---
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
- 📄 Paper: [arXiv](https://arxiv.org/abs/2601.15614)
- 💻 Code: [GitHub](https://github.com/Zichen-Yan/AION)

## Citation
```bibtex
@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}
}
```