Feature matching underpins many robotic perception tasks, including visual localization, mapping, SLAM, and autonomous navigation. Existing semi-dense matchers predict confidence on fixed grids, limiting correspondences to predefined locations and requiring costly high-resolution grids for precise localization. We present CoReMatch (Coordinate Refinement Match), a recurrent framework that refines correspondences directly in continuous coordinate space rather than predicting discrete confidence maps. CoReMatch progressively improves correspondence estimates by propagating information across iterations. At the coarse stage, a Deep Aggregated Transformer captures global context and iteratively updates correspondence coordinates, while a lightweight regression head further sharpens their localization. Experiments on indoor and outdoor benchmarks show that CoReMatch strikes a strong balance between accuracy and efficiency, outperforming Efficient LoFTR in accuracy while running more than 10x faster on embedded edge hardware. These results demonstrate that recurrent coordinate refinement offers an efficient and scalable approach to real-time feature matching for robotic perception.
Tool-assisted planning success can reflect external search and verification, leaving a model's unaided planning ability unresolved. We isolate innate planning through complete plans generated in one response without tools or execution feedback. We propose a verifiable framework that decomposes success-weighted plan efficiency as $\mathrm{SPE}=R\times Q\times E$: execution reliability, planning coordination among legal plans, and action economy among completed plans. Trajectory replay and certified optima verify these factors; the joint score includes unsuccessful attempts. We evaluate 8,400 full-plan outputs from seven model conditions on $4\times4$ sliding puzzles, controlling exact horizon and obstacle count in the primary cohort. Models that complete every trial still become less economical at longer horizons, while higher efficiency among completed plans can coexist with poor goal attainment. SPE separates the overall capability hierarchy, while its factors distinguish coordination failure from inefficient completion. The framework makes long-horizon limitations in unaided planning quantitatively verifiable.