{"id":"https://openalex.org/W4415142793","doi":"https://doi.org/10.48550/arxiv.2507.12391","title":"Assessing the Value of Visual Input: A Benchmark of Multimodal Large Language Models for Robotic Path Planning","display_name":"Assessing the Value of Visual Input: A Benchmark of Multimodal Large Language Models for Robotic Path Planning","publication_year":2025,"publication_date":"2025-07-16","ids":{"openalex":"https://openalex.org/W4415142793","doi":"https://doi.org/10.48550/arxiv.2507.12391"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2507.12391","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.12391","pdf_url":"https://arxiv.org/pdf/2507.12391","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2507.12391","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081397540","display_name":"Jacinto Colan","orcid":"https://orcid.org/0000-0002-8833-2215"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Colan, Jacinto","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046731206","display_name":"Ana Davila","orcid":"https://orcid.org/0000-0002-2076-6842"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Davila, Ana","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hasegawa, Yasuhisa","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9692000150680542,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6869999766349792},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6671000123023987},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6337000131607056},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5756000280380249},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5677000284194946},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5041000247001648},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.4684000015258789},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.3725999891757965}],"concepts":[{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6869999766349792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6855999827384949},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6671000123023987},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6337000131607056},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5756000280380249},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5677000284194946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5440000295639038},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5041000247001648},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4684000015258789},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3725999891757965},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3709000051021576},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.36959999799728394},{"id":"https://openalex.org/C2983008078","wikidata":"https://www.wikidata.org/wiki/Q863495","display_name":"Grid cell","level":3,"score":0.36730000376701355},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.322299987077713},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.3206000030040741},{"id":"https://openalex.org/C2780878386","wikidata":"https://www.wikidata.org/wiki/Q1659648","display_name":"Visual language","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2750000059604645},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2743000090122223},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25760000944137573}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2507.12391","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.12391","pdf_url":"https://arxiv.org/pdf/2507.12391","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2507.12391","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2507.12391","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2507.12391","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2507.12391","pdf_url":"https://arxiv.org/pdf/2507.12391","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large":[0],"Language":[1],"Models":[2],"(LLMs)":[3],"show":[4],"potential":[5],"for":[6,17,107,139],"enhancing":[7],"robotic":[8,44,144],"path":[9,145],"planning.":[10,146],"This":[11],"paper":[12],"assesses":[13],"visual":[14,69,98],"input's":[15],"utility":[16],"multimodal":[18,30,109,135],"LLMs":[19,31],"in":[20,38,127,143],"such":[21],"tasks":[22],"via":[23],"a":[24,86],"comprehensive":[25],"benchmark.":[26],"We":[27],"evaluated":[28],"15":[29],"on":[32,64,82,114],"generating":[33],"valid":[34],"and":[35,55,111,133],"optimal":[36],"paths":[37,113],"2D":[39],"grid":[40,56],"environments,":[41],"simulating":[42],"simplified":[43],"planning,":[45],"comparing":[46],"text-only":[47],"versus":[48],"text-plus-visual":[49],"inputs":[50],"across":[51],"varying":[52],"model":[53],"sizes":[54],"complexities.":[57],"Our":[58],"results":[59,123],"indicate":[60,124],"moderate":[61],"success":[62],"rates":[63],"simpler":[65,115],"small":[66],"grids,":[67,84],"where":[68],"input":[70],"or":[71],"few-shot":[72],"text":[73,106],"prompting":[74],"offered":[75],"some":[76],"benefits.":[77],"However,":[78],"performance":[79],"significantly":[80],"degraded":[81],"larger":[83,90],"highlighting":[85],"scalability":[87],"challenge.":[88],"While":[89],"models":[91],"generally":[92,118],"achieved":[93],"higher":[94],"average":[95],"success,":[96],"the":[97],"modality":[99],"was":[100],"not":[101],"universally":[102],"dominant":[103],"over":[104],"well-structured":[105],"these":[108],"systems,":[110],"successful":[112],"grids":[116],"were":[117],"of":[119],"high":[120],"quality.":[121],"These":[122],"current":[125],"limitations":[126],"robust":[128],"spatial":[129],"reasoning,":[130],"constraint":[131],"adherence,":[132],"scalable":[134],"integration,":[136],"identifying":[137],"areas":[138],"future":[140],"LLM":[141],"development":[142]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-14T00:00:00"}
