arXiv Computer Vision
Detector Confidence Signals Presence Rather Than Occlusion in Cluttered Manipulation
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arXiv AI
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Occlusion for Free: Detecting Occlusion from the Disagreement Between Two Monocular Distance Cues
The paper demonstrates that occlusion can be inferred from the disagreement between two monocular distance cues—apparent height and metric depth—without requiring any occlusion labels or training. By comparing the ordering of these cues, the authors achieve high occlusion detection performance on KITTI and synthetic CARLA scenes, outperforming distance alone. The method relies only on a camera‑only pipeline and a depth model whose errors are close to a pure gain, a condition that can be verified without labels.
arXiv Computer Vision
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WALDO: One-Shot Exemplar-Conditioned Object Detection in Cluttered Scenes
arXiv:2608.28216v1 Announce Type: new Abstract: Locating a specific object instance in a cluttered scene using a single reference image and a short description, and reporting when that instance is ab...
arXiv Computation and Language
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OccludeBench: Can VLMs Find What's Missing?
OccludeBench is a manually curated benchmark that tests vision‑language models (VLMs) on their ability to recover fully occluded objects from remaining visual evidence. The benchmark distinguishes direct cases—requiring recovery from a specific physical cue such as a shadow or reflection—from inferential cases, which rely on broader scene context. Across five VLMs, accuracy averages 42.7 % on direct cases versus 62.7 % on inferential cases, a 20‑point gap, while humans achieve 63.4 % and 68.5 % respectively with no significant gap. The study introduces OccludeTrace, a four‑stage diagnostic that isolates the failure point, revealing that models struggle most when recovering the relevant object from the full image projection. Interventions such as inpaint‑then‑confront reduce the gap to a statistically non‑significant difference for models with image‑generation capabilities.
arXiv AI
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LIBERO-Occ: Evaluating and Improving Vision-Language-Action Models under Scene-Induced Occlusion via Viewpoint Imagination
arXiv:2606. 10862v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models achieve strong performance on standard manipulation benchmarks, but most evaluations assume that task-relevant objects are fully visible.
arXiv Machine Learning
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GroundBench: A Factorized, Counterfactual Benchmark for Locating VLM Affordance Failures
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...
arXiv Computer Vision
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Think-Capture: Active 3D Geometry Acquisition for Spatial Reasoning in Vision-Language Models
Think-Capture is a query‑conditioned framework that selectively acquires 3D geometry for task‑critical objects to improve spatial reasoning in Vision‑Language Models. It uses a 3D toolkit to lift zero‑shot masks into a common coordinate frame, a Symbolic 3D State Abstraction to encode object and camera states as structured text, and Hierarchical Group Relative Policy Optimization to train the VLM on when geometry helps or misleads. The resulting Think‑Capture‑4B model achieves significant gains on MindCube‑Tiny, MMSI‑Bench, and ViewSpatial benchmarks while remaining robust to perturbations and fitting on a single 24 GB GPU.