{"id":"https://openalex.org/W7161727682","doi":"https://doi.org/10.48550/arxiv.2605.17451","title":"DeTrack: A Benchmark and Altitude-Aware Dual World Model for Drone-embodied Tracking","display_name":"DeTrack: A Benchmark and Altitude-Aware Dual World Model for Drone-embodied Tracking","publication_year":2026,"publication_date":"2026-05-17","ids":{"openalex":"https://openalex.org/W7161727682","doi":"https://doi.org/10.48550/arxiv.2605.17451"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.17451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17451","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":null,"license_id":null,"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.2605.17451","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136496962","display_name":"Guyue Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Guyue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136503183","display_name":"Haoming Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Haoming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108925755","display_name":"Siyuan Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Siyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136475694","display_name":"Chenglong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Chenglong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136488136","display_name":"Feng Chen","orcid":"https://orcid.org/0000-0003-0630-6812"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Feng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136490519","display_name":"Jin Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Jin","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/T11133","display_name":"UAV Applications and Optimization","score":0.46059998869895935,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.46059998869895935,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.3991999924182892,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.032999999821186066,"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/benchmark","display_name":"Benchmark (surveying)","score":0.6089000105857849},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5676000118255615},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.546500027179718},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.524399995803833},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5205000042915344},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.5072000026702881},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4269999861717224},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.3758000135421753}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7376000285148621},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6953999996185303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6863999962806702},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6089000105857849},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5676000118255615},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.546500027179718},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.524399995803833},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.5072000026702881},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4269999861717224},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.3758000135421753},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3562000095844269},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.34599998593330383},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.32670000195503235},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.32190001010894775},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.31700000166893005},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.3140000104904175},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2809000015258789},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.2648000121116638},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.26260000467300415},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C176262533","wikidata":"https://www.wikidata.org/wiki/Q4688034","display_name":"Aerial survey","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.17451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17451","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.17451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.17451","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Aerial":[0],"object":[1],"tracking":[2,19,69,123,193],"has":[3],"broad":[4],"applications":[5],"in":[6,57,81,93],"public":[7],"safety,":[8],"emergency":[9],"rescue,":[10],"wildlife":[11],"monitoring,":[12],"and":[13,53,89,113,125,148,159,167,180],"related":[14],"fields.":[15],"However,":[16],"existing":[17],"aerial":[18],"benchmarks":[20],"are":[21,40],"mainly":[22],"based":[23],"on":[24,184],"passive":[25,43],"2D":[26],"video":[27],"sequences":[28],"captured":[29],"from":[30],"fixed":[31],"camera":[32],"locations":[33],"or":[34],"predefined":[35],"flight":[36,91,181],"paths,":[37],"where":[38],"drones":[39],"treated":[41],"as":[42],"cameras":[44],"rather":[45],"than":[46],"embodied":[47],"agents":[48],"that":[49,152,189],"actively":[50],"perceive,":[51],"interact,":[52],"control":[54,92],"their":[55],"motion":[56],"dynamic":[58],"3D":[59,83],"scenes.":[60],"In":[61],"this":[62],"paper,":[63],"we":[64],"define":[65],"a":[66,75,79,94,99],"new":[67],"drone-embodied":[68,139],"task,":[70],"termed":[71],"DeTrack,":[72],"which":[73],"requires":[74],"drone":[76],"to":[77],"track":[78],"target":[80,104,121,178],"interactive":[82],"environments":[84],"using":[85],"online":[86],"egocentric":[87],"observations":[88,166],"active":[90],"closed":[95],"loop.":[96],"We":[97,128],"build":[98],"large-scale":[100],"benchmark":[101,187],"containing":[102],"11,368":[103],"trajectories":[105],"across":[106,195],"diverse":[107],"scenes,":[108],"rendering":[109],"conditions,":[110],"semantic":[111],"regions,":[112],"moving":[114],"distractors,":[115],"together":[116],"with":[117],"evaluation":[118,197],"metrics":[119],"for":[120,138],"visibility,":[122],"accuracy,":[124],"trajectory":[126],"success.":[127],"further":[129],"propose":[130],"AaDWorlds,":[131],"an":[132,144],"altitude-aware":[133,145,165],"dual":[134,149],"world":[135,150],"model":[136],"framework":[137],"tracking.":[140],"AaDWorlds":[141,171,190],"consists":[142],"of":[143],"perception":[146],"module":[147],"models":[151],"imagine":[153],"future":[154,169],"states":[155],"under":[156],"both":[157],"high-":[158],"low-altitude":[160],"regimes.":[161],"By":[162],"combining":[163],"pseudo":[164],"imagined":[168],"states,":[170],"alleviates":[172],"the":[173,185],"intrinsic":[174],"altitude-mediated":[175],"contradiction":[176],"between":[177],"visibility":[179],"safety.":[182],"Experiments":[183],"DeTrack":[186],"demonstrate":[188],"improves":[191],"closed-loop":[192],"performance":[194],"all":[196],"metrics.":[198]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-20T00:00:00"}
