AION: Aerial Indoor Object-Goal Navigation Using Dual-Policy Reinforcement Learning

AION is an end-to-end dual-policy reinforcement learning (RL) framework that decouples exploration and goal-reaching behaviors into two specialized policies for vision-based aerial ObjectNav without relying on external localization or global maps.

Files

Checkpoint	Description
AION-g.dat	Goal-reaching model
AION-e.dat	Exploration model

Links

• 📄 Paper: arXiv
• 💻 Code: GitHub

Citation

@article{yan2026aion,
  title={AION: Aerial Indoor Object-Goal Navigation Using Dual-Policy Reinforcement Learning},
  author={Yan, Zichen and Hou, Yuchen and Wang, Shenao and Gao, Yichao and Huang, Rui and Zhao, Lin},
  journal={arXiv preprint arXiv:2601.15614},
  year={2026}
}