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# CognitiveDrone: A VLA Model and Evaluation Benchmark for Real-Time Cognitive Task Solving and Reasoning in UAVs
## Abstract
This paper introduces *CognitiveDrone*, a novel Vision-Language-Action (VLA) model tailored for complex Unmanned Aerial Vehicles (UAVs) tasks that demand advanced cognitive abilities. Trained on a dataset comprising over 8,000 simulated flight trajectories across three key categories—Human Recognition, Symbol Understanding, and Reasoning—the model generates real-time 4D action commands based on first-person visual inputs and textual instructions. To further enhance performance in intricate scenarios, we propose *CognitiveDrone-R1*, which integrates an additional Vision-Language Model (VLM) reasoning module to simplify task directives prior to high-frequency control. Experimental evaluations using our open-source benchmark, *CognitiveDroneBench*, reveal that while a racing-oriented model (RaceVLA) achieves an overall success rate of 31.3%, the base CognitiveDrone model reaches 59.6%, and CognitiveDrone-R1 attains a success rate of 77.2%. These results demonstrate improvements of up to 30% in critical cognitive tasks, underscoring the effectiveness of incorporating advanced reasoning capabilities into UAV control systems. Our contributions include the development of a state-of-the-art VLA model for UAV control and the introduction of the first dedicated benchmark for assessing cognitive tasks in drone operations. The complete repository is available at [CognitiveDrone](https://cognitivedrone.github.io/).
## Dataset Structure
- **data/rlds/** – Data for training and validation in RLDS format:
- `train/` – Training data.
- **data/benchmark/** – Data for the simulation benchmark:
- `validation` – JSON files for model evaluation.
## Instructions for Use
1. **Training:** Use the data from `data/rlds/train/` for model training.
2. **Evaluation:** Run the simulation benchmark using the files from `data/benchmark/validation/`.
## Links and Bibliography
- **Project Repository:** [CognitiveDrone](https://cognitivedrone.github.io/)
- **Paper:** BibTeX reference will be available soon (coming soon).
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