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[Submitted on 22 Sep 2026] Title:Pro-Bench: Prompt-Robust Open-Vocabulary Visual Grounding Across Real-World Heterogeneous Environments View a PDF of the paper titled Pro-Bench: Prompt-Robust Open-Vocabulary Visual Grounding Across Real-World Heterogeneous Environments, by Linus Nwankwo and 4 other authors View PDF HTML (experimental) Abstract:Open-vocabulary visual grounding enables robots to localise task-relevant entities from natural-language queries without dependence on predefined perceptual taxonomies. However, existing benchmarks largely rely on short category labels and web-scraped imagery, leaving it unclear whether open-vocabulary models can robustly ground diverse queries and visual conditions under real deployments. We introduce \textbf{Pro-Bench}, a prompt-conditioned benchmark for open-vocabulary visual grounding in heterogeneous, real-world environments. Pro-Bench includes $13k+$ RGB frames from independent robotic domains (subterranean, industrial, indoor, outdoor, urban), with $74.5k$ manual instance annotations and $515$ target queries covering categorical, attributive, relational, affordance, state, part-whole, negative, and compositional semantics. We benchmarked $16$ open-vocabulary model configurations in strict zero-shot inference, measuring localisation accuracy across IoU thresholds, end-to-end inference latency, prompt-induced performance variation, and target recovery consistency. Our results show that prompt-robustness is strongly architecture-dependent. Most model configurations ($10/16$) perform best with short category labels, whereas free-form queries yield the highest accuracy for only one. Moreover, similar aggregate mAP can conceal substantial differences in consistent target recovery across reformulations. Pro-Bench enables systematic evaluation of these gaps and supports prompt-robust visual grounding. Pro-Bench: this https URL. Subjects: Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO) Cite as: arXiv:2609.27076 [cs.CV] (or arXiv:2609.27076v1 [cs.CV] for this version) https://doi.org/10.48550/arXiv.2609.27076 arXiv-issued DOI via DataCite (pending registration) Submission history From: Linus Nwankwo [view email] [v1] Tue, 22 Sep 2026 21:16:09 UTC (3,840 KB) Full-text links: Access Paper: View a PDF of the paper titled Pro-Bench: Prompt-Robust Open-Vocabulary Visual Grounding Across Real-World Heterogeneous Environments, by Linus Nwankwo and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.CV new | recent | 2026-09 Change to browse by: cs cs.RO References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)