{"id":"https://openalex.org/W7163149488","doi":"https://doi.org/10.48550/arxiv.2606.01205","title":"ImagineUAV: Aerial Vision-Language Navigation via World-Action Modeling and Kinodynamic Planning","display_name":"ImagineUAV: Aerial Vision-Language Navigation via World-Action Modeling and Kinodynamic Planning","publication_year":2026,"publication_date":"2026-05-31","ids":{"openalex":"https://openalex.org/W7163149488","doi":"https://doi.org/10.48550/arxiv.2606.01205"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.01205","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.01205","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.2606.01205","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103120117","display_name":"Xuchen Liu","orcid":"https://orcid.org/0009-0008-9076-4819"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xuchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137699280","display_name":"Jiawei Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137662465","display_name":"Shihao Xia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xia, Shihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137625921","display_name":"Bingxi Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Bingxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137673293","display_name":"Jinqiang Cui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cui, Jinqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137646466","display_name":"Jiankun Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jiankun","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":0.6804999709129333,"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":0.6804999709129333,"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":0.14110000431537628,"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":0.04780000075697899,"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/inference","display_name":"Inference","score":0.5802000164985657},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5777999758720398},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.510699987411499},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.47119998931884766},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4268999993801117},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38179999589920044},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.3546999990940094},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3294999897480011},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3027999997138977}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7021999955177307},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5802000164985657},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5777999758720398},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5608999729156494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5552999973297119},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.510699987411499},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.47119998931884766},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4268999993801117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38179999589920044},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3546999990940094},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34150001406669617},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3294999897480011},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.31790000200271606},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C2987819851","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial imagery","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.29010000824928284},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.28790000081062317},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.2612999975681305}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.01205","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.01205","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.2606.01205","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.01205","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":[],"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":[0],"navigation":[1],"(VLN)":[2],"for":[3],"UAVs":[4],"demands":[5],"grounding":[6],"free-form":[7],"instructions":[8],"into":[9,84],"6-DoF":[10,69],"flight":[11],"under":[12],"partial":[13],"observability.":[14],"While":[15],"Vision-Language-Action":[16],"(VLA)":[17],"models":[18],"excel":[19],"at":[20],"semantic":[21],"reasoning,":[22],"they":[23],"suffer":[24],"from":[25,67],"brittleness":[26],"due":[27],"to":[28,58],"geometric":[29],"inconsistency":[30],"and":[31,103,108],"dynamics":[32],"mismatch.":[33],"To":[34],"address":[35],"this,":[36],"we":[37],"propose":[38],"ImagineUAV,":[39],"an":[40,74],"imagination-driven":[41,115],"framework":[42],"leveraging":[43],"cascaded":[44],"world-action":[45],"modeling.":[46],"Instead":[47],"of":[48,114],"direct":[49],"regression,":[50],"ImagineUAV":[51,99],"employs":[52],"a":[53,88],"latent":[54],"video":[55],"diffusion":[56],"model":[57],"generate":[59],"instruction-conditioned":[60],"future":[61],"observations,":[62],"explicitly":[63],"imagining":[64],"environmental":[65],"evolution,":[66],"which":[68],"motions":[70],"are":[71],"inferred":[72],"via":[73],"action":[75],"extractor.":[76],"A":[77],"kinodynamic":[78],"planner":[79],"then":[80],"refines":[81],"these":[82],"estimates":[83],"collision-free":[85],"trajectories.":[86],"Additionally,":[87],"step-distilled":[89],"inference":[90],"pipeline":[91],"ensures":[92],"real-time":[93],"execution.":[94],"With":[95],"only":[96],"1.3B":[97],"parameters,":[98],"outperforms":[100],"prior":[101],"VLN":[102],"VLA":[104],"baselines":[105],"on":[106],"benchmarks":[107],"real-world":[109],"flights,":[110],"validating":[111],"the":[112],"practicality":[113],"aerial":[116],"navigation.":[117]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-03T00:00:00"}
