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VeriFuse: Bounded Vision-Language Arbitration and Reason-Guided Refinement for Cooperative 3D Perception

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Vision-language models (VLMs) have demonstrated strong scene understanding and semantic judgment across diverse tasks, but their appropriate role in cooperative perception remains unclear. Directly asking a VLM to regress 3D detections is unreliable and computationally expensive, whereas using it to select the output of a single source discards useful information from other agents. We introduce VeriFuse, a bounded arbitration framework for vehicle-infrastructure cooperative 3D detection. Each agent first produces detections independently. Around each vehicle and roadside proposal, VeriFuse gen

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