VLM-MPPI: Grounding Natural Language in Behaviorally Diverse Trajectories for Aerial Navigation

arXiv:2609.18451 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Grounding — 10× in this paper · explained in 3 episodes
• Alignment — 8× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Hierarchical Framework — 3× in this paper · explained in 2 episodes
• PID Controller — 3× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Model Predictive Control — 2× in this paper
• Model Predictive Path Integral — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Model Predictive Path Integral (MPPI) — 1× in this paper · explained in 3 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Sampling Biases — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• PaLM-E: An Embodied Multimodal Language Model
• Rethinking Reference Trajectories in Agile Drone Racing: A Unified Reference-Free Model-Based Controller via MPPI
• PA-MPPI: Perception-Aware Model Predictive Path Integral Control for Quadrotor Navigation in Unknown Environments
• AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation
• GPT-4 Technical Report
• Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities
• CLIP-Nav: Using CLIP for Zero-Shot Vision-and-Language Navigation
• Language as Cost: Proactive Hazard Mapping using VLM for Robot Navigation
• UAV-VLPA*: A Vision-Language-Path-Action System for Optimal Route Generation on a Large Scales
• ComposableNav: Instruction-Following Navigation in Dynamic Environments via Composable Diffusion
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

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