EAGOR reformulates embodied 360-degree directional reasoning as recursive Bayesian estimation on a spherical manifold using spherical harmonics, achieving training-free, rotation-equivariant target tracking.
Are multimodal large language models ready for omnidirectional spatial reasoning?
8 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
abstract
The 180x360 omnidirectional field of view captured by 360-degree cameras enables their use in a wide range of applications such as embodied AI and virtual reality. Although recent advances in multimodal large language models (MLLMs) have shown promise in visual-spatial reasoning, most studies focus on standard pinhole-view images, leaving omnidirectional perception largely unexplored. In this paper, we ask: Are MLLMs ready for omnidirectional spatial reasoning? To investigate this, we introduce OSR-Bench, the first benchmark specifically designed for this setting. OSR-Bench includes over 153,000 diverse question-answer pairs grounded in high-fidelity panoramic indoor scene maps. It covers key reasoning types including object counting, relative distance, and direction. We also propose a negative sampling strategy that inserts non-existent objects into prompts to evaluate hallucination and grounding robustness. For fine-grained analysis, we design a two-stage evaluation framework assessing both cognitive map generation and QA accuracy using rotation-invariant matching and a combination of rule-based and LLM-based metrics. We evaluate eight state-of-the-art MLLMs, including GPT-4o, Gemini 1.5 Pro, and leading open-source models under zero-shot settings. Results show that current models struggle with spatial reasoning in panoramic contexts, highlighting the need for more perceptually grounded MLLMs. OSR-Bench and code will be released at: https://huggingface.co/datasets/UUUserna/OSR-Bench
years
2026 8representative citing papers
Introduces APRS task and PanoSeeker agent using VLM plus EgoSphere memory for active 360° search and segmentation, outperforming baselines on a new benchmark.
OmniCoT is a new panoramic reasoning benchmark with 6.7K eval, 1K real, and 14.3K training examples plus a two-stage SFT+GRPO training method to enforce global 360-degree consistency.
Authors create ReasonMatch-Bench and DCRL training to boost MLLM performance on wide-baseline matching, reporting gains over baselines while preserving general capabilities.
MLLMs display a large perception-reasoning gap on perspective-conditioned spatial reasoning tasks from omnidirectional images, with sharp accuracy drops on advanced tasks like egocentric rotation, though partial gains are possible via RL reward shaping.
PanoWorld adds spherical spatial cross-attention and pano-native training data to MLLMs for improved spatial reasoning on ERP panoramas, outperforming baselines on new and existing benchmarks.
Imagining in 360° decouples visual search into a single-step probabilistic semantic layout predictor and an actor, removing the need for multi-turn CoT reasoning and trajectory annotations while improving efficiency in 360° environments.
A survey diagnosing panoramic scene understanding as a field that converged on compatibility-preserving geometric adaptation rather than sphere-native modeling, while its evaluation protocols systematically fail to measure spherical understanding.
citing papers explorer
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EAGOR: Embodied Reasoning in Omni-direction
EAGOR reformulates embodied 360-degree directional reasoning as recursive Bayesian estimation on a spherical manifold using spherical harmonics, achieving training-free, rotation-equivariant target tracking.
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Seek to Segment: Active Perception for Panoramic Referring Segmentation
Introduces APRS task and PanoSeeker agent using VLM plus EgoSphere memory for active 360° search and segmentation, outperforming baselines on a new benchmark.
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OmniCoT: A Benchmark for Global and Multi-Step Panoramic Reasoning
OmniCoT is a new panoramic reasoning benchmark with 6.7K eval, 1K real, and 14.3K training examples plus a two-stage SFT+GRPO training method to enforce global 360-degree consistency.
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Eliciting Complex Spatial Reasoning in MLLMs through Wide-Baseline Matching
Authors create ReasonMatch-Bench and DCRL training to boost MLLM performance on wide-baseline matching, reporting gains over baselines while preserving general capabilities.
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Beyond Localization: A Comprehensive Diagnosis of Perspective-Conditioned Spatial Reasoning in MLLMs from Omnidirectional Images
MLLMs display a large perception-reasoning gap on perspective-conditioned spatial reasoning tasks from omnidirectional images, with sharp accuracy drops on advanced tasks like egocentric rotation, though partial gains are possible via RL reward shaping.
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PanoWorld: Towards Spatial Supersensing in 360$^\circ$ Panorama World
PanoWorld adds spherical spatial cross-attention and pano-native training data to MLLMs for improved spatial reasoning on ERP panoramas, outperforming baselines on new and existing benchmarks.
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Beyond Thinking: Imagining in 360$^\circ$ for Humanoid Visual Search
Imagining in 360° decouples visual search into a single-step probabilistic semantic layout predictor and an actor, removing the need for multi-turn CoT reasoning and trajectory annotations while improving efficiency in 360° environments.
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Panoramic Scene Understanding: A Survey from Distortion-Aware Engineering to Sphere-Native Modeling
A survey diagnosing panoramic scene understanding as a field that converged on compatibility-preserving geometric adaptation rather than sphere-native modeling, while its evaluation protocols systematically fail to measure spherical understanding.