SatNav: A Scalable Benchmark for Long-Horizon UAV Vision-Language Navigation from Satellite Imagery

arXiv:2609.31507 · cs.CV, cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Project page: https://eku127.github.io/SatNav

Terminology

• Benchmark — 39× in this paper · explained in 2 episodes
• Adaptation — 11× in this paper · explained in 1 episode
• Clustering — 9× in this paper · explained in 2 episodes
• Grounding — 9× in this paper · explained in 3 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Action Space — 7× in this paper · explained in 1 episode
• Consistency — 6× in this paper · explained in 3 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Global Token Clustering — 3× in this paper
• Lexical Diversity — 3× in this paper · explained in 2 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Segment Token Clustering — 3× in this paper
• Ablation study — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• CVF International Conference on Computer Vision — 2× in this paper
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Core — 2× in this paper · explained in 2 episodes
• Cosine Similarity — 2× in this paper · explained in 3 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• International Digital Economy Academy — 2× in this paper
• Navigation Error — 2× in this paper
• Temporal consistency — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Visual Grounding — 2× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Agent Memory — 1× in this paper · explained in 1 episode
• Architectural Adaptation — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Contrastive Learning — 1× in this paper · explained in 5 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Empirical Methods in Natural Language Processing — 1× in this paper
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Homogeneity — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Oracle Success — 1× in this paper
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Success Rate — 1× in this paper

Sources

• AirNav: A Large-Scale UAV Vision-and-Language Navigation Dataset with Natural and Diverse Instructions
• Gemini: A Family of Highly Capable Multimodal Models
• HUGE-Bench: A Benchmark for High-Level UAV Vision-Language-Action Tasks
• LongFly: Long-Horizon UAV Vision-and-Language Navigation with Spatiotemporal Context Integration
• VLNVerse: A Benchmark for Vision-Language Navigation with Versatile, Embodied, Realistic Simulation and Evaluation
• SAM 2: Segment Anything in Images and Videos
• StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling
• UAV-VisLoc: A Large-scale Dataset for UAV Visual Localization
• OnFly: Onboard Zero-Shot Aerial Vision-Language Navigation toward Safety and Efficiency

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