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--> [Submitted on 2 Aug 2026] Title:AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization View a PDF of the paper titled AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization, by Peng Xu and 2 other authors View PDF HTML (experimental) Abstract:Vision-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) requires rapid and reactive control in complex 3D environments. Recent minimalist end-to-end paradigms show great promise but typically rely on massive language models containing billions of parameters, incurring prohibitive latency for real-world edge deployment. In this paper, we challenge this parameter-heavy reliance. Comprehensive cross-scale evaluations reveal the critical insight that perception quality fundamentally outweighs language reasoning capacity. We demonstrate that a lightweight 2B model equipped with high-fidelity visual inputs completely matches the overall success rates of massive 7B baselines. However, this minimalist policy exposes a fundamental robustness flaw inherent to pure Behavior Cloning (BC). Lacking explicit negative feedback, the agent fails to internalize robust spatial constraints and exhibits alarming collision rates in out-of-distribution (OOD) scenarios. To overcome this vulnerability without relying on unscalable human annotations, we propose AeroDPO, a zero-cost automated Direct Preference Optimization pipeline driven by deterministic physical simulation state rollback. Upon detecting collisions, the system autonomously rewinds the environment to extract causal reasoning errors as rejected actions, applies decoupled privileged interventions to synthesize collision-avoidance preferred maneuvers, and leverages an offline vision language inspector to filter visual ambiguities. By equipping our 2B model with this automated data flywheel, AeroDPO boosts success rates to 49.16% on unmapped scenarios while drastically suppressing collision rates, establishing a new SOTA for autonomous aerial agents. Comments: 7 pages, 3 figures, 4 tables Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.07557 [cs.RO] (or arXiv:2608.07557v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.07557 arXiv-issued DOI via DataCite Submission history From: Peng Xu [view email] [v1] Sun, 2 Aug 2026 13:32:09 UTC (1,316 KB) Full-text links: Access Paper: View a PDF of the paper titled AeroDPO: Unleashing Lightweight UAV Navigation with High-Fidelity Perception and Automated Preference Optimization, by Peng Xu and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.AI cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)