From Local Whole-Body VLA Behaviors to Scene-Scale Aerial Manipulation

arXiv:2609.39670 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Terminology

• Grounding — 12× in this paper · explained in 3 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Alignment — 8× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Unified Framework — 2× in this paper · explained in 5 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• $\pi$, But Make It Fly: Physics-Guided Transfer of VLA Models to Aerial Manipulation
• AutoFly: Vision-Language-Action Model for UAV Autonomous Navigation in the Wild
• UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies
• FutureRTC: Real-Time Robot Execution with Anticipatory-Conditioned Action Chunking
• USS-Nav: Unified Spatio-Semantic Scene Graph for Lightweight UAV Zero-Shot Object Navigation
• From Sketch Prior to Trajectories: A Mission-Oriented Coordinated Navigation Framework for Indoor UAV Swarm
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning

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