{"id":"https://openalex.org/W7141365030","doi":"https://doi.org/10.48550/arxiv.2603.25038","title":"$\u03c0$, But Make It Fly: Physics-Guided Transfer of VLA Models to Aerial Manipulation","display_name":"$\u03c0$, But Make It Fly: Physics-Guided Transfer of VLA Models to Aerial Manipulation","publication_year":2026,"publication_date":"2026-03-26","ids":{"openalex":"https://openalex.org/W7141365030","doi":"https://doi.org/10.48550/arxiv.2603.25038"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.25038","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.25038","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.25038","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044314199","display_name":"Johnathan Tucker","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Tucker, Johnathan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130808817","display_name":"Denis Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Denis","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130736837","display_name":"Aiden Swann","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Swann, Aiden","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130795047","display_name":"Allen Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Allen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076107949","display_name":"Javier Yu","orcid":"https://orcid.org/0000-0002-5552-8780"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Javier","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130775555","display_name":"Jiankai Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Jiankai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130742412","display_name":"Brandon Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Brandon","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130787473","display_name":"Lachlain McGranahan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"McGranahan, Lachlain","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130732302","display_name":"Quan Vuong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vuong, Quan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130759469","display_name":"Mac Schwager","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schwager, Mac","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5044314199"],"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":0.5094000101089478,"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":0.5094000101089478,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.12030000239610672,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.08510000258684158,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5424000024795532},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.48170000314712524},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.4810999929904938},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4803999960422516},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.46059998869895935},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4302000105381012},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3937999904155731},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.36169999837875366},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.34290000796318054},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.3386000096797943}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.777899980545044},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5424000024795532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4952999949455261},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.48170000314712524},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.4810999929904938},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4803999960422516},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.46059998869895935},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4302000105381012},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3937999904155731},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.3386000096797943},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33000001311302185},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.31279999017715454},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.3118000030517578},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.31139999628067017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30160000920295715},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.28439998626708984},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.28200000524520874},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2800000011920929},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2791000008583069},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2784000039100647},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C2779726219","wikidata":"https://www.wikidata.org/wiki/Q7685884","display_name":"Target acquisition","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2567000091075897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2567000091075897},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.25459998846054077},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.25038","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.25038","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.25038","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.25038","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2,18],"such":[3],"as":[4,214,216],"$\u03c0_0$":[5],"have":[6],"demonstrated":[7],"remarkable":[8],"generalization":[9],"across":[10],"diverse":[11],"fixed-base":[12,36],"manipulators.":[13],"However,":[14],"transferring":[15],"these":[16,220],"foundation":[17,90],"to":[19,27,61,120,175,209],"aerial":[20,62,210],"platforms":[21],"remains":[22],"an":[23],"open":[24],"challenge":[25],"due":[26],"the":[28,32,39,56,73,89,104,180,217],"fundamental":[29],"mismatch":[30],"between":[31],"quasi-static":[33],"dynamics":[34,76],"of":[35,44,58,145,219],"arms":[37],"and":[38,204,212],"underactuated,":[40],"highly":[41],"dynamic":[42],"nature":[43],"flight.":[45],"In":[46],"this":[47,84,138],"work,":[48],"we":[49,92,113,178],"introduce":[50,93],"AirVLA,":[51],"a":[52,94,116,130,142,183,188],"system":[53],"that":[54,67,98,137,196],"investigates":[55],"transferability":[57],"manipulation-pretrained":[59],"VLAs":[60],"pick-and-place":[63,170],"tasks.":[64,221],"We":[65,125],"find":[66],"while":[68],"visual":[69],"representations":[70],"transfer":[71,208],"effectively,":[72],"specific":[74],"control":[75],"required":[77],"for":[78],"flight":[79],"do":[80],"not.":[81],"To":[82,109],"bridge":[83],"\"dynamics":[85],"gap\"":[86],"without":[87],"retraining":[88],"model,":[91],"Payload-Aware":[95,166],"Guidance":[96],"mechanism":[97],"injects":[99],"payload":[100],"constraints":[101],"directly":[102,154],"into":[103],"policy's":[105],"flow-matching":[106],"sampling":[107],"process.":[108],"overcome":[110],"data":[111,140,158,202],"scarcity,":[112],"further":[114],"utilize":[115],"Gaussian":[117],"Splatting":[118],"pipeline":[119],"synthesize":[121],"navigation":[122,151],"training":[123],"data.":[124],"evaluate":[126,179],"our":[127],"method":[128],"through":[129],"cumulative":[131],"460":[132],"real-world":[133,169],"experiments":[134],"which":[135],"demonstrate":[136],"synthetic":[139],"is":[141],"key":[143],"enabler":[144],"performance,":[146],"unlocking":[147],"100%":[148],"success":[149,172,191],"in":[150],"tasks":[152],"where":[153],"fine-tuning":[155],"on":[156,182],"teleoperation":[157],"alone":[159],"attains":[160],"81%":[161],"success.":[162],"Our":[163],"inference-time":[164],"intervention,":[165],"Guidance,":[167],"increases":[168],"task":[171],"from":[173],"23%":[174],"50%.":[176],"Finally,":[177],"model":[181],"long-horizon":[184],"compositional":[185],"task,":[186],"achieving":[187],"62%":[189],"overall":[190],"rate.":[192],"These":[193],"results":[194],"suggest":[195],"pre-trained":[197],"manipulation":[198,211],"VLAs,":[199],"with":[200],"appropriate":[201],"augmentation":[203],"physics-informed":[205],"guidance,":[206],"can":[207],"navigation,":[213],"well":[215],"composition":[218]},"counts_by_year":[],"updated_date":"2026-03-28T06:16:51.555046","created_date":"2026-03-28T00:00:00"}