Autonomous aerial vehicles (AAVs) enable data collection for sixth-generation Internet-of-Things networks, but their trajectories couple nonlinear wireless rates with long-horizon service progress. This paper views the evolution of AAV kinematics, channel state, and user backlog as a structured differentiable world model and develops Learn for Variation (L4V) to exploit that model efficiently. L4V replaces a discontinuous completion-time objective with a cumulative-backlog surrogate, unrolls the mission dynamics, and propagates pathwise sensitivities to a neural policy through the discrete adjoint recursion. The resulting derivative is exact conditional on a fixed exogenous-noise realization; stochastic expected-objective optimization still requires sampling. We show that the structured adjoint grows at most polynomially with the horizon and establish a stationary-point rate for fixed-step full-gradient descent under standard smoothness assumptions. The framework also learns shared OFDMA allocation under reparameterized shadowing and Rician fading, while distributional pretraining amortizes model-based optimization into forward-only deployment on unseen layouts. Paired stress tests cover channel-generator mismatch, noisy partial observations, a fixed-resource two-AAV extension, and a circular no-fly region. Code and configurations are available at https://github.com/UNIC-Lab/L4V-AAV. Against genetic-algorithm, DQN, A2C, DDPG, and differentiable model-predictive-control implementations, L4V reduces mission time by up to $65\%$, executes a default mission in $53$ ms, and completes all $60$ frozen-policy tests after pretraining on $1{,}600$ layouts.

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