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CAVEAT: Recurrent Multimodal Diffusion Planning for Mapless Aerial Exploration

arXiv · AI, language, vision and robotics · article · Sep 6, 2026 · UTC

Can exploratory UAV waypoint sequences be generated from multimodal onboard observations and a fixed-dimensional recurrent internal state without maintaining a persistent global map in the deployed policy? We investigate this question through CAVEAT, a diffusion policy conditioned on a recurrent internal state updated from fused LiDAR, visual, and pose features and trained from trajectories generated by the map-based FUELv2 expert. Rolling inference partially warm-starts consecutive predictions, while a temporary local signed distance field provides heuristic obstacle guidance. Simulation resu

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