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

• URL: http://arxiv.org/abs/2607.03146v1
• Date: Fri, 03 Jul 2026 09:37:48 GMT
• Title: Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations
• Abstract summary: Vision-language-action (VLA) models open a new path toward intuitive robot control by directly linking perception, language, and action.<n>We propose a practical expert-distillation pipeline (Exp2VLA) for language-conditioned drone navigation.
• Score: 3.00988853836121
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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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