],"converts":[54],"the":[55],"agent's":[57],"egocentric":[58],"images":[59],"into":[63],"a":[64,80,96,110],"series":[65],"of":[66,71,92],"actions,":[67],"inspired":[68],"by":[69,75],"environment":[70],"urban":[72],"architecture":[73],"proposed":[74],"OpenFly.":[76],"first":[78],"construct":[79],"dataset":[82],"for":[83],"task,":[85],"then":[87],"performing":[88],"chain":[91],"thought.":[93],"adopt":[95],"two-stage":[97],"training":[98],"strategy:":[99],"Supervised":[100],"fine-tuning":[101],"Reinforcement":[103],"fine-tuning.":[104],"Experiments":[105],"unseen":[107],"test":[108],"demonstrate":[109],"strong":[111],"performance,":[112],"presenting":[113],"robustness":[114],"efficiency":[116],"issue.":[120]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-11T00:00:00"}