DBFly improves UAV see-and-reach success by adding explicit spatial reasoning steps (direction, diagnosis, maneuver, stop) before predicting waypoints, reporting a 25-point gain over the prior SOTA on the UAV-VLN-FOV benchmark.
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Deliberate Before You Fly: Vision-Guided Spatial Deliberation for UAV See-and-Reach Navigation
DBFly improves UAV see-and-reach success by adding explicit spatial reasoning steps (direction, diagnosis, maneuver, stop) before predicting waypoints, reporting a 25-point gain over the prior SOTA on the UAV-VLN-FOV benchmark.