Textual grounding is an important but challenging task for human-computer interaction, robotics and knowledge mining.

VOC datasets (e.g., 83.6% mAP on the 2007 set) with the 101-layer ResNet. Meanwhile, our result is achieved at a test-time speed of 170ms per image, 2.5-20

Establishing correspondences across images is at the heart of many Computer Vision algorithms, such as those for wide-baseline stereo, object detection, and image retrieval.

Neural Information Processing Systems http://nips.cc/

To perform outdoor visual navigation and search, a robot may leverage satellite imagery to generate visual priors. This can help inform high-level search strategies, even when such images lack sufficient resolution for target recognition. However, many existing informative path planning or search-based approaches either assume no prior information, or use priors without accounting for how they were obtained. Recent work instead utilizes large Vision Language Models (VLMs) for generalizable priors, but their outputs can be inaccurate due to hallucination, leading to inefficient search. To address these challenges, we introduce Search-TTA, a multimodal test-time adaptation framework with a flexible plug-and-play interface compatible with various input modalities (e.g., image, text, sound) and planning methods (e.g., RL-based). First, we pretrain a satellite image encoder to align with CLIP's visual encoder to output probability distributions of target presence used for visual search. Second, our TTA framework dynamically refines CLIP's predictions during search using uncertainty-weighted gradient updates inspired by Spatial Poisson Point Processes. To train and evaluate Search-TTA, we curate AVS-Bench, a visual search dataset based on internet-scale ecological data containing 380k images and taxonomy data. We find that Search-TTA improves planner performance by up to 30.0%, particularly in cases with poor initial CLIP predictions due to domain mismatch and limited training data. It also performs comparably with significantly larger VLMs, and achieves zero-shot generalization via emergent alignment to unseen modalities. Finally, we deploy Search-TTA on a real UAV via hardware-in-the-loop testing, by simulating its operation within a large-scale simulation that provides onboard sensing.

The first two authors share the contribution equally. Di Lin is the corresponding author of this paper. However, using the intermediate pixels requires extra computation. In Figure 3, we provide the segmentation results with/without using the intermediate pixel. In Table 2, we compare different strategies of using the representative scores in the region interaction. We also study the strategy of using only the representative scores in the region interaction.