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Related Experiment Video

Updated: Jun 3, 2026

Evaluating Flight Performance and Eye Movement Patterns Using Virtual Reality Flight Simulator

Evaluating Flight Performance and Eye Movement Patterns Using Virtual Reality Flight Simulator

Published on: May 19, 2023

AeroVerse: UAV-Agent Benchmark Suite for Simulating, Pre-training, Finetuning, and Evaluating Aerospace Embodied

Fanglong Yao, Yuanchang Yue, Youzhi Liu

IEEE Transactions on Pattern Analysis and Machine Intelligence

|June 1, 2026

Summary

This study introduces AeroVerse, a benchmark suite for aerospace embodied intelligence, enabling autonomous UAVs. The novel SkyAgent model demonstrates superior performance in complex aerial tasks, advancing the field.

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Area of Science:

Aerospace engineering
Artificial intelligence
Robotics

Background:

Existing embodied foundation models are limited to ground-level agents, neglecting UAVs.
Research on UAV intelligent agents lacks standardized benchmarks for development and evaluation.

Purpose of the Study:

To develop AeroVerse, a comprehensive benchmark suite for aerospace embodied foundation models.
To facilitate simulation, pre-training, fine-tuning, and evaluation of UAV intelligence.

Main Methods:

Introduced AeroSimulator for realistic UAV flight simulation in urban environments.
Created AerialAgent-Ego15k (real-world) and CyberAgent-Ego500k (virtual) datasets for pre-training.
Defined five downstream tasks and developed instruction datasets for fine-tuning.
Developed SkyAgent-Eval, a GPT-4 based evaluation system.
Proposed SkyAgent, a UAV-agent large model with novel mechanisms.

Main Results:

Benchmarked ten mainstream models, revealing limitations of current visual-language models for aerospace tasks.
SkyAgent outperformed existing methods by an average of 8.52% across four core tasks.
Demonstrated the effectiveness of the proposed benchmark suite and SkyAgent model.

Conclusions:

The AeroVerse benchmark suite is crucial for advancing aerospace embodied intelligence.
SkyAgent represents a significant step forward in UAV autonomous capabilities.
The developed resources will be released to foster community research.