{"id":"https://openalex.org/W7163024005","doi":"https://doi.org/10.48550/arxiv.2605.31066","title":"Can Aerial VLA Models Cooperate? Evaluating Closed-Loop Air-Ground Coordination with CARLA-Air","display_name":"Can Aerial VLA Models Cooperate? Evaluating Closed-Loop Air-Ground Coordination with CARLA-Air","publication_year":2026,"publication_date":"2026-05-29","ids":{"openalex":"https://openalex.org/W7163024005","doi":"https://doi.org/10.48550/arxiv.2605.31066"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.31066","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31066","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":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.2605.31066","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137541719","display_name":"Tianle Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Tianle","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132729152","display_name":"Yanci Wen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Yanci","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039001300","display_name":"Xueang Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Xueang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137546267","display_name":"Hong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hong","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":0.2526000142097473,"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":0.2526000142097473,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.2013999968767166,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.08449999988079071,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3961000144481659},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.3727000057697296},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.3481999933719635},{"id":"https://openalex.org/keywords/action-recognition","display_name":"Action recognition","score":0.34389999508857727},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.3418000042438507},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.33469998836517334}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6410999894142151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44589999318122864},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3961000144481659},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3727000057697296},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37059998512268066},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3481999933719635},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.34389999508857727},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C2985963534","wikidata":"https://www.wikidata.org/wiki/Q7603704","display_name":"State information","level":3,"score":0.31369999051094055},{"id":"https://openalex.org/C46399941","wikidata":"https://www.wikidata.org/wiki/Q181517","display_name":"Theodolite","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.30090001225471497},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29429998993873596},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.287200003862381},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.27900001406669617},{"id":"https://openalex.org/C176262533","wikidata":"https://www.wikidata.org/wiki/Q4688034","display_name":"Aerial survey","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27810001373291016},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2734000086784363},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.31066","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31066","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":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.2605.31066","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.31066","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5308554172515869,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"aerial":[1,99,119],"vision-language-action":[2],"(VLA)":[3],"models":[4,121],"show":[5,116],"promising":[6],"single-UAV":[7],"capabilities,":[8],"such":[9],"as":[10],"tracking":[11],"moving":[12],"objects":[13],"and":[14,34,60,75,84,90,101,111,146,155,189],"navigating":[15],"to":[16,28,132,151],"language-specified":[17],"landmarks.":[18],"However,":[19],"it":[20],"remains":[21],"unclear":[22],"whether":[23],"these":[24],"capabilities":[25],"can":[26,122,156],"transfer":[27],"air-ground":[29,54,174],"cooperation,":[30],"where":[31],"a":[32,35,41,52,127],"UAV":[33],"UGV":[36],"must":[37],"act":[38],"jointly":[39],"in":[40],"shared,":[42],"closed-loop":[43],"physical":[44],"world.":[45],"We":[46],"study":[47],"this":[48,134],"question":[49],"with":[50],"CARLA-Air,":[51,95],"single-process":[53],"evaluation":[55],"environment":[56],"that":[57,117],"unifies":[58],"CARLA":[59],"AirSim":[61],"inside":[62],"one":[63],"Unreal":[64],"Engine":[65],"runtime.":[66],"By":[67],"sharing":[68],"the":[69,167,180],"same":[70],"world":[71],"state,":[72],"physics":[73],"tick,":[74],"sensing":[76],"pipeline,":[77],"CARLA-Air":[78],"enables":[79],"physically":[80],"consistent":[81],"UAV--UGV":[82],"interaction":[83,149],"precise":[85],"measurement":[86],"of":[87],"simulation-timestamp":[88],"alignment":[89],"effective":[91],"coordination":[92],"latency.":[93],"Using":[94],"we":[96],"evaluate":[97],"representative":[98],"VLA":[100,120,175],"planning":[102],"baselines":[103],"on":[104],"two":[105],"complementary":[106],"diagnostic":[107],"tasks:":[108],"moving-platform":[109],"landing":[110],"occlusion-recovery":[112],"escort.":[113],"The":[114],"results":[115],"current":[118,181],"often":[123],"track":[124],"or":[125],"follow":[126],"ground":[128],"partner,":[129],"but":[130],"struggle":[131],"convert":[133],"single-agent":[135],"competence":[136],"into":[137],"stable":[138],"cooperative":[139,173],"behavior.":[140],"State":[141],"prompting":[142],"provides":[143],"limited":[144],"benefit,":[145],"naive":[147],"bidirectional":[148],"fails":[150],"consistently":[152],"improve":[153],"performance":[154],"amplify":[157],"errors":[158],"for":[159],"most":[160],"baselines.":[161],"These":[162],"findings":[163],"suggest":[164],"that,":[165],"under":[166],"tested":[168],"text-based":[169],"cue":[170],"interfaces,":[171],"zero-shot":[172],"requires":[176],"three":[177],"components":[178],"beyond":[179],"paradigm:":[182],"explicit":[183],"partner-state":[184],"grounding,":[185],"low-latency":[186],"action":[187],"coordination,":[188],"team-level":[190],"objective":[191],"alignment.":[192],"Our":[193],"code":[194],"is":[195],"available":[196],"at":[197],"https://github.com/louiszengCN/CarlaAir.":[198]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-02T00:00:00"}