{"id":"https://openalex.org/W7138046390","doi":"https://doi.org/10.48550/arxiv.2603.14786","title":"CORAL: COntextual Reasoning And Local Planning in A Hierarchical VLM Framework for Underwater Monitoring","display_name":"CORAL: COntextual Reasoning And Local Planning in A Hierarchical VLM Framework for Underwater Monitoring","publication_year":2026,"publication_date":"2026-03-16","ids":{"openalex":"https://openalex.org/W7138046390","doi":"https://doi.org/10.48550/arxiv.2603.14786"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14786","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14786","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14786","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129673908","display_name":"Zhenqi Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wu, Zhenqi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057817693","display_name":"Yuanjie Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yuanjie","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129740301","display_name":"Xuesu Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Xuesu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129685181","display_name":"Xiaomin Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Xiaomin","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5129673908"],"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":0.27390000224113464,"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":0.27390000224113464,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.26080000400543213,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.17000000178813934,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5796999931335449},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.548799991607666},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5162000060081482},{"id":"https://openalex.org/keywords/forcing","display_name":"Forcing (mathematics)","score":0.46709999442100525},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46149998903274536},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.39430001378059387},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.37400001287460327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3303999900817871},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.3285999894142151}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6132000088691711},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5796999931335449},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.548799991607666},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5162000060081482},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4814000129699707},{"id":"https://openalex.org/C197115733","wikidata":"https://www.wikidata.org/wiki/Q1003136","display_name":"Forcing (mathematics)","level":2,"score":0.46709999442100525},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46149998903274536},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.39430001378059387},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34150001406669617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3303999900817871},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3269999921321869},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.32600000500679016},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.32339999079704285},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.32269999384880066},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.2874999940395355},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C79367842","wikidata":"https://www.wikidata.org/wiki/Q11292","display_name":"Coral reef","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25540000200271606},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14786","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14786","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":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14786","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14786","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.7633989453315735,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Oyster":[0],"reefs":[1],"are":[2],"critical":[3],"ecosystem":[4],"species":[5],"that":[6,33,59,134],"sustain":[7],"biodiversity,":[8],"filter":[9],"water,":[10],"and":[11,37,166,190],"protect":[12],"coastlines,":[13],"yet":[14],"they":[15],"continue":[16],"to":[17,27,92,119],"decline":[18],"globally.":[19],"Restoring":[20],"these":[21,87,127],"ecosystems":[22],"requires":[23,191],"regular":[24],"underwater":[25,45],"monitoring":[26],"assess":[28],"reef":[29],"health,":[30],"a":[31,49,132,153],"task":[32],"remains":[34],"costly,":[35],"hazardous,":[36],"limited":[38,114],"when":[39,169],"performed":[40],"by":[41,149,179,188],"human":[42],"divers.":[43],"Autonomous":[44],"vehicles":[46],"(AUVs)":[47],"offer":[48],"promising":[50],"alternative,":[51],"but":[52,74],"existing":[53,75],"AUVs":[54],"rely":[55],"on":[56],"geometry-based":[57],"navigation":[58,95],"cannot":[60,104],"interpret":[61],"scene":[62],"semantics.":[63],"Recent":[64],"vision-language":[65],"models":[66],"(VLMs)":[67],"enable":[68],"semantic":[69,137],"reasoning":[70,138],"for":[71,100],"intelligent":[72],"exploration,":[73],"VLM-driven":[76],"systems":[77,88],"adopt":[78],"an":[79],"end-to-end":[80],"paradigm,":[81],"introducing":[82],"three":[83],"key":[84],"limitations.":[85],"First,":[86],"require":[89],"the":[90,173],"VLM":[91,144,194],"generate":[93],"every":[94],"decision,":[96],"forcing":[97],"frequent":[98],"waits":[99],"inference.":[101],"Second,":[102],"VLMs":[103],"model":[105],"robot":[106],"dynamics,":[107],"causing":[108],"collisions":[109,187],"in":[110],"cluttered":[111],"environments.":[112],"Third,":[113],"self-correction":[115],"allows":[116],"small":[117],"deviations":[118],"accumulate":[120],"into":[121],"large":[122],"path":[123],"errors.":[124],"To":[125],"address":[126],"limitations,":[128],"we":[129],"propose":[130],"CORAL,":[131],"framework":[133],"decouples":[135],"high-level":[136,146],"from":[139],"low-level":[140,157],"reactive":[141],"control.":[142],"The":[143],"provides":[145],"exploration":[147],"guidance":[148],"selecting":[150],"waypoints,":[151],"while":[152],"dynamics-based":[154],"planner":[155],"handles":[156],"collision-free":[158],"execution.":[159],"A":[160],"geometric":[161],"verification":[162],"module":[163],"validates":[164],"waypoints":[165],"triggers":[167],"replanning":[168],"needed.":[170],"Compared":[171],"with":[172],"previous":[174],"state-of-the-art,":[175],"CORAL":[176],"improves":[177],"coverage":[178],"14.28%":[180],"percentage":[181],"points,":[182],"or":[183],"17.85%":[184],"relatively,":[185],"reduces":[186],"100%,":[189],"57%":[192],"fewer":[193],"calls.":[195]},"counts_by_year":[],"updated_date":"2026-03-18T06:31:55.123368","created_date":"2026-03-18T00:00:00"}