arXiv subjects

Yong Zhao

Publications and source records attributed to Yong Zhao.

3 recordsLinked to original sources

arXiv2026

Towards Embodied Air-Ground Cooperative Object Search: Benchmark, Dataset and Agentic Method

Air-Ground Object Search (AGOS) in urban environments is a challenging embodied task, which requires an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) to jointly search for and verify a specified target vehicle from multi-view visual references. To study this underexplored problem, we introduce AGOS-Bench, the first dedicated benchmark for evaluating whether general-purpose Vision-Language Models (VLMs) can integrate aerial discoveries and ground-level verification through UAV-UGV cooperation. We further provide AGOS-Dataset as the companion resource of exemplary trajectories constructed by an automatic pipeline. It consists of 7.7k episodes for searching objects of diverse categories and attributes, spanning three difficulty levels. To address the AGOS task, we propose AGOS-Agent, a training-free and tool-augmented approach. The agentic method relieves VLMs from complex and dynamic coordination via a deliberate search-handoff-verify cooperation protocol, only demanding VLMs for scene understanding and decision-making. Extensive experiments on nine VLMs show that AGOS-Agent improves overall success rate for eight of the nine evaluated backbones while reducing decision steps for all nine. On the hard split, the SR and SPL of Gemini-3.6-Flash increase from 8.6% to 55.7% and from 7.6% to 44.0%, respectively.

cs.CV↗

arXiv2026

Map the Possibilities: Spatial Belief Fields for Language-Goal Aerial Navigation

Language-goal aerial navigation requires an agent to local- ize a potentially unobserved target from relational instruc- tions and partial observations, and translate this inference into metric actions in large-scale continuous environments. Existing methods often reduce language grounding to one single waypoint or action, prematurely collapsing the spatial uncertainty inherent in incomplete evidence and ambiguous relations. To address this limitation, we introduce SBFNav, a closed-loop navigation framework centered on a language- conditioned Spatial Belief Field (SBF). Unlike ego-centric maps that primarily record what has been observed, SBF rep- resents a task-conditioned distribution over plausible target locations, preserving multiple spatial hypotheses under par- tial evidence. At each step, this distribution is updated from accumulated observations as new evidence becomes avail- able. Built on this representation, SBFNav selects the goal that best aligns with the instruction and observations as a met- ric waypoint for control. Experiments on both the original and revised CityNav benchmarks achieve the best reported overall performance. On the Test Unseen split, our method improves SR from 25.91% to 32.29% and SPL from 19.63% to 30.43%. Ablation studies further confirm the advantages of spatial-belief modeling over single-point prediction.

cs.CV↗

arXiv2026

A Structured Debate-Mixture-of-Agents Framework for Complex Clinical Diagnostic Decision Support

Large language models (LLMs) show potential for medical tasks, but their single-turn question-answer format does not reflect how clinical diagnosis is performed in practice. As a result, they remain limited in complex diagnostic settings. We developed Debate-Mixture-of-Agents (DMoA), a novel multi-agent framework that structures role-based interaction to support iterative diagnostic reasoning. Base models and DMoA were evaluated on 297 rare disease cases and 1,719 challenging cases. Across both datasets, DMoA improved most likely diagnosis accuracy by 10.21 percentage points and safety rate by 11.36 percentage points over GPT-4o baseline. Ablation experiments showed that the gains were not simply due to the use of more models or longer outputs, but also reflected the contribution of the structured workflow. Further analyses examined how framework design, base model choice, and token budget affected performance. DMoA performed better with a 4*2 structure, stronger base models, and a larger token budget. These findings demonstrate the potential of DMoA for clinical tasks and suggest further investigation of multi-agent frameworks.

cs.CL↗