metadata
datasets:
- ZichenYan/AION-dataset-files
license: mit
pipeline_tag: robotics
tags:
- reinforcement-learning
- drones
- aerial-navigation
- object-goal-navigation
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
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}
}