# Understanding visual attention beehind bee-inspired UAV navigation

arXiv: https://arxiv.org/abs/2507.11992 · HTML: https://mlsanity.com/paper/2507.11992/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 63 references that are in the map.
- First posted on arXiv 16 Jul 2025.

## Builds on (most cited first, 6 of 6)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localization](https://mlsanity.com/paper/1610.02391/) (2016)
- [A Unified Approach to Interpreting Model Predictions](https://mlsanity.com/paper/1705.07874/) (2017)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [Fully neuromorphic vision and control for autonomous drone flight](https://mlsanity.com/paper/2303.08778/) (2023)
- [Seeing Through Pixel Motion: Learning Obstacle Avoidance from Optical Flow with One Camera](https://mlsanity.com/paper/2411.04413/) (2024)

## Abstract (arXiv)

Bio-inspired design is often used in autonomous UAV navigation due to the capacity of biological systems for flight and obstacle avoidance despite limited sensory and computational capabilities. In particular, honeybees mainly use the sensory input of optic flow, the apparent motion of objects in their visual field, to navigate cluttered environments. In our work, we train a Reinforcement Learning agent to navigate a tunnel with obstacles using only optic flow as sensory input. We inspect the attention patterns of trained agents to determine the regions of optic flow on which they primarily base their motor decisions. We find that agents trained in this way pay most attention to regions of discontinuity in optic flow, as well as regions with large optic flow magnitude. The trained agents appear to navigate a cluttered tunnel by avoiding the obstacles that produce large optic flow, while maintaining a centered position in their environment, which resembles the behavior seen in flying insects. This pattern persists across independently trained agents, which suggests that this could be a good strategy for developing a simple explicit control law for physical UAVs.