Human cognition flexibly draws on a shared perceptual foundation to understand environments, attend to referenced entities, reason about spatial relationships, and act. Endowing aerial robots with an analogous functional organization remains challenging, as existing systems are often specialized for individual capabilities, dependent on offboard computation, or unable to sustain closed-loop operation on resource-constrained platforms. We present OpenFlyV2, a unified onboard vision-language-action architecture that uses a shared vision-language representation to support semantic understanding, language-grounded perception, spatial reasoning, and continuous aerial control within a single model. A compact action expert converts the shared multimodal context into short-horizon flight waypoints, while motion-aware temporal memory and action priors reduce the computational cost of closed-loop execution. We construct \dataset{}, a simulation-based dataset comprising approximately 70,000 navigation trajectories and 60,000 vision-language instruction--response pairs. OpenFlyV2 generates action chunks, each comprising 12 waypoints, entirely onboard at 10 Hz using an NVIDIA Jetson Orin NX. It transfers zero-shot from simulation to physical quadrotor flight, achieving a 48\% navigation success rate across four real-world environments without real-world aerial training data. Extensive results demonstrate that broad vision-language competence and continuous closed-loop flight can coexist within a single model on a resource-constrained aerial platform. Code will be made publicly available at https://github.com/Ideal-ljl/AeroBrain.
Fan Li Northeastern University, Yu Gu, Zhigang Wang Guangzhou University, Fangling Leng Northeastern University, Zhenghao Liu Northeastern University, Ge Yu
Diffusion language models (DLMs) have emerged as a powerful non-autoregressive alternative to GPT-style sequential generation, but suffer from substantial computational overhead due to their iterative parallel denoising. Existing acceleration works cannot accurately detect semantically stabilized tokens and then skip computation, leading to sub-optimal speedup in practice. This paper presents the first systematic study of convergence dynamics in DLMs. Innovative observations include the misalignment between traditionally used scalar detection criterion and the semantic convergence, and the post-peak confidence score, that wastes denoising computation and degrades inference quality. To address these limitations, we propose Ada-DLM, a semantic-aware adaptive denoising framework that encodes the trajectory of scalar confidence scores into an evolution-aware feature vector and then clusters vectors proactively and adaptively identify semantically converged tokens. Furthermore, we incorporate system-level optimizations to maximize runtime efficiency. Experiments show that Ada-DLM consistently outperforms the SOTA competitor, achieving up to 2x speedup and 19% quality improvement. That offers a practical path toward efficient high-quality DLM deployment.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表