DroneGround: Open-Vocabulary Drone Payload Characterization Using Synthetic Data and Grounded Vision-Language Models

arXiv:2609.07780 · cs.CV · Submitted 2026-09-07 · Read on arXiv

cs.CV

Submitted: 2026-09-07

Updated: 2026-09-21

Project page: https://microsoft.github.io/AirSim/image_apis

Terminology

• Grounding — 20× in this paper · explained in 3 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Generalization — 7× in this paper · explained in 13 episodes
• Distribution Shift — 6× in this paper · explained in 5 episodes
• Interpretability — 5× in this paper · explained in 15 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Explainability — 2× in this paper · explained in 3 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Computer Vision — 1× in this paper
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Low-Rank Adaptation (LoRA) — 1× in this paper · explained in 9 episodes
• Multimodal Reasoning — 1× in this paper · explained in 5 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Two-Stage Framework — 1× in this paper · explained in 2 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• You Only Look Once: Unified, Real-Time Object Detection
• Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks
• An Introduction to Vision-Language Modeling
• PaliGemma: A versatile 3B VLM for transfer
• Grounded Language-Image Pre-training
• Cosys-AirSim: A Real-Time Simulation Framework Expanded for Complex Industrial Applications
• Learning Transferable Visual Models From Natural Language Supervision
• LoRA: Low-Rank Adaptation of Large Language Models
• Flamingo: a Visual Language Model for Few-Shot Learning
• YOLO26: Key Architectural Enhancements and Performance Benchmarking for Real-Time Object Detection

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