CoralPlan: Observation Skill Selection and Execution for Underwater Robotic Inspection

arXiv:2609.31211 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Adaptation — 9× in this paper · explained in 1 episode
• Accuracy — 6× in this paper · explained in 1 episode
• Active Perception — 4× in this paper · explained in 2 episodes
• Grounding — 4× in this paper · explained in 3 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Adaptivity — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• F1 Score — 1× in this paper · explained in 3 episodes
• Hamming Distance — 1× in this paper · explained in 2 episodes
• Synthetic Data Generation — 1× in this paper · explained in 5 episodes

Sources

• The Coralscapes Dataset: Semantic Scene Understanding in Coral Reefs
• OceanChat: Piloting Autonomous Underwater Vehicles in Natural Language
• CORAL: COntextual Reasoning And Local Planning in A Hierarchical VLM Framework for Underwater Monitoring
• Qwen2.5-VL Technical Report

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