Preprint
Sep 2026
VLM-MPPI: Grounding Natural Language in Behaviorally Diverse Trajectories for Aerial Navigation
We present a hierarchical UAV navigation framework that aligns natural-language intent with dynamically feasible flight behaviors in cluttered indoor environments. To bridge the gap between abstract semantics and low-level control, we employ a parallelized ensemble of six behavior-conditioned Model Predictive Path Inte...
Hanbing Zhang, Fang-Guo Zhao, Ze-Rui Li et al.
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