![Illustration of a multi-story indoor house layout used in the CapNav benchmark. The diagram asks: “Can [AGENT] go from the basement foyer to the top floor rest area?” The basement foyer (START) is at the bottom left, and the top floor rest area (END) is at the top right. Colored paths show different possible routes through labeled areas including Garage, First Floor Hallway, and Elevator. Icons on the left represent four agent types: a wheelchair user (allowed, green check), a quadruped robot (allowed, green check), a human (allowed, green check), and a sweeping robot (not allowed, red X). Red X markers and warning labels indicate constraints such as “Cannot go up stairs” and “Cannot operate elevator,” showing how different mobility capabilities affect route feasibility.](/media/projects/images/CapNav-Thumbnail.png.500x300_q85_box-135%2C10%2C2826%2C1627_crop_upscale.png)
CapNav
2025 – Present
Xia Su
PhD Student, Computer Science
University of Washington
Xia Su is currently a PhD Student in the Makeability Lab. Xia has been in the lab for 5.7 years. They contributed to 9 projects, including Accessibility Scout, CapNav, and DIAM: Drone-based Indoor Accessibility Mapping, as well as 13 publications. During their time in the lab, Xia mentored 4 Makeability Lab students, including Richard Weiye Zhang, Ruiqi Chen, and Qiaochu (Steve) Liu.
Recent Projects
Accessibility Scout
2024 – Present
DepthScape
2024 – Present
DIAM: Drone-based Indoor Accessibility Mapping
2024 – Present
Recent Papers
CapNav: Benchmarking Vision Language Models on Capability-conditioned Indoor Navigation
CVPR 2026 To Appear
“Does the cafe entrance look accessible? Where is the door?” Towards Geospatial AI Agents for Visual Inquiries
ICCV CV4A11y Workshop 2025
Accessibility Scout: Personalized Accessibility Scans of Built Environments
UIST 2025
Videos
Talks
FlyMeThrough: Human-AI Collaborative 3D Indoor Mapping with Commodity Drones
Sep 30, 2025 | UIST 2025
Busan, South Korea
RASSAR: Room Accessibility and Safety Scanning in Augmented Reality
May 15, 2024 | CHI 2024
Honolulu, Hawaiʻi