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Hung-Ting Su

Publications and source records attributed to Hung-Ting Su.

At least 19 recordsLinked to original sources
arXiv2026

FineBench: Benchmarking and Enhancing Vision-Language Models for Fine-grained Human Activity Understanding

Vision-Language Models (VLMs) have demonstrated remarkable capabilities in general video understanding, yet they often struggle with the fine-grained comprehension crucial for real-world applications requiring nuanced interpretation of human actions and interactions. While some recent human-centric benchmarks evaluate aspects of model behaviour such as fairness/ethics, emotion perception, and broader human-centric metrics, they do not combine long-form videos, very dense QA coverage, and frame-level spatial/temporal grounding at scale. To bridge this gap, we introduce FineBench, a human-centric video question answering (VQA) benchmark specifically designed to assess fine-grained understanding. FineBench comprises 199,420 multiple-choice QA pairs densely annotated across 64 long-form videos (15 minutes each), focusing on detailed person movement, person interaction, and object manipulation, including compositional actions. Our extensive evaluation reveals that while proprietary models like GPT-5 achieve respectable performance, current open-source VLMs significantly underperform, struggling particularly with spatial reasoning in multi-person scenes and distinguishing subtle differences in human movements and interactions. To address these identified weaknesses, we propose FineAgent, a modular framework that enhances VLMs by leveraging a Localizer and a Descriptor. Experiments show that FineAgent consistently improves the performance of various open VLMs on FineBench. FineBench provides a rigorous testbed for future research into fine-grained human-centric video understanding, while FineAgent offers a practical approach to enhance such reasoning in current VLMs. Project page and code at https://joslefaure.github.io/assets/html/finebench.html.

cs.CV↗
arXiv2026

SPATIOROUTE: Dynamic Prompt Routing for Zero-Shot Spatial Reasoning

Spatial question answering over egocentric video is a challenging task that requires Vision-Language Models (VLMs) to reason about 3D object positions, scene affordances, and directional relationships, particularly in the zero-shot setting where no task-specific fine-tuning is available. We introduce SpatioRoute, a dynamic prompt generation approach that routes each incoming question to a semantically tailored prompt template -- without any additional training, fine-tuning, or 3D sensor input. SpatioRoute operates in two complementary modes: SpatioRoute-R, a rule-based router that deterministically maps question typologies (e.g., What, Is, How, Can, Which) to specialized prompt templates; and SpatioRoute-L, an LLM-driven approach that generates task-specific prompts from the question and situational context alone, with no video input at routing time. We evaluate SpatioRoute on the SQA3D benchmark across VLMs spanning model families. SpatioRoute achieves consistent overall accuracy gains up to 5% over fixed prompt baselines, establishing a new state-of-the-art for zero-shot video-only spatial VQA without requiring 3D point-cloud inputs. As an additional finding, we observe that Chain-of-Thought (CoT) prompting, implemented via the Think it Twice architecture, consistently degrades performance in this setting on Qwen series models, confirming that question-aware routing is more effective than uniform reasoning instructions for spatial video understanding.

cs.CV↗
arXiv2026

SceneFunRI: Reasoning the Invisible for Task-Driven Functional Object Localization

In real-world scenes, target objects may reside in regions that are not visible. While humans can often infer the locations of occluded objects from context and commonsense knowledge, this capability remains a major challenge for vision-language models (VLMs). To address this gap, we introduce SceneFunRI, a benchmark for Reasoning the Invisible. Based on the SceneFun3D dataset, SceneFunRI formulates the task as a 2D spatial reasoning problem via a semi-automatic pipeline and comprises 855 instances. It requires models to infer the locations of invisible functional objects from task instructions and commonsense reasoning. The strongest baseline model (Gemini 3 Flash) only achieves an CAcc@75 of 15.20, an mIoU of 0.74, and a Dist of 28.65. We group our prompting analysis into three categories: Strong Instruction Prompting, Reasoning-based Prompting, and Spatial Process of Elimination (SPoE). These findings indicate that invisible-region reasoning remains an unstable capability in current VLMs, motivating future work on models that more tightly integrate task intent, commonsense priors, spatial grounding, and uncertainty-aware search.

cs.CV↗
arXiv2026

ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints

Intelligent embodied agents should not simply follow instructions, as real-world environments often involve unexpected conditions and exceptions. However, existing methods usually focus on directly executing instructions, without considering whether the target objects can actually be manipulated, meaning they fail to assess available affordances. To address this limitation, we introduce DynAfford, a benchmark that evaluates embodied agents in dynamic environments where object affordances may change over time and are not specified in the instruction. DynAfford requires agents to perceive object states, infer implicit preconditions, and adapt their actions accordingly. To enable this capability, we introduce ADAPT, a plug-and-play module that augments existing planners with explicit affordance reasoning. Experiments demonstrate that incorporating ADAPT significantly improves robustness and task success across both seen and unseen environments. We also show that a domain-adapted, LoRA-finetuned vision-language model used as the affordance inference backend outperforms a commercial LLM (GPT-4o), highlighting the importance of task-aligned affordance grounding.

cs.AI↗
arXiv2026

VLN-NF: Feasibility-Aware Vision-and-Language Navigation with False-Premise Instructions

Conventional Vision-and-Language Navigation (VLN) benchmarks assume instructions are feasible and the referenced target exists, leaving agents ill-equipped to handle false-premise goals. We introduce VLN-NF, a benchmark with false-premise instructions where the target is absent from the specified room and agents must navigate, gather evidence through in-room exploration, and explicitly output NOT-FOUND. VLN-NF is constructed via a scalable pipeline that rewrites VLN instructions using an LLM and verifies target absence with a VLM, producing plausible yet factually incorrect goals. We further propose REV-SPL to jointly evaluate room reaching, exploration coverage, and decision correctness. To address this challenge, we present ROAM, a two-stage hybrid that combines supervised room-level navigation with LLM/VLM-driven in-room exploration guided by a free-space clearance prior. ROAM achieves the best REV-SPL among compared methods, while baselines often under-explore and terminate prematurely under unreliable instructions. VLN-NF project page can be found at https://vln-nf.github.io/.

cs.RO↗
arXiv2025

Affordance-Guided Coarse-to-Fine Exploration for Base Placement in Open-Vocabulary Mobile Manipulation

In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances, resulting in frequent manipulation failures. We propose Affordance-Guided Coarse-to-Fine Exploration, a zero-shot framework for base placement that integrates semantic understanding from vision-language models (VLMs) with geometric feasibility through an iterative optimization process. Our method constructs cross-modal representations, namely Affordance RGB and Obstacle Map+, to align semantics with spatial context. This enables reasoning that extends beyond the egocentric limitations of RGB perception. To ensure interaction is guided by task-relevant affordances, we leverage coarse semantic priors from VLMs to guide the search toward task-relevant regions and refine placements with geometric constraints, thereby reducing the risk of convergence to local optima. Evaluated on five diverse open-vocabulary mobile manipulation tasks, our system achieves an 85% success rate, significantly outperforming classical geometric planners and VLM-based methods. This demonstrates the promise of affordance-aware and multimodal reasoning for generalizable, instruction-conditioned planning in OVMM.

cs.RO↗
arXiv2025

MovieCORE: COgnitive REasoning in Movies

This paper introduces MovieCORE, a novel video question answering (VQA) dataset designed to probe deeper cognitive understanding of movie content. Unlike existing datasets that focus on surface-level comprehension, MovieCORE emphasizes questions that engage System-2 thinking while remaining specific to the video material. We present an innovative agentic brainstorming approach, utilizing multiple large language models (LLMs) as thought agents to generate and refine high-quality question-answer pairs. To evaluate dataset quality, we develop a set of cognitive tests assessing depth, thought-provocation potential, and syntactic complexity. We also propose a comprehensive evaluation scheme for assessing VQA model performance on deeper cognitive tasks. To address the limitations of existing video-language models (VLMs), we introduce an agentic enhancement module, Agentic Choice Enhancement (ACE), which improves model reasoning capabilities post-training by up to 25%. Our work contributes to advancing movie understanding in AI systems and provides valuable insights into the capabilities and limitations of current VQA models when faced with more challenging, nuanced questions about cinematic content. Our project page, dataset and code can be found at https://joslefaure.github.io/assets/html/moviecore.html.

cs.CL↗
arXiv2024

Unveiling Narrative Reasoning Limits of Large Language Models with Trope in Movie Synopses

Large language models (LLMs) equipped with chain-of-thoughts (CoT) prompting have shown significant multi-step reasoning capabilities in factual content like mathematics, commonsense, and logic. However, their performance in narrative reasoning, which demands greater abstraction capabilities, remains unexplored. This study utilizes tropes in movie synopses to assess the abstract reasoning abilities of state-of-the-art LLMs and uncovers their low performance. We introduce a trope-wise querying approach to address these challenges and boost the F1 score by 11.8 points. Moreover, while prior studies suggest that CoT enhances multi-step reasoning, this study shows CoT can cause hallucinations in narrative content, reducing GPT-4's performance. We also introduce an Adversarial Injection method to embed trope-related text tokens into movie synopses without explicit tropes, revealing CoT's heightened sensitivity to such injections. Our comprehensive analysis provides insights for future research directions.

cs.CL↗
arXiv2024

Revisiting Semi-supervised Adversarial Robustness via Noise-aware Online Robust Distillation

The robust self-training (RST) framework has emerged as a prominent approach for semi-supervised adversarial training. To explore the possibility of tackling more complicated tasks with even lower labeling budgets, unlike prior approaches that rely on robust pretrained models, we present SNORD - a simple yet effective framework that introduces contemporary semi-supervised learning techniques into the realm of adversarial training. By enhancing pseudo labels and managing noisy training data more effectively, SNORD showcases impressive, state-of-the-art performance across diverse datasets and labeling budgets, all without the need for pretrained models. Compared to full adversarial supervision, SNORD achieves a 90% relative robust accuracy under epsilon = 8/255 AutoAttack, requiring less than 0.1%, 2%, and 10% labels for CIFAR-10, CIFAR-100, and TinyImageNet-200, respectively. Additional experiments confirm the efficacy of each component and demonstrate the adaptability of integrating SNORD with existing adversarial pretraining strategies to further bolster robustness.

cs.LG↗
arXiv2024

Context-Aware Replanning with Pre-explored Semantic Map for Object Navigation

Pre-explored Semantic Maps, constructed through prior exploration using visual language models (VLMs), have proven effective as foundational elements for training-free robotic applications. However, existing approaches assume the map's accuracy and do not provide effective mechanisms for revising decisions based on incorrect maps. To address this, we introduce Context-Aware Replanning (CARe), which estimates map uncertainty through confidence scores and multi-view consistency, enabling the agent to revise erroneous decisions stemming from inaccurate maps without requiring additional labels. We demonstrate the effectiveness of our proposed method by integrating it with two modern mapping backbones, VLMaps and OpenMask3D, and observe significant performance improvements in object navigation tasks. More details can be found on the project page: https://care-maps.github.io/

cs.RO↗
arXiv2024

HERMES: temporal-coHERent long-forM understanding with Episodes and Semantics

Long-form video understanding presents unique challenges that extend beyond traditional short-video analysis approaches, particularly in capturing long-range dependencies, processing redundant information efficiently, and extracting high-level semantic concepts. To address these challenges, we propose a novel approach that more accurately reflects human cognition. This paper introduces HERMES: temporal-coHERent long-forM understanding with Episodes and Semantics, featuring two versatile modules that can enhance existing video-language models or operate as a standalone system. Our Episodic COmpressor (ECO) efficiently aggregates representations from micro to semi-macro levels, reducing computational overhead while preserving temporal dependencies. Our Semantics ReTRiever (SeTR) enriches these representations with semantic information by focusing on broader context, dramatically reducing feature dimensionality while preserving relevant macro-level information. We demonstrate that these modules can be seamlessly integrated into existing SOTA models, consistently improving their performance while reducing inference latency by up to 43% and memory usage by 46%. As a standalone system, HERMES achieves state-of-the-art performance across multiple long-video understanding benchmarks in both zero-shot and fully-supervised settings.

cs.CV↗
arXiv2024

Investigating Video Reasoning Capability of Large Language Models with Tropes in Movies

Large Language Models (LLMs) have demonstrated effectiveness not only in language tasks but also in video reasoning. This paper introduces a novel dataset, Tropes in Movies (TiM), designed as a testbed for exploring two critical yet previously overlooked video reasoning skills: (1) Abstract Perception: understanding and tokenizing abstract concepts in videos, and (2) Long-range Compositional Reasoning: planning and integrating intermediate reasoning steps for understanding long-range videos with numerous frames. Utilizing tropes from movie storytelling, TiM evaluates the reasoning capabilities of state-of-the-art LLM-based approaches. Our experiments show that current methods, including Captioner-Reasoner, Large Multimodal Model Instruction Fine-tuning, and Visual Programming, only marginally outperform a random baseline when tackling the challenges of Abstract Perception and Long-range Compositional Reasoning. To address these deficiencies, we propose Face-Enhanced Viper of Role Interactions (FEVoRI) and Context Query Reduction (ConQueR), which enhance Visual Programming by fostering role interaction awareness and progressively refining movie contexts and trope queries during reasoning processes, significantly improving performance by 15 F1 points. However, this performance still lags behind human levels (40 vs. 65 F1). Additionally, we introduce a new protocol to evaluate the necessity of Abstract Perception and Long-range Compositional Reasoning for task resolution. This is done by analyzing the code generated through Visual Programming using an Abstract Syntax Tree (AST), thereby confirming the increased complexity of TiM. The dataset and code are available at: https://ander1119.github.io/TiM

cs.CV↗
arXiv2024

Enhancing Sustainable Urban Mobility Prediction with Telecom Data: A Spatio-Temporal Framework Approach

Traditional traffic prediction, limited by the scope of sensor data, falls short in comprehensive traffic management. Mobile networks offer a promising alternative using network activity counts, but these lack crucial directionality. Thus, we present the TeltoMob dataset, featuring undirected telecom counts and corresponding directional flows, to predict directional mobility flows on roadways. To address this, we propose a two-stage spatio-temporal graph neural network (STGNN) framework. The first stage uses a pre-trained STGNN to process telecom data, while the second stage integrates directional and geographic insights for accurate prediction. Our experiments demonstrate the framework's compatibility with various STGNN models and confirm its effectiveness. We also show how to incorporate the framework into real-world transportation systems, enhancing sustainable urban mobility.

cs.LG↗
arXiv2024

Tracking-Assisted Object Detection with Event Cameras

Event-based object detection has recently garnered attention in the computer vision community due to the exceptional properties of event cameras, such as high dynamic range and no motion blur. However, feature asynchronism and sparsity cause invisible objects due to no relative motion to the camera, posing a significant challenge in the task. Prior works have studied various implicit-learned memories to retain as many temporal cues as possible. However, implicit memories still struggle to preserve long-term features effectively. In this paper, we consider those invisible objects as pseudo-occluded objects and aim to detect them by tracking through occlusions. Firstly, we introduce the visibility attribute of objects and contribute an auto-labeling algorithm to not only clean the existing event camera dataset but also append additional visibility labels to it. Secondly, we exploit tracking strategies for pseudo-occluded objects to maintain their permanence and retain their bounding boxes, even when features have not been available for a very long time. These strategies can be treated as an explicit-learned memory guided by the tracking objective to record the displacements of objects across frames. Lastly, we propose a spatio-temporal feature aggregation module to enrich the latent features and a consistency loss to increase the robustness of the overall pipeline. We conduct comprehensive experiments to verify our method's effectiveness where still objects are retained, but real occluded objects are discarded. The results demonstrate that (1) the additional visibility labels can assist in supervised training, and (2) our method outperforms state-of-the-art approaches with a significant improvement of 7.9% absolute mAP.

cs.CV↗
arXiv2024

Tel2Veh: Fusion of Telecom Data and Vehicle Flow to Predict Camera-Free Traffic via a Spatio-Temporal Framework

Vehicle flow, a crucial indicator for transportation, is often limited by detector coverage. With the advent of extensive mobile network coverage, we can leverage mobile user activities, or cellular traffic, on roadways as a proxy for vehicle flow. However, as counts of cellular traffic may not directly align with vehicle flow due to data from various user types, we present a new task: predicting vehicle flow in camera-free areas using cellular traffic. To uncover correlations within multi-source data, we deployed cameras on selected roadways to establish the Tel2Veh dataset, consisting of extensive cellular traffic and sparse vehicle flows. Addressing this challenge, we propose a framework that independently extracts features and integrates them with a graph neural network (GNN)-based fusion to discern disparities, thereby enabling the prediction of unseen vehicle flows using cellular traffic. This work advances the use of telecom data in transportation and pioneers the fusion of telecom and vision-based data, offering solutions for traffic management.

cs.CV↗
arXiv2024

AED: Adaptable Error Detection for Few-shot Imitation Policy

We introduce a new task called Adaptable Error Detection (AED), which aims to identify behavior errors in few-shot imitation (FSI) policies based on visual observations in novel environments. The potential to cause serious damage to surrounding areas limits the application of FSI policies in real-world scenarios. Thus, a robust system is necessary to notify operators when FSI policies are inconsistent with the intent of demonstrations. This task introduces three challenges: (1) detecting behavior errors in novel environments, (2) identifying behavior errors that occur without revealing notable changes, and (3) lacking complete temporal information of the rollout due to the necessity of online detection. However, the existing benchmarks cannot support the development of AED because their tasks do not present all these challenges. To this end, we develop a cross-domain AED benchmark, consisting of 322 base and 153 novel environments. Additionally, we propose Pattern Observer (PrObe) to address these challenges. PrObe is equipped with a powerful pattern extractor and guided by novel learning objectives to parse discernible patterns in the policy feature representations of normal or error states. Through our comprehensive evaluation, PrObe demonstrates superior capability to detect errors arising from a wide range of FSI policies, consistently surpassing strong baselines. Moreover, we conduct detailed ablations and a pilot study on error correction to validate the effectiveness of the proposed architecture design and the practicality of the AED task, respectively. The AED project page can be found at https://aed-neurips.github.io/.

cs.RO↗
arXiv2024

TelTrans: Applying Multi-Type Telecom Data to Transportation Evaluation and Prediction via Multifaceted Graph Modeling

To address the limitations of traffic prediction from location-bound detectors, we present Geographical Cellular Traffic (GCT) flow, a novel data source that leverages the extensive coverage of cellular traffic to capture mobility patterns. Our extensive analysis validates its potential for transportation. Focusing on vehicle-related GCT flow prediction, we propose a graph neural network that integrates multivariate, temporal, and spatial facets for improved accuracy. Experiments reveal our model's superiority over baselines, especially in long-term predictions. We also highlight the potential for GCT flow integration into transportation systems.

cs.LG↗
arXiv2023

Unsupervised Adversarial Detection without Extra Model: Training Loss Should Change

Adversarial robustness poses a critical challenge in the deployment of deep learning models for real-world applications. Traditional approaches to adversarial training and supervised detection rely on prior knowledge of attack types and access to labeled training data, which is often impractical. Existing unsupervised adversarial detection methods identify whether the target model works properly, but they suffer from bad accuracies owing to the use of common cross-entropy training loss, which relies on unnecessary features and strengthens adversarial attacks. We propose new training losses to reduce useless features and the corresponding detection method without prior knowledge of adversarial attacks. The detection rate (true positive rate) against all given white-box attacks is above 93.9% except for attacks without limits (DF($\infty$)), while the false positive rate is barely 2.5%. The proposed method works well in all tested attack types and the false positive rates are even better than the methods good at certain types.

cs.LG↗