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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Edge-Optimized Multimodal Learning for UAV Video Understa...
Yizhan Feng, Hichem Snoussi, Jing Teng, Jian Liu, Yuyang Wang, A · 2026-01-13 · via cs.RO updates on arXiv.org

The demand for real-time visual understanding and interaction in complex scenarios is increasingly critical for unmanned aerial vehicles. However, a significant challenge arises from the contradiction between the high computational cost of large Vision language models and the limited computing resources available on UAV edge devices. To address this challenge, this paper proposes a lightweight multimodal task platform based on BLIP-2, integrated with YOLO-World and YOLOv8-Seg models. This integration extends the multi-task capabilities of BLIP-2 for UAV applications with minimal adaptation and without requiring task-specific fine-tuning on drone data. Firstly, the deep integration of BLIP-2 with YOLO models enables it to leverage the precise perceptual results of YOLO for fundamental tasks like object detection and instance segmentation, thereby facilitating deeper visual-attention understanding and reasoning. Secondly, a content-aware key frame sampling mechanism based on K-Means clustering is designed, which incorporates intelligent frame selection and temporal feature concatenation. This equips the lightweight BLIP-2 architecture with the capability to handle video-level interactive tasks effectively. Thirdly, a unified prompt optimization scheme for multi-task adaptation is implemented. This scheme strategically injects structured event logs from the YOLO models as contextual information into BLIP-2's input. Combined with output constraints designed to filter out technical details, this approach effectively guides the model to generate accurate and contextually relevant outputs for various tasks.