Fusing Perceptual Vision Experts with Multimodal LLMs for Explainable Plant Disease Diagnosis: From Benchmark Imagery to Real-World Robotic Field Validation
Accurate field plant disease diagnosis requires reliable fusion of uncertain and conflicting perceptual evidence. We present the Hybrid Hierarchical Multi-Agent Framework (H$^{2}$MAF), combining decision-level fusion of EfficientNet-B3 and ConvNeXt-Tiny with semantic arbitration by open-weight multimodal large language models (MLLMs), Gemma 4 E4B and Qwen3.5 4B, using structured JSON evidence to generate explainable diagnoses, risk levels, treatment urgency, and financial exposure. (H$^{2}$MAF) is evaluated on 14,364 images (1,370 test images) across PlantDoc (2,922 images, 27 classes) and two non-public, continuously captured Cornell robot-acquired field datasets: Stage 2 (20 GB; 4,215 i...
| Authors | Ranjan Sapkota, Konstantinos I. Roumeliotis, Pengyao Xie et al. |
|---|---|
| Primary category | cs.CV |
| Published | 23 August 2026 |
| Last updated at source | 26 September 2026 |
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