Aerial ManipulationExpert
From Local Whole-Body VLA Behaviors to Scene-Scale Aerial Manipulation
This preprint introduces a framework for scene-scale aerial manipulation on an articulated uncrewed aerial manipulator, combining synthetic whole-body VLA training, measured-progress-aligned trajectory realization, and scene-graph-guided mission composition. In simulation, local skills achieve 39/60 successes under oracle handoff, and full multi-site missions achieve 21/50 (42.0%), while a monolithic whole-task VLA baseline achieves 0/50. Physical trials validate representative tasks without platform demonstrations, reducing risk and data cost for aerial manipulation.