Rendering-Free Lookahead for Question-Guided Active Vision
Active robot vision requires controlling the camera to reveal task-relevant information that is hidden from the current viewpoint. For example, determining what is inside a box may require raising the camera and looking down into it. For viewpoint-dependent question answering, the challenge is to select camera motions that expose the visual evidence needed to answer the question. Although vision-language models (VLMs) can interpret observed images, selecting such motions requires anticipating the usefulness of unseen views. We quantify this usefulness as answerability, a VLM's estimate that a view suffices to answer the question, and present Rendering-Free Lookahead (RFL), a viewpoint-sel...
| Authors | Koya Sakamoto, Daichi Azuma, Shuhei Kurita et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 October 2026 |
| Last updated at source | 8 October 2026 |
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