The paper introduces AeroBelief, a dual‑layer semantic‑spatial belief mapping framework for aerial object goal navigation. It separates broad contextual plausibility (intuition layer) from target‑specific evidence (evidence layer) and fuses them into persistent spatial belief hotspots. The method also employs object‑conditioned visual reasoning and egocentric regional guidance, achieving state‑of‑the‑art success rates on the UAV‑ON benchmark.
By Jianqiang Xiao, Xiang Deng, Yuexuan Sun, Yanjin Wu, Wenbiao Yan, Liqiang Nie
arXiv:2608. 08077v1 Announce Type: new Abstract: Theory of Space framework (ToS) assesses the spatial understanding of curiosity-driven Vision-Language Models (VLMs) under partial observability.
By Gabriele La Malfa, Nitay Alon, Emanuele La Malfa, Reuth Mirsky, Stefan Sarkadi
arXiv:2607. 21400v1 Announce Type: cross Abstract: Vision-and-Language Navigation (VLN) enables embodied agents to follow natural-language instructions.
By Jiabin Lou, Haopeng Wang, Yuanshuai Wang, Xinyu Liu, Xuxin Lv, Yuxin Guo, Lei Huang, Rongye Shi, Wenjun Wu
VABench is a benchmark that tests general‑purpose multimodal large language models (MLLMs) on embodied spatial intelligence by requiring them to observe, reason, act, and revise based on visual demonstrations and active perception. The benchmark includes 14 task families, a fixed model‑agnostic controller, and evaluates models on target localization, spatial relations, and long‑horizon composition tracks without providing privileged object poses or learned action heads. Results show that while the best model achieves perfect target localization, overall task success remains modest, and active camera control and geometric transfer significantly influence performance.
By Zhongbo Zhang, Jiayi Jin, Yifan Wang, Zaibin Zhang, Haiwen Diao, Lijun Wang, Huchuan Lu
The paper introduces AeroBelief, a dual‑layer semantic‑spatial belief mapping framework for aerial object goal navigation. It separates broad contextual plausibility (intuition layer) from target‑specific evidence (evidence layer) and fuses them into persistent spatial belief hotspots, while also employing object‑conditioned visual reasoning and temporally stable regional guidance. Experiments on the UAV‑ON benchmark show AeroBelief outperforms prior methods in success rate, object success rate, and SPL.
arXiv:2609.13308v1 Announce Type: cross
Abstract: A companion evaluation found that naming the target part in a manipulation prompt increased action accuracy by 0.32-0.63 across eight vision-language...
By Sarthak Sattigeri
SceneTeract is a verification interface that separates semantic action understanding from physical feasibility in indoor 3D scenes. It decomposes activities into atomic actions and performs explicit geometric checks to determine executability, providing diagnostic traces for failures. The system reveals widespread functional and accessibility issues in synthetic scenes, shows that existing VLMs over‑predict action feasibility, and improves VLM performance through post‑training with verifier feedback, with benefits that generalize to real‑world scenes.
By L\'eopold Maillard, Francis Engelmann, Tom Durand, Boxiao Pan, Yang You, Leonidas Guibas, Maks Ovsjanikov
arXiv:2607. 08970v1 Announce Type: cross Abstract: Recent benchmarks for VLMs largely assess single- or limited-view perception, leaving untested the core cognitive ability to integrate observations across viewpoints into a coherent, world-centric (allocentric) 3D mental model.
By Hantao Zhang, Jinru Sui, Ed Li, Dirk Bergemann, Zhuoran Yang
VeriFuse is a bounded arbitration framework that integrates vision‑language models (VLMs) into vehicle‑infrastructure cooperative 3D perception. Each agent first generates independent detections, then VeriFuse creates a unified candidate pool of geometric proposals and cross‑source hypotheses. A frozen VLM selects among three actions—SELECT, REFINE, or REJECT—to resolve ambiguity and produce final 3D detections, achieving strong AP50/AP70 scores on the DAIR‑V2X dataset while keeping vehicle‑side BEV AP50 drop minimal under delay.
By Hongyi Lin, Yiyao Liu, Qi Kang, Heye Huang, Yang Liu, Haris Koutsopoulos, Jinhua Zhao
The paper introduces PCSR-Bench, a benchmark of 84,373 question‑answer pairs derived from 2,600 omnidirectional images across 26 indoor environments, designed to evaluate perspective‑conditioned spatial reasoning (PCSR) in multimodal large language models (MLLMs). It reports a significant perception–reasoning gap, with accuracy dropping from 57.59% on limited field‑of‑view reasoning to as low as 0.64% on open‑ended compositional directional chains. An RL‑based diagnostic study on a 7B‑scale model shows that reward shaping can improve performance to 60.06% on a controlled task, indicating partial plasticity of PCSR capabilities.
By Yuangong Chen, Wai Keung Wong, Jiaxing Li, Ioannis Patras, Xu Zheng
arXiv:2609.32292v2 Announce Type: replace-cross
Abstract: Vision-and-language navigation increasingly relies on general-purpose semantic planners, yet translating correct high-level intent into relia...
By Xuekang Yang, Lu Chen, Shuang Luo, Jialing Zhu, Qi Zhang, Yue Gao, Xiang Zhang
The paper introduces the ACE framework, which uses spatially explicit inspection to guide embodied exploration. By combining evidence‑grounded perception with exposure‑informed movement, ACE provides a spatially resolved decision paradigm that improves cue assessment and movement direction. Experiments show ACE boosts navigation task success by 18.0% and exploration efficiency by 10.3% over previous baselines.
By Wenbin Wang, Xiang Bai, Yizhao Wang, Hang Sun, Dong Ren, Jie Qin, Qingquan Li, Bing Wang