Preprint
Jul 2026
Scene-Q: Confidence-Aware Coarse-to-Fine Querying of 3D Scenes with Selective VLM Reasoning
Indoor mobile robots require open-vocabulary scene understanding that grounds natural-language queries in a consistent 3D map. Many existing systems ultimately rely on cosine-similarity retrieval with contrastive image--text encoders, which is efficient but brittle when labels are near-synonymous or multiple similar in...
Juno Kim, Yesol Park, H. Yoon et al.
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