Yesol Park

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...