# Lightweight Structured Multimodal Reasoning for Clinical Scene Understanding in Robotics

arXiv: https://arxiv.org/abs/2509.22014 · HTML: https://mlsanity.com/paper/2509.22014/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Clinical and biomedical applications, one of 17 directions in LLM reasoning.
- Builds on 20 of its 34 references that are in the map.
- First posted on arXiv 26 Sep 2025.

## Placed in

- LLM reasoning / [Clinical and biomedical applications](https://mlsanity.com/lr/clinical-and-biomedical-applications/)

## Builds on (most cited first, 20 of 20)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena](https://mlsanity.com/paper/2306.05685/) (2023)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [Video-MME: The First-Ever Comprehensive Evaluation Benchmark of Multi-modal LLMs in Video Analysis](https://mlsanity.com/paper/2405.21075/) (2024)
- [VideoAgent: Long-form Video Understanding with Large Language Model as Agent](https://mlsanity.com/paper/2403.10517/) (2024)
- [LightRAG: Simple and Fast Retrieval-Augmented Generation](https://mlsanity.com/paper/2410.05779/) (2024)
- [GPT4Scene: Understand 3D Scenes from Videos with Vision-Language Models](https://mlsanity.com/paper/2501.01428/) (2025)
- [Enhancing Video-LLM Reasoning via Agent-of-Thoughts Distillation](https://mlsanity.com/paper/2412.01694/) (2024)
- [MedFrameQA: A Multi-Image Medical VQA Benchmark for Clinical Reasoning](https://mlsanity.com/paper/2505.16964/) (2025)
- [Improving the Reliability of Large Language Models by Leveraging Uncertainty-Aware In-Context Learning](https://mlsanity.com/paper/2310.04782/) (2023)
- [From Efficient Multimodal Models to World Models: A Survey](https://mlsanity.com/paper/2407.00118/) (2024)
- [From Standalone LLMs to Integrated Intelligence: A Survey of Compound Al Systems](https://mlsanity.com/paper/2506.04565/) (2025)
- [ViQAgent: Zero-Shot Video Question Answering via Agent with Open-Vocabulary Grounding Validation](https://mlsanity.com/paper/2505.15928/) (2025)
- [Enhancing Surgical Documentation through Multimodal Visual-Temporal Transformers and Generative AI](https://mlsanity.com/paper/2504.19918/) (2025)

## Abstract (arXiv)

Healthcare robotics requires robust multimodal perception and reasoning to ensure safety in dynamic clinical environments. Current Vision-Language Models (VLMs) demonstrate strong general-purpose capabilities but remain limited in temporal reasoning, uncertainty estimation, and structured outputs needed for robotic planning. We present a lightweight agentic multimodal framework for video-based scene understanding. Combining the Qwen2.5-VL-3B-Instruct model with a SmolAgent-based orchestration layer, it supports chain-of-thought reasoning, speech-vision fusion, and dynamic tool invocation. The framework generates structured scene graphs and leverages a hybrid retrieval module for interpretable and adaptive reasoning. Evaluations on the Video-MME benchmark and a custom clinical dataset show competitive accuracy and improved robustness compared to state-of-the-art VLMs, demonstrating its potential for applications in robot-assisted surgery, patient monitoring, and decision support.