# Dive into the Scene: Breaking the Perceptual Bottleneck in Vision-Language Decision Making via Focus Plan Generation

arXiv: https://arxiv.org/abs/2606.04046 · HTML: https://mlsanity.com/paper/2606.04046/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in World model-based VLA, one of 13 directions in Vision-language-action models.
- Builds on 35 of its 46 references that are in the map.
- First posted on arXiv 2 Jun 2026.

## Placed in

- Vision-language-action models / [World model-based VLA](https://mlsanity.com/vla/world-model-based-vla/)

## Builds on (most cited first, 30 of 35)

- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Self-Supervised Learning from Images with a Joint-Embedding Predictive Architecture](https://mlsanity.com/paper/2301.08243/) (2023)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://mlsanity.com/paper/2502.19645/) (2025)
- [Object-Centric Learning with Slot Attention](https://mlsanity.com/paper/2006.15055/) (2020)
- [SPICE: Semantic Propositional Image Caption Evaluation](https://mlsanity.com/paper/1607.08822/) (2016)
- [Aligning Large Multimodal Models with Factually Augmented RLHF](https://mlsanity.com/paper/2309.14525/) (2023)
- [SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities](https://mlsanity.com/paper/2401.12168/) (2024)
- [Mitigating Object Hallucinations in Large Vision-Language Models through Visual Contrastive Decoding](https://mlsanity.com/paper/2311.16922/) (2023)
- [Object Hallucination in Image Captioning](https://mlsanity.com/paper/1809.02156/) (2018)
- [BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning](https://mlsanity.com/paper/2202.02005/) (2022)
- [Ferret: Refer and Ground Anything Anywhere at Any Granularity](https://mlsanity.com/paper/2310.07704/) (2023)
- [OPERA: Alleviating Hallucination in Multi-Modal Large Language Models via Over-Trust Penalty and Retrospection-Allocation](https://mlsanity.com/paper/2311.17911/) (2023)
- [Monkey: Image Resolution and Text Label Are Important Things for Large Multi-modal Models](https://mlsanity.com/paper/2311.06607/) (2023)
- [LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models](https://mlsanity.com/paper/2510.13626/) (2025)
- [SPHINX: The Joint Mixing of Weights, Tasks, and Visual Embeddings for Multi-modal Large Language Models](https://mlsanity.com/paper/2311.07575/) (2023)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Detecting and Preventing Hallucinations in Large Vision Language Models](https://mlsanity.com/paper/2308.06394/) (2023)
- [Auto-Encoding Scene Graphs for Image Captioning](https://mlsanity.com/paper/1812.02378/) (2018)
- [Language-Driven Representation Learning for Robotics](https://mlsanity.com/paper/2302.12766/) (2023)
- [Vision-Language-Action (VLA) Models: Concepts, Progress, Applications and Challenges](https://mlsanity.com/paper/2505.04769/) (2025)
- [Plausible May Not Be Faithful: Probing Object Hallucination in Vision-Language Pre-training](https://mlsanity.com/paper/2210.07688/) (2022)
- [GROUNDHOG: Grounding Large Language Models to Holistic Segmentation](https://mlsanity.com/paper/2402.16846/) (2024)
- [Theia: Distilling Diverse Vision Foundation Models for Robot Learning](https://mlsanity.com/paper/2407.20179/) (2024)
- [Multi-Object Hallucination in Vision-Language Models](https://mlsanity.com/paper/2407.06192/) (2024)
- [GEOBench-VLM: Benchmarking Vision-Language Models for Geospatial Tasks](https://mlsanity.com/paper/2411.19325/) (2024)

## Abstract (arXiv)

In embodied vision-language decision making tasks such as robotic manipulation and navigation, Vision-Language and Vision-Language-Action Models (VLMs & VLAs) are powerful tools with different benefits: VLMs are better at long-term planning, while VLAs are better at reactive control. However, their performance is limited by the same perceptual bottleneck: visual hallucinations arise due to the models' inability to distinguish task-relevant objects from distractors. In principle, accurate identification and focus on critical objects while filtering out irrelevant ones is the key to break this limitation. A straightforward solution is one-step focus: directly attending to essential objects. However, this approach proves ineffective because effective focus inherently requires deep scene understanding. To this end, we propose SceneDiver, a coarse-to-fine focus plan generation method for VLMs leveraging their long-term planning abilities, that first constructs a holistic scene graph to establish initial comprehension, then progressively decomposes the task into simpler sub-problems through an iterative cycle of recognition, understanding, and analysis. To enable reactive control, we also design a lightweight adapter for distilling the deliberate focus ability into VLAs. Evaluations on standard embodied AI benchmarks confirm that our method substantially reduces visual hallucinations for both VLMs and VLAs, while preserving computational efficiency in tasks requiring fast execution. Our code and data are released at: https://future-item.github.io/SceneDiver.