Accurate visual localization from aerial views is a fundamental problem with applications in mapping, large-area inspection, and search-and-rescue operations. In many scenarios, these systems require high-precision localization while operating with limited resources (e.g., no internet connection or GNSS/GPS support), making large image databases or heavy 3D models impractical. Surprisingly, little attention has been given to leveraging orthographic geodata as an alternative paradigm, which is lightweight and increasingly available through free releases by governmental authorities (e.g., the European Union). To fill this gap, we propose OrthoLoC, the first large-scale dataset comprising 16,425 UAV images from Germany and the United States with multiple modalities.

We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches operate globally and implicitly rely on the a priori existence of metric camera poses, our method, Rooms from Motion (RfM) operates on a collection of un-posed images. By replacing the standard 2D keypoint-based matcher of structure-from-motion with an object-centric matcher based on image-derived 3D boxes, we estimate metric camera poses, object tracks, and finally produce a global, semantic 3D object map. When a priori pose is available, we can significantly improve map quality through optimization of global 3D boxes against individual observations. RfM shows strong localization performance and subsequently produces maps of higher quality than leading point-based and multi-view 3D object detection methods on CA-1M and ScanNet++, despite these global methods relying on overparameterization through point clouds or dense volumes. Rooms from Motion achieves a general, object-centric representation which not only extends the work of Cubify Anything to full scenes but also allows for inherently sparse localization and parametric mapping proportional to the number of objects in a scene.

Problem(7)isNP-complete. Weshow that there exists apolynomial time reduction from the set cover problem to(7). We construct theM matrix according to the sets A1,...,Am (thei-thcolumnof M isthenonzeropatternof Ai).

Whenlabelsaresemantically complex and multi-modal, it is more natural to assign a label to multiple semantic clusters. In product categorization, for instance, the tag "belt" can be related to a vehicle belt (under "vehicle accessories" category),oraman'sbelt(under "clothing" category).

Large Language Models (LLMs) are increasingly being integrated into various components of Ontology Matching pipelines. This paper investigates the capability of LLMs to perform ontology matching directly on ontology modules and generate the corresponding alignments. Furthermore, it is explored how a dedicated fine-tuning strategy can enhance the model's matching performance in a zero-shot setting. The proposed method incorporates a search space reduction technique to select relevant subsets from both source and target ontologies, which are then used to automatically construct prompts. Recognizing the scarcity of reference alignments for training, a novel LLM-based approach is introduced for generating a synthetic dataset. This process creates a corpus of ontology submodule pairs and their corresponding reference alignments, specifically designed to fine-tune an LLM for the ontology matching task. The proposed approach was evaluated on the Conference, Geolink, Enslaved, Taxon, and Hydrography datasets from the OAEI complex track. The results demonstrate that the LLM fine-tuned on the synthetically generated data exhibits superior performance compared to the non-fine-tuned base model. The key contribution is a strategy that combines automatic dataset generation with fine-tuning to effectively adapt LLMs for ontology matching tasks.

Recent advances in Large Language Models (LLMs) and multimodal foundation models have significantly broadened their application in robotics and collaborative systems. However, effective multi-agent interaction necessitates robust perspective-taking capabilities, enabling models to interpret both physical and epistemic viewpoints. Current training paradigms often neglect these interactive contexts, resulting in challenges when models must reason about the subjectivity of individual perspectives or navigate environments with multiple observers. This study evaluates whether explicitly incorporating diverse points of view using the ReAct framework, an approach that integrates reasoning and acting, can enhance an LLM's ability to understand and ground the demands of other agents. We extend the classic Director task by introducing active visual exploration across a suite of seven scenarios of increasing perspective-taking complexity. These scenarios are designed to challenge the agent's capacity to resolve referential ambiguity based on visual access and interaction, under varying state representations and prompting strategies, including ReAct-style reasoning. Our results demonstrate that explicit perspective cues, combined with active exploration strategies, significantly improve the model's interpretative accuracy and collaborative effectiveness.

Iterated reference games - in which players repeatedly pick out novel referents using language - present a test case for agents' ability to perform context-sensitive pragmatic reasoning in multi-turn linguistic environments. We tested humans and vision-language models on trials from iterated reference games, varying the given context in terms of amount, order, and relevance. Without relevant context, models were above chance but substantially worse than humans. However, with relevant context, model performance increased dramatically over trials. Few-shot reference games with abstract referents remain a difficult task for machine learning models.

We investigate the linguistic abilities of multimodal large language models in reference resolution tasks featuring simple yet abstract visual stimuli, such as color patches and color grids. Although the task may not seem challenging for today's language models, being straightforward for human dyads, we consider it to be a highly relevant probe of the pragmatic capabilities of MLLMs. Our results and analyses indeed suggest that basic pragmatic capabilities, such as context-dependent interpretation of color descriptions, still constitute major challenges for state-of-the-art MLLMs.

Accurate visual localization from aerial views is a fundamental problem with applications in mapping, large-area inspection, and search-and-rescue operations. In many scenarios, these systems require high-precision localization while operating with limited resources (e.g., no internet connection or GNSS/GPS support), making large image databases or heavy 3D models impractical. Surprisingly, little attention has been given to leveraging orthographic geodata as an alternative paradigm, which is lightweight and increasingly available through free releases by governmental authorities (e.g., the European Union). To fill this gap, we propose OrthoLoC, the first large-scale dataset comprising 16,425 UAV images from Germany and the United States with multiple modalities. The dataset addresses domain shifts between UAV imagery and geospatial data. Its paired structure enables fair benchmarking of existing solutions by decoupling image retrieval from feature matching, allowing isolated evaluation of localization and calibration performance. Through comprehensive evaluation, we examine the impact of domain shifts, data resolutions, and covisibility on localization accuracy. Finally, we introduce a refinement technique called AdHoP, which can be integrated with any feature matcher, improving matching by up to 95% and reducing translation error by up to 63%. The dataset and code are available at: https://deepscenario.github.io/OrthoLoC.

The rapidly growing number of product categories in large-scale e-commerce makes accurate object identification for automated packing in warehouses substantially more difficult. As the catalog grows, intra-class variability and a long tail of rare or visually similar items increase, and when combined with diverse packaging, cluttered containers, frequent occlusion, and large viewpoint changes-these factors amplify discrepancies between query and reference images, causing sharp performance drops for methods that rely solely on 2D appearance features. Thus, we propose RoboEye, a two-stage identification framework that dynamically augments 2D semantic features with domain-adapted 3D reasoning and lightweight adapters to bridge training deployment gaps. In the first stage, we train a large vision model to extract 2D features for generating candidate rankings. A lightweight 3D-feature-awareness module then estimates 3D feature quality and predicts whether 3D re-ranking is necessary, preventing performance degradation and avoiding unnecessary computation. When invoked, the second stage uses our robot 3D retrieval transformer, comprising a 3D feature extractor that produces geometry-aware dense features and a keypoint-based matcher that computes keypoint-correspondence confidences between query and reference images instead of conventional cosine-similarity scoring. Experiments show that RoboEye improves Recall@1 by 7.1% over the prior state of the art (RoboLLM). Moreover, RoboEye operates using only RGB images, avoiding reliance on explicit 3D inputs and reducing deployment costs. The code used in this paper is publicly available at: https://github.com/longkukuhi/RoboEye.