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EmbSpatial-Bench: Benchmarking Spatial Understanding for Embodied Tasks with Large Vision-Language Models
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The recent rapid development of Large Vision-Language Models (LVLMs) has indicated their potential for embodied tasks.However, the critical skill of spatial understanding in embodied environments has not been thoroughly evaluated, leaving the gap between current LVLMs and qualified embodied intelligence unknown. Therefore, we construct EmbSpatial-Bench, a benchmark for evaluating embodied spatial understanding of LVLMs.The benchmark is automatically derived from embodied scenes and covers 6 spatial relationships from an egocentric perspective.Experiments expose the insufficient capacity of current LVLMs (even GPT-4V). We further present EmbSpatial-SFT, an instruction-tuning dataset designed to improve LVLMs' embodied spatial understanding.
Forward citations
Cited by 15 Pith papers
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Decodable Is Not Grounded: A Vision-Ablation Arbiter for VLM Spatial Reasoning
A blank-image ablation test reveals that high probe accuracy on VLM spatial reasoning frequently reflects priors or inverted signs rather than image grounding, with horizontal grounded, vertical prior, and depth inverted.
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Zone of Proximal Policy Optimization: Teacher in Prompts, Not Gradients
ZPPO improves distillation to small vision-language models by using binary and negative candidate prompts plus a replay buffer for hard questions, outperforming standard distillation and GRPO on a 31-benchmark suite w...
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PInVerify: An Offline Embodied Benchmark for Active Instance Verification
PInVerify is a new offline embodied benchmark for active instance verification that supplies multi-view captures and 6-sector navigation topology, with MLLM baselines reaching 85.6% after fine-tuning but showing no re...
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DRIVESPATIAL: A Benchmark for Spatiotemporal Intelligence in VLMs for Autonomous Driving
DriveSpatial benchmark shows the strongest of 15 VLMs trails humans by 28.4 points on spatiotemporal tasks, with cognitive scene construction as the primary weakness.
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DRIVESPATIAL: A Benchmark for Spatiotemporal Intelligence in VLMs for Autonomous Driving
DriveSpatial benchmark shows the best of 15 VLMs trails humans by 28.4 points on spatiotemporal driving tasks, with cognitive scene construction as the main failure mode.
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ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop
ESI-Bench shows active exploration outperforms passive observation in multimodal LLMs on spatial tasks but reveals failures from poor action choices and overconfident belief commitment unlike humans.
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ReVSI: Rebuilding Visual Spatial Intelligence Evaluation for Accurate Assessment of VLM 3D Reasoning
ReVSI rebuilds 3D spatial reasoning benchmarks for VLMs by re-annotating objects and geometry across 381 scenes and creating verified QA pairs that match actual model inputs like 16-64 frames.
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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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Spectral-Progressive Thought Flow for Lightweight Multimodal Reasoning
SpecFlow represents intermediate visual thoughts in fixed-size DCT space and uses classifier-free guidance to steer updates from textual thoughts, achieving up to 2.1x lower computation and KV cache costs.
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ESI-Bench: Towards Embodied Spatial Intelligence that Closes the Perception-Action Loop
ESI-Bench is a new benchmark for embodied spatial intelligence with 10 task categories on OmniGibson that requires agents to actively explore via perception, locomotion, and manipulation, revealing that MLLMs suffer f...
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MiMo-Embodied: X-Embodied Foundation Model Technical Report
MiMo-Embodied is a single foundation model that achieves state-of-the-art results on 17 embodied AI benchmarks and 12 autonomous driving benchmarks through multi-stage learning, curated data, and CoT/RL fine-tuning th...
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Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation
Embodied-R1 uses a pointing-centric representation and reinforced fine-tuning on a 200K dataset to achieve state-of-the-art results on embodied benchmarks plus 56.2% success in SIMPLEREnv and 87.5% on real XArm tasks ...
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Multi-SpatialMLLM: Multi-Frame Spatial Understanding with Multi-Modal Large Language Models
Multi-SpatialMLLM integrates depth perception, visual correspondence, and dynamic perception into MLLMs via a 27M-sample MultiSPA dataset and benchmark, yielding gains on multi-frame spatial tasks.
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S-Agent: Spatial Tool-Use Elicits Reasoning for Spatial Intelligence
S-Agent improves VLMs on spatial reasoning benchmarks via tool-based 3D evidence accumulation and dual memory, and fine-tuning on its generated trajectories produces an 8B model that surpasses similar-scale baselines ...
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Kwai Keye-VL-2.0 Technical Report
Kwai Keye-VL-2.0-30B-A3B is a 30B MoE model with 3B active parameters using DSA adaptation and MOPD distillation that reports SOTA results on video understanding and agent benchmarks.
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