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arXiv · 2607.03146

Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations

Van Huyen Dang·Kabilesh Rajendran·Erdi Sayar·Erdal Kayacan
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Abstract

Vision-language-action (VLA) models open a new path toward intuitive robot control by directly linking perception, language, and action in a single end-to-end framework. Yet for UAVs, practical adoption remains difficult because existing solutions are either computationally heavy or insufficiently capable in complex environments. In this work, we propose a practical expert-distillation pipeline (Exp2VLA) for language-conditioned drone navigation. The core idea is to distill expert behavior, obtained from reinforcement learning, teleoperation, or other controllers, into training data that can be used to fine-tune compact VLA models. This allows existing control strategies to be transferred into a unified language-guided navigation model, reducing manual system integration and lowering the barrier for deploying new robot behaviors. Experiments in both sim-to-sim and simulation-in-the-loop settings across multi-object scenes show that the fine-tuned models can handle varied semantic commands and generalize to unseen target compositions. The proposed framework demonstrates how expert-policy distillation can help mechatronic systems move from specialized control modules toward more flexible and reusable robot intelligence.

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Van Huyen Dang, Kabilesh Rajendran, Erdi Sayar, Erdal Kayacan. 2026-07-03. Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations. https://arxiv.org/abs/2607.03146

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