MindEdit-Bench introduces six spatial reasoning tasks from 120 private indoor photo triplets, with two new counterfactual editing tasks where VLMs score 8-31% against 81-97% human accuracy.
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Thinking in space: How multimodal large language models see, remember, and recall spaces
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representative citing papers
SpatialUAV releases a new multi-task benchmark for low-altitude UAV spatial intelligence and demonstrates that existing VLMs exhibit clear weaknesses in cross-view association and geometric reasoning.
A closed-loop self-evolving training system for spatial reasoning in MLLMs that iteratively generates QA pairs matched to the model's current capabilities via confidence feedback, achieving gains with an order of magnitude less data.
Astra couples an RL-trained VLM policy with a view-consistent Bagel-based world simulator to enable agentic imagination during spatial reasoning, yielding benchmark gains on MMSI-Bench and MindCube.
OVO-S-Bench provides 1680 human-annotated questions on 348 videos to measure streaming spatial intelligence in MLLMs across instantaneous perception, spatiotemporal tracking, spatial simulation, and allocentric mapping.
GAMSI is a dual-pathway Geometry-Aware MLLM using Metric-Structure Decoupled Queries and Expert-Guided Visual Grounding on RGB inputs alone, trained on a new 152k-sample MTS dataset to reach SOTA on seven spatial benchmarks.
SpaceDG is the first large-scale benchmark dataset (~1M QA pairs) simulating nine visual degradations in 3DGS-rendered scenes to measure and improve spatial intelligence robustness in MLLMs.
ViSRA boosts MLLM 3D spatial reasoning performance by up to 28.9% on unseen tasks via a plug-and-play video-based agent that extracts explicit spatial cues from expert models without any post-training.
4DThinker enables VLMs to perform dynamic spatial reasoning by thinking with 4D latent mental imagery using new fine-tuning and reinforcement learning methods.
WildDet3D is a promptable 3D detector paired with a new 1M-image dataset across 13.5K categories that sets SOTA on open-world and zero-shot 3D detection benchmarks.
Backward token warping in ViT-based MLLMs enables reliable reasoning from nearby viewpoints by preserving semantic coherence better than pixel-wise warping or fine-tuning baselines.
Presents SpatialScore benchmark for MLLM spatial reasoning, evaluates 49 models showing large human gap, and supplies SpatialCorpus plus SpatialAgent to improve performance.
Vesta is a unified embodied generalist model that outperforms specialist baselines by over 20% on average and improves real-world robotic task success by over 35%.
S-Agent augments VLMs with spatial tools, scene and agent memory for evidence accumulation on multi-view and video tasks, and produces an 8B model via SFT on its own trajectories that beats same-scale baselines.
OneCanvas aggregates multi-view 3D patches onto one panoramic canvas with continuous angular placement and 3D embeddings, enabling pretrained VLMs to achieve SOTA on SQA3D and VSI-Bench with an order of magnitude less compute via a new spatial pretraining curriculum.
SR-REAL equips spatial VLMs with dual LOR and DTR reasoning paths trained via RL, achieving better benchmark performance through mutual reinforcement and generalization without per-task tuning.
IPT supervision improves spatial reasoning in VLMs on perspective taking, path tracing, and multiview counting tasks, often outperforming textual chain-of-thought while remaining consistent with observed inputs.
Q-GeoMem uses question-guided scoring to maintain a Fine-Grained Context Bank and Semantic-Geometric Evidence Bank, achieving SOTA on VSI-Bench and VSTI-Bench.
ProSR adds a Counterfactual Invariance Penalty and a Tail Drift Penalty to shape VLM reasoning trajectories for better visual dependence and stability on spatial tasks.
Cambrian-P adds per-frame camera pose tokens and a regression head to video MLLMs, delivering 4.5-6.5% gains on spatial benchmarks, generalization to other video QA tasks, and SOTA streaming pose estimation on ScanNet.
GeoWeaver performs token-adaptive geometric grounding on visual tokens from a multi-level bank prior to language modeling to support better spatio-temporal reasoning.
SpaceMind++ adds an explicit voxelized allocentric cognitive map and coordinate-guided fusion to video MLLMs, claiming SOTA on VSI-Bench and improved out-of-distribution generalization on three other 3D benchmarks.
MolmoAct2 is an open VLA model that outperforms baselines like Pi-05 on 7 benchmarks and whose backbone surpasses GPT-5 on 13 embodied-reasoning tasks through new datasets, specialized training, and architecture changes for lower latency.
GUIDE unrolls multi-granularity geometric priors layer-wise into early MLLM layers with gating to improve spatial reasoning and perception.
citing papers explorer
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MindEdit-Bench: Benchmarking Object-Level Counterfactual Spatial Reasoning in VLMs from In-the-Wild Photos
MindEdit-Bench introduces six spatial reasoning tasks from 120 private indoor photo triplets, with two new counterfactual editing tasks where VLMs score 8-31% against 81-97% human accuracy.
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SpatialUAV: Benchmarking Spatial Intelligence for Low-Altitude UAV Perception, Collaboration, and Motion
SpatialUAV releases a new multi-task benchmark for low-altitude UAV spatial intelligence and demonstrates that existing VLMs exhibit clear weaknesses in cross-view association and geometric reasoning.
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Ouroboros-Spatial: Closing the Data-Model Loop for Spatial Reasoning
A closed-loop self-evolving training system for spatial reasoning in MLLMs that iteratively generates QA pairs matched to the model's current capabilities via confidence feedback, achieving gains with an order of magnitude less data.
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Thinking with Imagination: Agentic Visual Spatial Reasoning with World Simulators
Astra couples an RL-trained VLM policy with a view-consistent Bagel-based world simulator to enable agentic imagination during spatial reasoning, yielding benchmark gains on MMSI-Bench and MindCube.
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OVO-S-Bench: A Hierarchical Benchmark for Streaming Spatial Intelligence in Multimodal LLMs
OVO-S-Bench provides 1680 human-annotated questions on 348 videos to measure streaming spatial intelligence in MLLMs across instantaneous perception, spatiotemporal tracking, spatial simulation, and allocentric mapping.
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Dual-Pathway Geometry-Aware MLLM for Spatial Intelligence
GAMSI is a dual-pathway Geometry-Aware MLLM using Metric-Structure Decoupled Queries and Expert-Guided Visual Grounding on RGB inputs alone, trained on a new 152k-sample MTS dataset to reach SOTA on seven spatial benchmarks.
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SpaceDG: Benchmarking Spatial Intelligence under Visual Degradation
SpaceDG is the first large-scale benchmark dataset (~1M QA pairs) simulating nine visual degradations in 3DGS-rendered scenes to measure and improve spatial intelligence robustness in MLLMs.
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ViSRA: A Video-based Spatial Reasoning Agent for Multi-modal Large Language Models
ViSRA boosts MLLM 3D spatial reasoning performance by up to 28.9% on unseen tasks via a plug-and-play video-based agent that extracts explicit spatial cues from expert models without any post-training.
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4DThinker: Thinking with 4D Imagery for Dynamic Spatial Understanding
4DThinker enables VLMs to perform dynamic spatial reasoning by thinking with 4D latent mental imagery using new fine-tuning and reinforcement learning methods.
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WildDet3D: Scaling Promptable 3D Detection in the Wild
WildDet3D is a promptable 3D detector paired with a new 1M-image dataset across 13.5K categories that sets SOTA on open-world and zero-shot 3D detection benchmarks.
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Token Warping Helps MLLMs Look from Nearby Viewpoints
Backward token warping in ViT-based MLLMs enables reliable reasoning from nearby viewpoints by preserving semantic coherence better than pixel-wise warping or fine-tuning baselines.
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SpatialScore: Towards Comprehensive Evaluation for Spatial Intelligence
Presents SpatialScore benchmark for MLLM spatial reasoning, evaluates 49 models showing large human gap, and supplies SpatialCorpus plus SpatialAgent to improve performance.
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Vesta: A Generalist Embodied Reasoning Model
Vesta is a unified embodied generalist model that outperforms specialist baselines by over 20% on average and improves real-world robotic task success by over 35%.
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S-Agent: Spatial Tool-Use Elicits Reasoning for Spatial Intelligence
S-Agent augments VLMs with spatial tools, scene and agent memory for evidence accumulation on multi-view and video tasks, and produces an 8B model via SFT on its own trajectories that beats same-scale baselines.
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OneCanvas: 3D Scene Understanding via Panoramic Reprojection
OneCanvas aggregates multi-view 3D patches onto one panoramic canvas with continuous angular placement and 3D embeddings, enabling pretrained VLMs to achieve SOTA on SQA3D and VSI-Bench with an order of magnitude less compute via a new spatial pretraining curriculum.
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Reinforcing Dual-Path Reasoning in Spatial Vision Language Models
SR-REAL equips spatial VLMs with dual LOR and DTR reasoning paths trained via RL, achieving better benchmark performance through mutual reinforcement and generalization without per-task tuning.
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Imaginative Perception Tokens Enhance Spatial Reasoning in Multimodal Language Models
IPT supervision improves spatial reasoning in VLMs on perspective taking, path tracing, and multiview counting tasks, often outperforming textual chain-of-thought while remaining consistent with observed inputs.
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Q-GeoMem: Question-Guided Geometric Memory for Video Spatial Reasoning
Q-GeoMem uses question-guided scoring to maintain a Fine-Grained Context Bank and Semantic-Geometric Evidence Bank, achieving SOTA on VSI-Bench and VSTI-Bench.
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ProSR: Process-Shaped Spatial Reasoning for Reliable Chain-of-Thought in VLMs
ProSR adds a Counterfactual Invariance Penalty and a Tail Drift Penalty to shape VLM reasoning trajectories for better visual dependence and stability on spatial tasks.
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Cambrian-P: Pose-Grounded Video Understanding
Cambrian-P adds per-frame camera pose tokens and a regression head to video MLLMs, delivering 4.5-6.5% gains on spatial benchmarks, generalization to other video QA tasks, and SOTA streaming pose estimation on ScanNet.
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GeoWeaver: Grounding Visual Tokens with Geometric Evidence before Scene Reasoning
GeoWeaver performs token-adaptive geometric grounding on visual tokens from a multi-level bank prior to language modeling to support better spatio-temporal reasoning.
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SpaceMind++: Toward Allocentric Cognitive Maps for Spatially Grounded Video MLLMs
SpaceMind++ adds an explicit voxelized allocentric cognitive map and coordinate-guided fusion to video MLLMs, claiming SOTA on VSI-Bench and improved out-of-distribution generalization on three other 3D benchmarks.
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MolmoAct2: Action Reasoning Models for Real-world Deployment
MolmoAct2 is an open VLA model that outperforms baselines like Pi-05 on 7 benchmarks and whose backbone surpasses GPT-5 on 13 embodied-reasoning tasks through new datasets, specialized training, and architecture changes for lower latency.
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Let Geometry GUIDE: Layer-wise Unrolling of Geometric Priors in Multimodal LLMs
GUIDE unrolls multi-granularity geometric priors layer-wise into early MLLM layers with gating to improve spatial reasoning and perception.
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SpatialStack: Layered Geometry-Language Fusion for 3D VLM Spatial Reasoning
SpatialStack improves 3D spatial reasoning in vision-language models by stacking and synchronizing multi-level geometric features with the language backbone.
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Universal Pose Pretraining for Generalizable Vision-Language-Action Policies
Pose-VLA uses a decoupled two-stage pre-training with discrete pose tokens to extract universal 3D spatial priors from 3D datasets and robotic trajectories, achieving 79.5% success on RoboTwin 2.0 and 96.0% on LIBERO.
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OmniView-Space: Reinforcing Spatial Reasoning via Multi-Perspective Spatial Mapping
OmniView-Space framework with MPSM, tool-guided reasoning, and distillation achieves SOTA on spatial reasoning benchmarks for MLLMs while reducing external geometry dependencies.
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Learning Geometric Representations from Videos for Spatial Intelligent Multimodal Large Language Models
GeoVR distills camera pose, depth, scale, and multi-scale 3D features from pre-trained models into MLLMs via video supervision to improve spatial reasoning.
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LongSpace: Exploring Long-Horizon Spatial Memory from Perception to Recall in Video
Presents LongSpace-Bench benchmark and LongSpace framework that chunks long videos, adds 3D structural cues, and builds layer-aware memory to improve spatial reasoning in multimodal LLMs.
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Grounded 3D-Aware Spatial Vision-Language Modeling
GR3D is a VLM that combines explicit 2D, implicit 2D, and monocular 3D grounding mechanisms to improve performance on spatial understanding benchmarks.
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GEM: Generative Supervision Helps Embodied Intelligence
GEM adds generative depth supervision to VLM pre-training and reports improved results on embodied benchmarks plus real-world robot execution.
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Thinking with Novel Views: A Systematic Analysis of Generative-Augmented Spatial Intelligence
Integrating generative novel-view synthesis into LMM reasoning loops improves accuracy on spatial subtasks by 1.3 to 3.9 percentage points across multiple models and tasks.
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From Where Things Are to What They Are For: Benchmarking Spatial-Functional Intelligence in Multimodal LLMs
SFI-Bench shows current multimodal LLMs struggle to integrate spatial memory with functional reasoning and external knowledge in video tasks.
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SpatialImaginer: Towards Adaptive Visual Imagination for Spatial Reasoning
SpatialImaginer integrates visual imagination with textual chain-of-thought to improve spatial reasoning robustness in multimodal large language models.
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MAG-3D: Multi-Agent Grounded Reasoning for 3D Understanding
MAG-3D is a training-free multi-agent framework that coordinates planning, grounding, and coding agents with off-the-shelf VLMs to achieve grounded 3D reasoning and state-of-the-art benchmark results.
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OpenSpatial: A Principled Data Engine for Empowering Spatial Intelligence
OpenSpatial supplies a principled open-source data engine and 3-million-sample dataset that raises spatial-reasoning model performance by an average of 19 percent on benchmarks.
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JoyAI-Image: Awaking Spatial Intelligence in Unified Multimodal Understanding and Generation
JoyAI-Image unifies visual understanding and generation via an MLLM-MMDiT architecture with spatial training signals to reach competitive benchmark performance and stronger spatial intelligence.