VLMs caption real objects effectively but degrade on 3D-printed fakes in robotic scenes, while some standard metrics fail to detect the factual errors from this domain shift.
IEEE Sensors Journal (2021)
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Fake or Real, Can Robots Tell? Evaluating VLM Robustness to Domain Shift in Single-View Robotic Scene Understanding
VLMs caption real objects effectively but degrade on 3D-printed fakes in robotic scenes, while some standard metrics fail to detect the factual errors from this domain shift.