VLMs achieve 53-97% on rearrangement planning but only 6-45% on occlusion and under 7% on reflections, with failures localized to visual token compression after the vision encoder.
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Do Vision-Language Models Understand 3D Scenes or Just Catalogue Objects?
VLMs achieve 53-97% on rearrangement planning but only 6-45% on occlusion and under 7% on reflections, with failures localized to visual token compression after the vision encoder.