{"id":"https://openalex.org/W7166863384","doi":"https://doi.org/10.48550/arxiv.2606.31654","title":"DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments","display_name":"DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7166863384","doi":"https://doi.org/10.48550/arxiv.2606.31654"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.31654","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31654","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.2606.31654","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139806157","display_name":"Wen Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Wen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113032023","display_name":"Haomin Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Hanfang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139773408","display_name":"Li Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024648893","display_name":"Kangyao Huang","orcid":"https://orcid.org/0000-0002-5708-2620"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Kangyao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139728676","display_name":"Wang Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Wang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139826982","display_name":"Wei Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139824491","display_name":"Jinyuan Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jinyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103870133","display_name":"Liu S","orcid":"https://orcid.org/0000-0001-7255-0982"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Shaoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121595878","display_name":"Hongwei Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Hongwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139744247","display_name":"Bin Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139781564","display_name":"Xiangyang Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Xiangyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139842677","display_name":"Huaping Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Huaping","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":0.8345000147819519,"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":0.8345000147819519,"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":0.04879999905824661,"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":0.02019999921321869,"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/trajectory","display_name":"Trajectory","score":0.8179000020027161},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5785999894142151},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5698000192642212},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.5030999779701233},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43459999561309814},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.36010000109672546},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3474999964237213},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.3402000069618225}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8179000020027161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.661300003528595},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5785999894142151},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5698000192642212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5422000288963318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.534600019454956},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5030999779701233},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43459999561309814},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.36010000109672546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3474999964237213},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3402000069618225},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.3393000066280365},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3012000024318695},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2913999855518341},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2897000014781952},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27720001339912415},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.26579999923706055},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.31654","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31654","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.2606.31654","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.31654","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8104373812675476}],"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],"advances":[1],"in":[2,102],"multimodal":[3],"large":[4],"models":[5],"have":[6],"significantly":[7],"improved":[8],"UAV":[9,42,58,80,89,144],"vision-language":[10],"navigation":[11,38,76,85,180],"(UAV-VLN)":[12],"by":[13,196,211],"enhancing":[14],"high-level":[15,75,84],"perception":[16],"and":[17,54,78,87,106,133,182,204],"reasoning.":[18],"However,":[19],"existing":[20,158],"methods":[21],"mainly":[22],"focus":[23],"on":[24,170],"predicting":[25],"discrete":[26],"actions,":[27],"local":[28,134],"targets,":[29],"or":[30],"sparse":[31],"waypoints,":[32],"while":[33,161,208],"the":[34,51,138,171,186,193],"continuous":[35,69,88],"transition":[36],"from":[37],"intent":[39,86],"to":[40,111,141],"executable":[41,79],"motion":[43,90,145],"remains":[44],"weakly":[45],"modeled.":[46],"This":[47],"motion-interface":[48],"gap":[49],"limits":[50],"continuity,":[52],"stability,":[53],"executability":[55],"of":[56],"generated":[57,139],"trajectories.":[59],"To":[60],"address":[61],"this":[62],"gap,":[63],"we":[64,120],"propose":[65],"DynFly,":[66],"a":[67,92,108],"dynamic-aware":[68,123],"trajectory":[70,94,114,149,183],"generation":[71,95,115,150],"framework":[72,151,160],"that":[73,176],"bridges":[74,83],"reasoning":[77,166],"motion.":[81],"DynFly":[82,177,191],"through":[91],"lightweight":[93],"layer.":[96],"Specifically,":[97],"it":[98],"represents":[99],"expert":[100],"trajectories":[101,140],"B-spline":[103],"control-point":[104],"space":[105],"employs":[107],"Spline-DiT":[109],"generator":[110],"learn":[112],"conditional":[113],"via":[116],"flow":[117],"matching.":[118],"Furthermore,":[119],"introduce":[121],"UAV-oriented":[122],"supervision":[124],"over":[125],"position,":[126],"finite-difference":[127,129],"velocity,":[128],"acceleration,":[130],"heading":[131],"consistency,":[132],"target":[135],"alignment,":[136],"enabling":[137],"better":[142],"satisfy":[143],"characteristics.":[146],"And":[147],"our":[148],"can":[152],"also":[153],"be":[154],"integrated":[155],"with":[156],"an":[157],"UAV-VLN":[159,173],"preserving":[162],"its":[163],"original":[164],"visual-language":[165],"pipeline.":[167],"Extensive":[168],"experiments":[169],"OpenUAV":[172],"benchmark":[174],"show":[175],"improves":[178,192],"both":[179],"performance":[181],"quality.":[184],"On":[185],"Test":[187],"Unseen":[188],"Full":[189],"split,":[190],"strongest":[194],"baseline":[195],"4.69":[197],"NDTW,":[198],"2.40":[199],"SDTW,":[200],"2.14":[201],"SR":[202],"points":[203],"4.87":[205],"OSR":[206],"points,":[207],"reducing":[209],"NE":[210],"4.51":[212],"m.":[213]},"counts_by_year":[],"updated_date":"2026-07-02T06:18:51.028212","created_date":"2026-07-02T00:00:00"}
