Preprint
Aug 2026
From Semantic Grounding to Decision Optimization: A Unified Framework for Long-Horizon UAV Vision-Language Navigation
This work presents an instruction-grounded semantic enhancement module that injects object-level semantics and relative spatial cues into the current observation state, and develops a relevance-aware dynamic temporal aggregation strategy that reweights the full history buffer while converting a few high-relevance frames into structured landmark prompts for the decoder.
Ze-Yuan Ma, Jiaxin Chen, Di Huang
· 0 citations