# Zhejiang University's Gao Fei team releases CrossFly benchmark: evaluation of cross-indoor-outdoor interactive navigation for drones and a hierarchical VLA baseline

- Source: 深蓝AI · 微信公众号
- Published: 2026-10-20T09:32:00.000Z
- RoboHot: https://robohot.news/en/items/flf6k6rvqolfo3zpw1lv2dj1v
- Original: https://mp.weixin.qq.com/s?__biz=MzY4NjA5NTgyMQ==&mid=2247605942&idx=1&sn=e41967a773d944ee74cfcd952be0062e&chksm=f22cb30394d31ed4dfaf759f175fe6558c5480ecef0a41ea1e11330898969d418f4180c23bbe&scene=126&sessionid=1792503858#rd

## Summary

The Gao Fei team at Zhejiang University, together with Weifen Zhifei, launched the CrossFly benchmark, building 23 reconstructed real-world scenes and 15,263 complete trajectories, covering three task types: indoor, outdoor, and indoor-outdoor cross-domain, accompanied by a hierarchical VLA baseline, CrossFly-Agent; the full simulation dataset, evaluation protocol, and baseline code are all open source.