5 papers
If, Then, Otherwise: Diagnosing Conditional Branching in Vision-Language Navigation
Seoyoung Lee, Neel P. Bhatt, Pranay Samineni +8
Vision-language navigation agents are often evaluated on their ability to follow route-like instructions toward a fixed goal. Yet, real navigation instructions often depend on obse…
What Objects Enable, Not What They Are: Functional Latent Spaces for Affordance Reasoning
Rohan Siva, Neel P. Bhatt, Yunhao Yang +6
Existing robot planning systems rely on appearance-based reasoning, where visual observations are encoded into latent spaces organized around object appearances (e.g., recognizing…
CIPHER: Culvert Inspection through Pairwise Frame Selection and High-Efficiency Reconstruction
Seoyoung Lee, Zhangyang Wang
Automated culvert inspection systems can help increase the safety and efficiency of flood management operations. As a key step to this system, we present an efficient RGB-based 3D…
Seeing Where to Deploy: Metric RGB-Based Traversability Analysis for Aerial-to-Ground Hidden Space Inspection
Seoyoung Lee, Shaekh Mohammad Shithil, Durgakant Pushp +2
Inspection of confined infrastructure such as culverts often requires accessing hidden spaces whose entrances are reachable primarily from elevated viewpoints. Aerial-ground cooper…
Demystifying the Visual Quality Paradox in Multimodal Large Language Models
Shuo Xing, Lanqing Guo, Hongyuan Hua +5
Recent Multimodal Large Language Models (MLLMs) excel on benchmark vision-language tasks, yet little is known about how input visual quality shapes their responses. Does higher per…