ForeFly: A Dual-Horizon World Action Model for Aerial Vision-Language Navigation

Aerial Vision-Language Navigation (AVLN) requires UAVs to maintain reliable instruction following over long trajectories in complex 3D environments. However, existing AVLN approaches are predominantly reactive or limited to single-horizon prediction, overlooking complementary future cues across different temporal horizons. To address this limitation, we propose ForeFly, a dual-horizon latent world action model that predicts both a proximal future for local continuity and an adaptive route-critical future for long-range guidance. Horizon-specific foresight queries are primed with recent and route-critical visual memories, providing history-aware context for future prediction. To exploit their distinct roles in action generation, we introduce Foresight-Guided Action Refinement (FGAR), which asymmetrically exploits proximal foresight for local action enhancement and route-critical foresight for feature-wise correction and route-level guidance. Experiments on the TravelUAV and UAV-ON benchmarks show that ForeFly consistently outperforms strong baselines across seen and unseen settings, validating the effectiveness of dual-horizon foresight and FGAR learning. The code is available at: https://github.com/kunhuiW/ForeFly