ActiveFly-Bench: Aligning Embodied Question Answering with Vision-Language-Action for Aerial Embodied Perception
We introduce ActiveFly-Bench, the first benchmark to bridge cyberspace reasoning and physical-world interaction for UAV embodied perception. The benchmark decomposes active perception into three hierarchical tasks: Aerial Embodied Question Answering (Air-EQA), Observation Behavior Planning (OBP), and Fine-grained Language-guided UAV Control (FLUC), explicitly connecting high-level task understanding, behavior planning, and low-level control. The datasets are collected from both real-world and simulated outdoor environments for training and evaluation. We further develop ActiveFly, a closed-loop UAV agent that integrates visual-language reasoning with fine-grained control, and deploy it on...
| Authors | Weichen Zhang, Shiquan Yu, Yinan Zhu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 11 July 2026 |
| Last updated at source | 10 August 2026 |
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