HUGE-Bench: A Benchmark for High-Level UAV Vision-Language-Action Tasks

We present HUGE-Bench, a benchmark for High-LevelUAV Vision–Language–Action (HL-VLA) tasks that tests whether anagent can interpret concise language and execute complex, process-orientedtrajectories with safety awareness. HUGE-Bench comprises 4 real-worlddigital twin scenes, 8 high-level tasks, and 2.56M meters of trajecto-ries, and is built on an aligned 3D Gaussian Splatting (3DGS)–Mesh hy-brid representation that combines photorealistic rendering with collision-capable geometry for scalable generation and collision-aware evaluation.We introduce process-oriented and collision-aware metrics to assess pro-cess fidelity and flight safety. Experiments on representative state-of-the-art VLA models reveal significant gaps in high-level semantic completionand safe execution, highlighting HUGE-Bench as a diagnostic testbed forhigh-level UAV autonomy.