Daily Papers

We propose CompFuser, an image generation pipeline that enhances spatial comprehension and attribute assignment in text-to-image generative models. Our pipeline enables the interpretation of instructions defining spatial relationships between objects in a scene, such as `An image of a gray cat on the left of an orange dog', and generate corresponding images. This is especially important in order to provide more control to the user. CompFuser overcomes the limitation of existing text-to-image diffusion models by decoding the generation of multiple objects into iterative steps: first generating a single object and then editing the image by placing additional objects in their designated positions. To create training data for spatial comprehension and attribute assignment we introduce a synthetic data generation process, that leverages a frozen large language model and a frozen layout-based diffusion model for object placement. We compare our approach to strong baselines and show that our model outperforms state-of-the-art image generation models in spatial comprehension and attribute assignment, despite being 3x to 5x smaller in parameters.

In recent years, 2D Vision-Language Models (VLMs) have made significant strides in image-text understanding tasks. However, their performance in 3D spatial comprehension, which is critical for embodied intelligence, remains limited. Recent advances have leveraged 3D point clouds and multi-view images as inputs, yielding promising results. However, we propose exploring a purely vision-based solution inspired by human perception, which merely relies on visual cues for 3D spatial understanding. This paper empirically investigates the limitations of VLMs in 3D spatial knowledge, revealing that their primary shortcoming lies in the lack of global-local correspondence between the scene and individual frames. To address this, we introduce GPT4Scene, a novel visual prompting paradigm in VLM training and inference that helps build the global-local relationship, significantly improving the 3D spatial understanding of indoor scenes. Specifically, GPT4Scene constructs a 3D Bird's Eye View (BEV) image from the video and marks consistent object IDs across both frames and the BEV image. The model then inputs the concatenated BEV image and video frames with markers. In zero-shot evaluations, GPT4Scene improves performance over closed-source VLMs like GPT-4o. Additionally, we prepare a processed video dataset consisting of 165K text annotation to fine-tune open-source VLMs, achieving state-of-the-art performance on all 3D understanding tasks. Surprisingly, after training with the GPT4Scene paradigm, VLMs consistently improve during inference, even without visual prompting and BEV image as explicit correspondence. It demonstrates that the proposed paradigm helps VLMs develop an intrinsic ability to understand 3D scenes, which paves the way for a noninvasive approach to extending pre-trained VLMs for 3D scene understanding.

Geometric ability is a significant challenge for large language models (LLMs) due to the need for advanced spatial comprehension and abstract thinking. Existing datasets primarily evaluate LLMs on their final answers, but they cannot truly measure their true understanding of geometric structures, as LLMs can arrive at correct answers by coincidence. To fill this gap, we introduce the GeomRel dataset, designed to evaluate LLMs' understanding of geometric structures by isolating the core step of geometric relationship identification in problem-solving. Using this benchmark, we conduct thorough evaluations of diverse LLMs and identify key limitations in understanding geometric structures. We further propose the Geometry Chain-of-Thought (GeoCoT) method, which enhances LLMs' ability to identify geometric relationships, resulting in significant performance improvements.

Spatial understanding is a crucial capability for robots to make grounded decisions based on their environment. This foundational skill enables robots not only to perceive their surroundings but also to reason about and interact meaningfully within the world. In modern robotics, these capabilities are taken on by visual language models, and they face significant challenges when applied to spatial reasoning context due to their training data sources. These sources utilize general-purpose image datasets, and they often lack sophisticated spatial scene understanding capabilities. For example, the datasets do not address reference frame comprehension - spatial relationships require clear contextual understanding, whether from an ego-centric, object-centric, or world-centric perspective, which allow for effective real-world interaction. To address this issue, we introduce RoboSpatial, a large-scale spatial understanding dataset consisting of real indoor and tabletop scenes captured as 3D scans and egocentric images, annotated with rich spatial information relevant to robotics. The dataset includes 1M images, 5K 3D scans, and 3M annotated spatial relationships, with paired 2D egocentric images and 3D scans to make it both 2D and 3D ready. Our experiments show that models trained with RoboSpatial outperform baselines on downstream tasks such as spatial affordance prediction, spatial relationship prediction, and robotics manipulation.

This study delves into the realm of multi-modality (i.e., video and motion modalities) human behavior understanding by leveraging the powerful capabilities of Large Language Models (LLMs). Diverging from recent LLMs designed for video-only or motion-only understanding, we argue that understanding human behavior necessitates joint modeling from both videos and motion sequences (e.g., SMPL sequences) to capture nuanced body part dynamics and semantics effectively. In light of this, we present MotionLLM, a straightforward yet effective framework for human motion understanding, captioning, and reasoning. Specifically, MotionLLM adopts a unified video-motion training strategy that leverages the complementary advantages of existing coarse video-text data and fine-grained motion-text data to glean rich spatial-temporal insights. Furthermore, we collect a substantial dataset, MoVid, comprising diverse videos, motions, captions, and instructions. Additionally, we propose the MoVid-Bench, with carefully manual annotations, for better evaluation of human behavior understanding on video and motion. Extensive experiments show the superiority of MotionLLM in the caption, spatial-temporal comprehension, and reasoning ability.

We propose a new task to benchmark scene understanding of embodied agents: Situated Question Answering in 3D Scenes (SQA3D). Given a scene context (e.g., 3D scan), SQA3D requires the tested agent to first understand its situation (position, orientation, etc.) in the 3D scene as described by text, then reason about its surrounding environment and answer a question under that situation. Based upon 650 scenes from ScanNet, we provide a dataset centered around 6.8k unique situations, along with 20.4k descriptions and 33.4k diverse reasoning questions for these situations. These questions examine a wide spectrum of reasoning capabilities for an intelligent agent, ranging from spatial relation comprehension to commonsense understanding, navigation, and multi-hop reasoning. SQA3D imposes a significant challenge to current multi-modal especially 3D reasoning models. We evaluate various state-of-the-art approaches and find that the best one only achieves an overall score of 47.20%, while amateur human participants can reach 90.06%. We believe SQA3D could facilitate future embodied AI research with stronger situation understanding and reasoning capability.

Recently, Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) have shown promise in instruction following and 2D image understanding. While these models are powerful, they have not yet been developed to comprehend the more challenging 3D physical scenes, especially when it comes to the sparse outdoor LiDAR data. In this paper, we introduce LiDAR-LLM, which takes raw LiDAR data as input and harnesses the remarkable reasoning capabilities of LLMs to gain a comprehensive understanding of outdoor 3D scenes. The central insight of our LiDAR-LLM is the reformulation of 3D outdoor scene cognition as a language modeling problem, encompassing tasks such as 3D captioning, 3D grounding, 3D question answering, etc. Specifically, due to the scarcity of 3D LiDAR-text pairing data, we introduce a three-stage training strategy and generate relevant datasets, progressively aligning the 3D modality with the language embedding space of LLM. Furthermore, we design a View-Aware Transformer (VAT) to connect the 3D encoder with the LLM, which effectively bridges the modality gap and enhances the LLM's spatial orientation comprehension of visual features. Our experiments show that LiDAR-LLM possesses favorable capabilities to comprehend various instructions regarding 3D scenes and engage in complex spatial reasoning. LiDAR-LLM attains a 40.9 BLEU-1 on the 3D captioning task and achieves a 63.1\% classification accuracy and a 14.3\% BEV mIoU on the 3D grounding task. Web page: https://sites.google.com/view/lidar-llm

Vision language models (VLMs) have demonstrated impressive performance across a wide range of downstream tasks. However, their proficiency in spatial reasoning remains limited, despite its crucial role in tasks involving navigation and interaction with physical environments. Specifically, most of these tasks rely on the core spatial reasoning capabilities in two-dimensional (2D) environments, and our evaluation reveals that state-of-the-art VLMs frequently generate implausible and incorrect responses to composite spatial reasoning problems, including simple pathfinding tasks that humans can solve effortlessly at a glance. To address this, we explore an effective approach to enhance 2D spatial reasoning within VLMs by training the model solely on basic spatial capabilities. We begin by disentangling the key components of 2D spatial reasoning: direction comprehension, distance estimation, and localization. Our central hypothesis is that mastering these basic spatial capabilities can significantly enhance a model's performance on composite spatial tasks requiring advanced spatial understanding and combinatorial problem-solving, with generalized improvements in visual-spatial tasks. To investigate this hypothesis, we introduce Sparkle, a framework that fine-tunes VLMs on these three basic spatial capabilities by synthetic data generation and targeted supervision to form an instruction dataset for each capability. Our experiments demonstrate that VLMs fine-tuned with Sparkle achieve significant performance gains, not only in the basic tasks themselves but also in generalizing to composite and out-of-distribution spatial reasoning tasks. These findings underscore the effectiveness of mastering basic spatial capabilities in enhancing composite spatial problem-solving, offering insights into systematic strategies for improving VLMs' spatial reasoning capabilities.

In this paper, we present the VideoLLaMA 2, a set of Video Large Language Models (Video-LLMs) designed to enhance spatial-temporal modeling and audio understanding in video and audio-oriented tasks. Building upon its predecessor, VideoLLaMA 2 incorporates a tailor-made Spatial-Temporal Convolution (STC) connector, which effectively captures the intricate spatial and temporal dynamics of video data. Additionally, we integrate an Audio Branch into the model through joint training, thereby enriching the multimodal understanding capabilities of the model by seamlessly incorporating audio cues. Comprehensive evaluations on multiple-choice video question answering (MC-VQA), open-ended video question answering (OE-VQA), and video captioning (VC) tasks demonstrate that VideoLLaMA 2 consistently achieves competitive results among open-source models and even gets close to some proprietary models on several benchmarks. Furthermore, VideoLLaMA 2 exhibits reasonable improvements in audio-only and audio-video question-answering (AQA & OE-AVQA) benchmarks over existing models. These advancements underline VideoLLaMA 2's superior performance in multimodal comprehension, setting a new standard for intelligent video analysis systems. All models are public to facilitate further research.

Large language models (LLMs) have exhibited impressive performance in language comprehension and various reasoning tasks. However, their abilities in spatial reasoning, a crucial aspect of human cognition, remain relatively unexplored. Human possess a remarkable ability to create mental images of unseen objects and actions through a process known as the Mind's Eye, enabling the imagination of the unseen world. Inspired by this cognitive capacity, we propose Visualization-of-Thought (VoT) prompting. VoT aims to elicit spatial reasoning of LLMs by visualizing their reasoning traces, thereby guiding subsequent reasoning steps. We employed VoT for multi-hop spatial reasoning tasks, including natural language navigation, visual navigation, and visual tiling in 2D grid worlds. Experimental results demonstrated that VoT significantly enhances the spatial reasoning abilities of LLMs. Notably, VoT outperformed existing multimodal large language models (MLLMs) in these tasks. While VoT works surprisingly well on LLMs, the ability to generate mental images to facilitate spatial reasoning resembles the mind's eye process, suggesting its potential viability in MLLMs.

Video Large Language Models (Video LLMs) have recently exhibited remarkable capabilities in general video understanding. However, they mainly focus on holistic comprehension and struggle with capturing fine-grained spatial and temporal details. Besides, the lack of high-quality object-level video instruction data and a comprehensive benchmark further hinders their advancements. To tackle these challenges, we introduce the VideoRefer Suite to empower Video LLM for finer-level spatial-temporal video understanding, i.e., enabling perception and reasoning on any objects throughout the video. Specially, we thoroughly develop VideoRefer Suite across three essential aspects: dataset, model, and benchmark. Firstly, we introduce a multi-agent data engine to meticulously curate a large-scale, high-quality object-level video instruction dataset, termed VideoRefer-700K. Next, we present the VideoRefer model, which equips a versatile spatial-temporal object encoder to capture precise regional and sequential representations. Finally, we meticulously create a VideoRefer-Bench to comprehensively assess the spatial-temporal understanding capability of a Video LLM, evaluating it across various aspects. Extensive experiments and analyses demonstrate that our VideoRefer model not only achieves promising performance on video referring benchmarks but also facilitates general video understanding capabilities.

Surprising videos, e.g., funny clips, creative performances, or visual illusions, attract significant attention. Enjoyment of these videos is not simply a response to visual stimuli; rather, it hinges on the human capacity to understand (and appreciate) commonsense violations depicted in these videos. We introduce FunQA, a challenging video question answering (QA) dataset specifically designed to evaluate and enhance the depth of video reasoning based on counter-intuitive and fun videos. Unlike most video QA benchmarks which focus on less surprising contexts, e.g., cooking or instructional videos, FunQA covers three previously unexplored types of surprising videos: 1) HumorQA, 2) CreativeQA, and 3) MagicQA. For each subset, we establish rigorous QA tasks designed to assess the model's capability in counter-intuitive timestamp localization, detailed video description, and reasoning around counter-intuitiveness. We also pose higher-level tasks, such as attributing a fitting and vivid title to the video, and scoring the video creativity. In total, the FunQA benchmark consists of 312K free-text QA pairs derived from 4.3K video clips, spanning a total of 24 video hours. Extensive experiments with existing VideoQA models reveal significant performance gaps for the FunQA videos across spatial-temporal reasoning, visual-centered reasoning, and free-text generation.

In recent years, there has been a significant surge of interest in unifying image comprehension and generation within Large Language Models (LLMs). This growing interest has prompted us to explore extending this unification to videos. The core challenge lies in developing a versatile video tokenizer that captures both the spatial characteristics and temporal dynamics of videos to obtain representations for LLMs, and the representations can be further decoded into realistic video clips to enable video generation. In this work, we introduce Divot, a Diffusion-Powered Video Tokenizer, which leverages the diffusion process for self-supervised video representation learning. We posit that if a video diffusion model can effectively de-noise video clips by taking the features of a video tokenizer as the condition, then the tokenizer has successfully captured robust spatial and temporal information. Additionally, the video diffusion model inherently functions as a de-tokenizer, decoding videos from their representations. Building upon the Divot tokenizer, we present Divot-Vicuna through video-to-text autoregression and text-to-video generation by modeling the distributions of continuous-valued Divot features with a Gaussian Mixture Model. Experimental results demonstrate that our diffusion-based video tokenizer, when integrated with a pre-trained LLM, achieves competitive performance across various video comprehension and generation benchmarks. The instruction tuned Divot-Vicuna also excels in video storytelling, generating interleaved narratives and corresponding videos.

Recent vision-language (VL) models are powerful, but can they reliably distinguish "right" from "left"? We curate three new corpora to quantify model comprehension of such basic spatial relations. These tests isolate spatial reasoning more precisely than existing datasets like VQAv2, e.g., our What'sUp benchmark contains sets of photographs varying only the spatial relations of objects, keeping their identity fixed (see Figure 1: models must comprehend not only the usual case of a dog under a table, but also, the same dog on top of the same table). We evaluate 18 VL models, finding that all perform poorly, e.g., BLIP finetuned on VQAv2, which nears human parity on VQAv2, achieves 56% accuracy on our benchmarks vs. humans at 99%. We conclude by studying causes of this surprising behavior, finding: 1) that popular vision-language pretraining corpora like LAION-2B contain little reliable data for learning spatial relationships; and 2) that basic modeling interventions like up-weighting preposition-containing instances or fine-tuning on our corpora are not sufficient to address the challenges our benchmarks pose. We are hopeful that these corpora will facilitate further research, and we release our data and code at https://github.com/amitakamath/whatsup_vlms.

Based on powerful Large Language Models (LLMs), recent generative Multimodal Large Language Models (MLLMs) have gained prominence as a pivotal research area, exhibiting remarkable capability for both comprehension and generation. In this work, we address the evaluation of generative comprehension in MLLMs as a preliminary step towards a comprehensive assessment of generative models, by introducing a benchmark named SEED-Bench. SEED-Bench consists of 19K multiple choice questions with accurate human annotations (x 6 larger than existing benchmarks), which spans 12 evaluation dimensions including the comprehension of both the image and video modality. We develop an advanced pipeline for generating multiple-choice questions that target specific evaluation dimensions, integrating both automatic filtering and manual verification processes. Multiple-choice questions with groundtruth options derived from human annotation enables an objective and efficient assessment of model performance, eliminating the need for human or GPT intervention during evaluation. We further evaluate the performance of 18 models across all 12 dimensions, covering both the spatial and temporal understanding. By revealing the limitations of existing MLLMs through evaluation results, we aim for SEED-Bench to provide insights for motivating future research. We will launch and consistently maintain a leaderboard to provide a platform for the community to assess and investigate model capability.

Long video understanding is a significant and ongoing challenge in the intersection of multimedia and artificial intelligence. Employing large language models (LLMs) for comprehending video becomes an emerging and promising method. However, this approach incurs high computational costs due to the extensive array of video tokens, experiences reduced visual clarity as a consequence of token aggregation, and confronts challenges arising from irrelevant visual tokens while answering video-related questions. To alleviate these issues, we present an Interactive Visual Adapter (IVA) within LLMs, designed to enhance interaction with fine-grained visual elements. Specifically, we first transform long videos into temporal video tokens via leveraging a visual encoder alongside a pretrained causal transformer, then feed them into LLMs with the video instructions. Subsequently, we integrated IVA, which contains a lightweight temporal frame selector and a spatial feature interactor, within the internal blocks of LLMs to capture instruction-aware and fine-grained visual signals. Consequently, the proposed video-LLM facilitates a comprehensive understanding of long video content through appropriate long video modeling and precise visual interactions. We conducted extensive experiments on nine video understanding benchmarks and experimental results show that our interactive visual adapter significantly improves the performance of video LLMs on long video QA tasks. Ablation studies further verify the effectiveness of IVA in long and short video understandings.

Image descriptions can help visually impaired people to quickly understand the image content. While we made significant progress in automatically describing images and optical character recognition, current approaches are unable to include written text in their descriptions, although text is omnipresent in human environments and frequently critical to understand our surroundings. To study how to comprehend text in the context of an image we collect a novel dataset, TextCaps, with 145k captions for 28k images. Our dataset challenges a model to recognize text, relate it to its visual context, and decide what part of the text to copy or paraphrase, requiring spatial, semantic, and visual reasoning between multiple text tokens and visual entities, such as objects. We study baselines and adapt existing approaches to this new task, which we refer to as image captioning with reading comprehension. Our analysis with automatic and human studies shows that our new TextCaps dataset provides many new technical challenges over previous datasets.

The task of multimodal referring expression comprehension (REC), aiming at localizing an image region described by a natural language expression, has recently received increasing attention within the research comminity. In this paper, we specifically focus on referring expression comprehension with commonsense knowledge (KB-Ref), a task which typically requires reasoning beyond spatial, visual or semantic information. We propose a novel framework for Commonsense Knowledge Enhanced Transformers (CK-Transformer) which effectively integrates commonsense knowledge into the representations of objects in an image, facilitating identification of the target objects referred to by the expressions. We conduct extensive experiments on several benchmarks for the task of KB-Ref. Our results show that the proposed CK-Transformer achieves a new state of the art, with an absolute improvement of 3.14% accuracy over the existing state of the art.

We present a unified dataset for document Question-Answering (QA), which is obtained combining several public datasets related to Document AI and visually rich document understanding (VRDU). Our main contribution is twofold: on the one hand we reformulate existing Document AI tasks, such as Information Extraction (IE), into a Question-Answering task, making it a suitable resource for training and evaluating Large Language Models; on the other hand, we release the OCR of all the documents and include the exact position of the answer to be found in the document image as a bounding box. Using this dataset, we explore the impact of different prompting techniques (that might include bounding box information) on the performance of open-weight models, identifying the most effective approaches for document comprehension.

Spatial perception is a fundamental component of intelligence. While many studies highlight that large multimodal language models (MLMs) struggle to reason about space, they only test for static spatial reasoning, such as categorizing the relative positions of objects. Meanwhile, real-world deployment requires dynamic capabilities like perspective-taking and egocentric action recognition. As a roadmap to improving spatial intelligence, we introduce SAT, Spatial Aptitude Training, which goes beyond static relative object position questions to the more dynamic tasks. SAT contains 218K question-answer pairs for 22K synthetic scenes across a training and testing set. Generated using a photo-realistic physics engine, our dataset can be arbitrarily scaled and easily extended to new actions, scenes, and 3D assets. We find that even MLMs that perform relatively well on static questions struggle to accurately answer dynamic spatial questions. Further, we show that SAT instruction-tuning data improves not only dynamic spatial reasoning on SAT, but also zero-shot performance on existing real-image spatial benchmarks: 23% on CVBench, 8% on the harder BLINK benchmark, and 18% on VSR. When instruction-tuned on SAT, our 13B model matches larger proprietary MLMs like GPT4-V and Gemini-3-1.0 in spatial reasoning. Our data/code is available at http://arijitray1993.github.io/SAT/ .

Stimulated by the sophisticated reasoning capabilities of recent Large Language Models (LLMs), a variety of strategies for bridging video modality have been devised. A prominent strategy involves Video Language Models (VideoLMs), which train a learnable interface with video data to connect advanced vision encoders with LLMs. Recently, an alternative strategy has surfaced, employing readily available foundation models, such as VideoLMs and LLMs, across multiple stages for modality bridging. In this study, we introduce a simple yet novel strategy where only a single Vision Language Model (VLM) is utilized. Our starting point is the plain insight that a video comprises a series of images, or frames, interwoven with temporal information. The essence of video comprehension lies in adeptly managing the temporal aspects along with the spatial details of each frame. Initially, we transform a video into a single composite image by arranging multiple frames in a grid layout. The resulting single image is termed as an image grid. This format, while maintaining the appearance of a solitary image, effectively retains temporal information within the grid structure. Therefore, the image grid approach enables direct application of a single high-performance VLM without necessitating any video-data training. Our extensive experimental analysis across ten zero-shot video question answering benchmarks, including five open-ended and five multiple-choice benchmarks, reveals that the proposed Image Grid Vision Language Model (IG-VLM) surpasses the existing methods in nine out of ten benchmarks.

Multimodal large language models (LLMs) have demonstrated impressive capabilities in generating high-quality images from textual instructions. However, their performance in generating scientific images--a critical application for accelerating scientific progress--remains underexplored. In this work, we address this gap by introducing ScImage, a benchmark designed to evaluate the multimodal capabilities of LLMs in generating scientific images from textual descriptions. ScImage assesses three key dimensions of understanding: spatial, numeric, and attribute comprehension, as well as their combinations, focusing on the relationships between scientific objects (e.g., squares, circles). We evaluate five models, GPT-4o, Llama, AutomaTikZ, Dall-E, and StableDiffusion, using two modes of output generation: code-based outputs (Python, TikZ) and direct raster image generation. Additionally, we examine four different input languages: English, German, Farsi, and Chinese. Our evaluation, conducted with 11 scientists across three criteria (correctness, relevance, and scientific accuracy), reveals that while GPT-4o produces outputs of decent quality for simpler prompts involving individual dimensions such as spatial, numeric, or attribute understanding in isolation, all models face challenges in this task, especially for more complex prompts.

In recent years, the use of multi-modal pre-trained Transformers has led to significant advancements in visually-rich document understanding. However, existing models have mainly focused on features such as text and vision while neglecting the importance of layout relationship between text nodes. In this paper, we propose GraphLayoutLM, a novel document understanding model that leverages the modeling of layout structure graph to inject document layout knowledge into the model. GraphLayoutLM utilizes a graph reordering algorithm to adjust the text sequence based on the graph structure. Additionally, our model uses a layout-aware multi-head self-attention layer to learn document layout knowledge. The proposed model enables the understanding of the spatial arrangement of text elements, improving document comprehension. We evaluate our model on various benchmarks, including FUNSD, XFUND and CORD, and achieve state-of-the-art results among these datasets. Our experimental results demonstrate that our proposed method provides a significant improvement over existing approaches and showcases the importance of incorporating layout information into document understanding models. We also conduct an ablation study to investigate the contribution of each component of our model. The results show that both the graph reordering algorithm and the layout-aware multi-head self-attention layer play a crucial role in achieving the best performance.

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making capabilities is lacking. To address this, we present MetaVQA: a comprehensive benchmark designed to assess and enhance VLMs' understanding of spatial relationships and scene dynamics through Visual Question Answering (VQA) and closed-loop simulations. MetaVQA leverages Set-of-Mark prompting and top-down view ground-truth annotations from nuScenes and Waymo datasets to automatically generate extensive question-answer pairs based on diverse real-world traffic scenarios, ensuring object-centric and context-rich instructions. Our experiments show that fine-tuning VLMs with the MetaVQA dataset significantly improves their spatial reasoning and embodied scene comprehension in safety-critical simulations, evident not only in improved VQA accuracies but also in emerging safety-aware driving maneuvers. In addition, the learning demonstrates strong transferability from simulation to real-world observation. Code and data will be publicly available at https://metadriverse.github.io/metavqa .

Vision foundation models, particularly the ViT family, have revolutionized image understanding by providing rich semantic features. However, despite their success in 2D comprehension, their abilities on grasping 3D spatial relationships are still unclear. In this work, we evaluate and enhance the 3D awareness of ViT-based models. We begin by systematically assessing their ability to learn 3D equivariant features, specifically examining the consistency of semantic embeddings across different viewpoints. Our findings indicate that improved 3D equivariance leads to better performance on various downstream tasks, including pose estimation, tracking, and semantic transfer. Building on this insight, we propose a simple yet effective finetuning strategy based on 3D correspondences, which significantly enhances the 3D correspondence understanding of existing vision models. Remarkably, even finetuning on a single object for just one iteration results in substantial performance gains. All code and resources will be made publicly available to support further advancements in 3D-aware vision models. Our code is available at https://github.com/qq456cvb/3DCorrEnhance.

We developed a benchmark set to assess the generalization of state-of-the-art large language models on problems beyond linguistic tasks and evaluate it on a systematic progression of GPT models (GPT-3.5, GPT-4, GPT-4o, GPT-4o-mini). Using simple games like Tic-Tac-Toe, Connect Four, Battleship, and a Shape Recognition Game, all encoded in ASCII, we test strategic capabilities and spatial reasoning, core abilities any artificial intelligence would need to master for solving problems in chemistry. To probe generalization, we introduce two new games for spatial logic: LEGO Connect Language (LCL) and Guess-the-SMILES (GtS), a operationally simple chemistry benchmark. Our results show that GPT models provide meaningful responses for several tasks but, generally, perform poorly. A systematic performance progression with increased model capabilities (GPT-3.5, GPT-4, GPT-4o) is only observed for 4 out of the 7 benchmark tasks. All models consistently struggle with Battleship, LCL, and GtS. This suggests that while GPT models can emulate conversational proficiency and basic rule comprehension, they have limited generalization with respect to strategy and spatial reasoning. Particularly poor performance is observed for interpreting molecular graphs when encoded in ASCII. The results provided by our open-source benchmark suite (https://github.com/BlueVelvetSackOfGoldPotatoes/child-play{ChildPlay GitHub Repository}) caution against claims of emergent intelligence in GPT models, which appear more specialized than general.

Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we introduce Orient Anything, the first expert and foundational model designed to estimate object orientation in a single- and free-view image. Due to the scarcity of labeled data, we propose extracting knowledge from the 3D world. By developing a pipeline to annotate the front face of 3D objects and render images from random views, we collect 2M images with precise orientation annotations. To fully leverage the dataset, we design a robust training objective that models the 3D orientation as probability distributions of three angles and predicts the object orientation by fitting these distributions. Besides, we employ several strategies to improve synthetic-to-real transfer. Our model achieves state-of-the-art orientation estimation accuracy in both rendered and real images and exhibits impressive zero-shot ability in various scenarios. More importantly, our model enhances many applications, such as comprehension and generation of complex spatial concepts and 3D object pose adjustment.

The capability to process multiple images is crucial for Large Vision-Language Models (LVLMs) to develop a more thorough and nuanced understanding of a scene. Recent multi-image LVLMs have begun to address this need. However, their evaluation has not kept pace with their development. To fill this gap, we introduce the Multimodal Multi-image Understanding (MMIU) benchmark, a comprehensive evaluation suite designed to assess LVLMs across a wide range of multi-image tasks. MMIU encompasses 7 types of multi-image relationships, 52 tasks, 77K images, and 11K meticulously curated multiple-choice questions, making it the most extensive benchmark of its kind. Our evaluation of 24 popular LVLMs, including both open-source and proprietary models, reveals significant challenges in multi-image comprehension, particularly in tasks involving spatial understanding. Even the most advanced models, such as GPT-4o, achieve only 55.7% accuracy on MMIU. Through multi-faceted analytical experiments, we identify key performance gaps and limitations, providing valuable insights for future model and data improvements. We aim for MMIU to advance the frontier of LVLM research and development, moving us toward achieving sophisticated multimodal multi-image user interactions.

Repurposing pre-trained diffusion models has been proven to be effective for NVS. However, these methods are mostly limited to a single object; directly applying such methods to compositional multi-object scenarios yields inferior results, especially incorrect object placement and inconsistent shape and appearance under novel views. How to enhance and systematically evaluate the cross-view consistency of such models remains under-explored. To address this issue, we propose MOVIS to enhance the structural awareness of the view-conditioned diffusion model for multi-object NVS in terms of model inputs, auxiliary tasks, and training strategy. First, we inject structure-aware features, including depth and object mask, into the denoising U-Net to enhance the model's comprehension of object instances and their spatial relationships. Second, we introduce an auxiliary task requiring the model to simultaneously predict novel view object masks, further improving the model's capability in differentiating and placing objects. Finally, we conduct an in-depth analysis of the diffusion sampling process and carefully devise a structure-guided timestep sampling scheduler during training, which balances the learning of global object placement and fine-grained detail recovery. To systematically evaluate the plausibility of synthesized images, we propose to assess cross-view consistency and novel view object placement alongside existing image-level NVS metrics. Extensive experiments on challenging synthetic and realistic datasets demonstrate that our method exhibits strong generalization capabilities and produces consistent novel view synthesis, highlighting its potential to guide future 3D-aware multi-object NVS tasks.

Large multimodal models (LMMs) have made impressive strides in image captioning, VQA, and video comprehension, yet they still struggle with the intricate temporal and spatial cues found in comics. To address this gap, we introduce ComicsPAP, a large-scale benchmark designed for comic strip understanding. Comprising over 100k samples and organized into 5 subtasks under a Pick-a-Panel framework, ComicsPAP demands models to identify the missing panel in a sequence. Our evaluations, conducted under both multi-image and single-image protocols, reveal that current state-of-the-art LMMs perform near chance on these tasks, underscoring significant limitations in capturing sequential and contextual dependencies. To close the gap, we adapted LMMs for comic strip understanding, obtaining better results on ComicsPAP than 10x bigger models, demonstrating that ComicsPAP offers a robust resource to drive future research in multimodal comic comprehension.

Video-based multimodal large language models (Video-LLMs) possess significant potential for video understanding tasks. However, most Video-LLMs treat videos as a sequential set of individual frames, which results in insufficient temporal-spatial interaction that hinders fine-grained comprehension and difficulty in processing longer videos due to limited visual token capacity. To address these challenges, we propose VidCompress, a novel Video-LLM featuring memory-enhanced temporal compression. VidCompress employs a dual-compressor approach: a memory-enhanced compressor captures both short-term and long-term temporal relationships in videos and compresses the visual tokens using a multiscale transformer with a memory-cache mechanism, while a text-perceived compressor generates condensed visual tokens by utilizing Q-Former and integrating temporal contexts into query embeddings with cross attention. Experiments on several VideoQA datasets and comprehensive benchmarks demonstrate that VidCompress efficiently models complex temporal-spatial relations and significantly outperforms existing Video-LLMs.

The multimedia community has shown a significant interest in perceiving and representing the physical world with multimodal pretrained neural network models, and among them, the visual-language pertaining (VLP) is, currently, the most captivating topic. However, there have been few endeavors dedicated to the exploration of 1) whether essential linguistic knowledge (e.g., semantics and syntax) can be extracted during VLP, and 2) how such linguistic knowledge impact or enhance the multimodal alignment. In response, here we aim to elucidate the impact of comprehensive linguistic knowledge, including semantic expression and syntactic structure, on multimodal alignment. Specifically, we design and release the SNARE, the first large-scale multimodal alignment probing benchmark, to detect the vital linguistic components, e.g., lexical, semantic, and syntax knowledge, containing four tasks: Semantic structure, Negation logic, Attribute ownership, and Relationship composition. Based on our proposed probing benchmarks, our holistic analyses of five advanced VLP models illustrate that the VLP model: i) shows insensitivity towards complex syntax structures and relies on content words for sentence comprehension; ii) demonstrates limited comprehension of combinations between sentences and negations; iii) faces challenges in determining the presence of actions or spatial relationships within visual information and struggles with verifying the correctness of triple combinations. We make our benchmark and code available at https://github.com/WangFei-2019/SNARE/.

Large language models (LLMs) and vision-language models (VLMs) have demonstrated remarkable performance across a wide range of tasks and domains. Despite this promise, spatial understanding and reasoning -- a fundamental component of human cognition -- remains under-explored. We develop novel benchmarks that cover diverse aspects of spatial reasoning such as relationship understanding, navigation, and counting. We conduct a comprehensive evaluation of competitive language and vision-language models. Our findings reveal several counter-intuitive insights that have been overlooked in the literature: (1) Spatial reasoning poses significant challenges where competitive models can fall behind random guessing; (2) Despite additional visual input, VLMs often under-perform compared to their LLM counterparts; (3) When both textual and visual information is available, multi-modal language models become less reliant on visual information if sufficient textual clues are provided. Additionally, we demonstrate that leveraging redundancy between vision and text can significantly enhance model performance. We hope our study will inform the development of multimodal models to improve spatial intelligence and further close the gap with human intelligence.

Current vision-language models may incorporate single-dimensional spatial cues, such as depth, object boundary, and basic spatial directions (e.g. left, right, front, back), yet often lack the multi-dimensional spatial reasoning necessary for human-like understanding and real-world applications. To address this gap, we develop SPHERE (Spatial Perception and Hierarchical Evaluation of REasoning), a hierarchical evaluation framework with a new human-annotated dataset to pinpoint model strengths and weaknesses, advancing from single-skill tasks to multi-skill tasks, and ultimately to complex reasoning tasks that require the integration of multiple spatial and visual cues with logical reasoning. Benchmark evaluation of state-of-the-art open-source models reveal significant shortcomings, especially in the abilities to understand distance and proximity, to reason from both allocentric and egocentric viewpoints, and to perform complex reasoning in a physical context. This work underscores the need for more advanced approaches to spatial understanding and reasoning, paving the way for improvements in vision-language models and their alignment with human-like spatial capabilities. The dataset will be open-sourced upon publication.

Spatial reasoning is a crucial component of both biological and artificial intelligence. In this work, we present a comprehensive study of the capability of current state-of-the-art large language models (LLMs) on spatial reasoning. To support our study, we created and contribute a novel Spatial Reasoning Characterization (SpaRC) framework and Spatial Reasoning Paths (SpaRP) datasets, to enable an in-depth understanding of the spatial relations and compositions as well as the usefulness of spatial reasoning chains. We found that all the state-of-the-art LLMs do not perform well on the datasets -- their performances are consistently low across different setups. The spatial reasoning capability improves substantially as model sizes scale up. Finetuning both large language models (e.g., Llama-2-70B) and smaller ones (e.g., Llama-2-13B) can significantly improve their F1-scores by 7--32 absolute points. We also found that the top proprietary LLMs still significantly outperform their open-source counterparts in topological spatial understanding and reasoning.

Not yet. We present SPACE, a benchmark that systematically evaluates spatial cognition in frontier models. Our benchmark builds on decades of research in cognitive science. It evaluates large-scale mapping abilities that are brought to bear when an organism traverses physical environments, smaller-scale reasoning about object shapes and layouts, and cognitive infrastructure such as spatial attention and memory. For many tasks, we instantiate parallel presentations via text and images, allowing us to benchmark both large language models and large multimodal models. Results suggest that contemporary frontier models fall short of the spatial intelligence of animals, performing near chance level on a number of classic tests of animal cognition.

Large Multimodal Models (LMMs) have achieved strong performance across a range of vision and language tasks. However, their spatial reasoning capabilities are under-investigated. In this paper, we construct a novel VQA dataset, Spatial-MM, to comprehensively study LMMs' spatial understanding and reasoning capabilities. Our analyses on object-relationship and multi-hop reasoning reveal several important findings. Firstly, bounding boxes and scene graphs, even synthetic ones, can significantly enhance LMMs' spatial reasoning. Secondly, LMMs struggle more with questions posed from the human perspective than the camera perspective about the image. Thirdly, chain of thought (CoT) prompting does not improve model performance on complex multi-hop questions involving spatial relations. % Moreover, spatial reasoning steps are much less accurate than non-spatial ones across MLLMs. Lastly, our perturbation analysis on GQA-spatial reveals that LMMs are much stronger at basic object detection than complex spatial reasoning. We believe our benchmark dataset and in-depth analyses can spark further research on LMMs spatial reasoning. Spatial-MM benchmark is available at: https://github.com/FatemehShiri/Spatial-MM

Spatial reasoning plays a vital role in both human cognition and machine intelligence, prompting new research into language models' (LMs) capabilities in this regard. However, existing benchmarks reveal shortcomings in evaluating qualitative spatial reasoning (QSR). These benchmarks typically present oversimplified scenarios or unclear natural language descriptions, hindering effective evaluation. We present a novel benchmark for assessing QSR in LMs, which is grounded in realistic 3D simulation data, offering a series of diverse room layouts with various objects and their spatial relationships. This approach provides a more detailed and context-rich narrative for spatial reasoning evaluation, diverging from traditional, toy-task-oriented scenarios. Our benchmark encompasses a broad spectrum of qualitative spatial relationships, including topological, directional, and distance relations. These are presented with different viewing points, varied granularities, and density of relation constraints to mimic real-world complexities. A key contribution is our logic-based consistency-checking tool, which enables the assessment of multiple plausible solutions, aligning with real-world scenarios where spatial relationships are often open to interpretation. Our benchmark evaluation of advanced LMs reveals their strengths and limitations in spatial reasoning. They face difficulties with multi-hop spatial reasoning and interpreting a mix of different view descriptions, pointing to areas for future improvement.

While many natural language inference (NLI) datasets target certain semantic phenomena, e.g., negation, tense & aspect, monotonicity, and presupposition, to the best of our knowledge, there is no NLI dataset that involves diverse types of spatial expressions and reasoning. We fill this gap by semi-automatically creating an NLI dataset for spatial reasoning, called SpaceNLI. The data samples are automatically generated from a curated set of reasoning patterns, where the patterns are annotated with inference labels by experts. We test several SOTA NLI systems on SpaceNLI to gauge the complexity of the dataset and the system's capacity for spatial reasoning. Moreover, we introduce a Pattern Accuracy and argue that it is a more reliable and stricter measure than the accuracy for evaluating a system's performance on pattern-based generated data samples. Based on the evaluation results we find that the systems obtain moderate results on the spatial NLI problems but lack consistency per inference pattern. The results also reveal that non-projective spatial inferences (especially due to the "between" preposition) are the most challenging ones.

Understanding and reasoning about spatial relationships is a fundamental capability for Visual Question Answering (VQA) and robotics. While Vision Language Models (VLM) have demonstrated remarkable performance in certain VQA benchmarks, they still lack capabilities in 3D spatial reasoning, such as recognizing quantitative relationships of physical objects like distances or size differences. We hypothesize that VLMs' limited spatial reasoning capability is due to the lack of 3D spatial knowledge in training data and aim to solve this problem by training VLMs with Internet-scale spatial reasoning data. To this end, we present a system to facilitate this approach. We first develop an automatic 3D spatial VQA data generation framework that scales up to 2 billion VQA examples on 10 million real-world images. We then investigate various factors in the training recipe, including data quality, training pipeline, and VLM architecture. Our work features the first internet-scale 3D spatial reasoning dataset in metric space. By training a VLM on such data, we significantly enhance its ability on both qualitative and quantitative spatial VQA. Finally, we demonstrate that this VLM unlocks novel downstream applications in chain-of-thought spatial reasoning and robotics due to its quantitative estimation capability. Project website: https://spatial-vlm.github.io/

3D spatial reasoning is the ability to analyze and interpret the positions, orientations, and spatial relationships of objects within the 3D space. This allows models to develop a comprehensive understanding of the 3D scene, enabling their applicability to a broader range of areas, such as autonomous navigation, robotics, and AR/VR. While large multi-modal models (LMMs) have achieved remarkable progress in a wide range of image and video understanding tasks, their capabilities to perform 3D spatial reasoning on diverse natural images are less studied. In this work we present the first comprehensive 3D spatial reasoning benchmark, 3DSRBench, with 2,772 manually annotated visual question-answer pairs across 12 question types. We conduct robust and thorough evaluation of 3D spatial reasoning capabilities by balancing the data distribution and adopting a novel FlipEval strategy. To further study the robustness of 3D spatial reasoning w.r.t. camera 3D viewpoints, our 3DSRBench includes two subsets with 3D spatial reasoning questions on paired images with common and uncommon viewpoints. We benchmark a wide range of open-sourced and proprietary LMMs, uncovering their limitations in various aspects of 3D awareness, such as height, orientation, location, and multi-object reasoning, as well as their degraded performance on images with uncommon camera viewpoints. Our 3DSRBench provide valuable findings and insights about the future development of LMMs with strong 3D reasoning capabilities. Our project page and dataset is available https://3dsrbench.github.io.

Top-view perspective denotes a typical way in which humans read and reason over different types of maps, and it is vital for localization and navigation of humans as well as of `non-human' agents, such as the ones backed by large Vision-Language Models (VLMs). Nonetheless, spatial reasoning capabilities of modern VLMs remain unattested and underexplored. In this work, we thus study their capability to understand and reason over spatial relations from the top view. The focus on top view also enables controlled evaluations at different granularity of spatial reasoning; we clearly disentangle different abilities (e.g., recognizing particular objects versus understanding their relative positions). We introduce the TopViewRS (Top-View Reasoning in Space) dataset, consisting of 11,384 multiple-choice questions with either realistic or semantic top-view map as visual input. We then use it to study and evaluate VLMs across 4 perception and reasoning tasks with different levels of complexity. Evaluation of 10 representative open- and closed-source VLMs reveals the gap of more than 50% compared to average human performance, and it is even lower than the random baseline in some cases. Although additional experiments show that Chain-of-Thought reasoning can boost model capabilities by 5.82% on average, the overall performance of VLMs remains limited. Our findings underscore the critical need for enhanced model capability in top-view spatial reasoning and set a foundation for further research towards human-level proficiency of VLMs in real-world multimodal tasks.

Spatial relations are a basic part of human cognition. However, they are expressed in natural language in a variety of ways, and previous work has suggested that current vision-and-language models (VLMs) struggle to capture relational information. In this paper, we present Visual Spatial Reasoning (VSR), a dataset containing more than 10k natural text-image pairs with 65 types of spatial relations in English (such as: under, in front of, and facing). While using a seemingly simple annotation format, we show how the dataset includes challenging linguistic phenomena, such as varying reference frames. We demonstrate a large gap between human and model performance: the human ceiling is above 95%, while state-of-the-art models only achieve around 70%. We observe that VLMs' by-relation performances have little correlation with the number of training examples and the tested models are in general incapable of recognising relations concerning the orientations of objects.

In Marius von Senden's Space and Sight, a newly sighted blind patient describes the experience of a corner as lemon-like, because corners "prick" sight like lemons prick the tongue. Prickliness, here, is a dimension in the feature space of sensory experience, an effect of the perceived on the perceiver that arises where the two interact. In the account of the newly sighted, an effect familiar from one interaction translates to a novel context. Perception serves as the vehicle for generalization, in that an effect shared across different experiences produces a concrete abstraction grounded in those experiences. Cezanne and the post-impressionists, fluent in the language of experience translation, realized that the way to paint a concrete form that best reflected reality was to paint not what they saw, but what it was like to see. We envision a future of creation using AI where what it is like to see is replicable, transferrable, manipulable - part of the artist's palette that is both grounded in a particular context, and generalizable beyond it. An active line of research maps human-interpretable features onto directions in GAN latent space. Supervised and self-supervised approaches that search for anticipated directions or use off-the-shelf classifiers to drive image manipulation in embedding space are limited in the variety of features they can uncover. Unsupervised approaches that discover useful new directions show that the space of perceptually meaningful directions is nowhere close to being fully mapped. As this space is broad and full of creative potential, we want tools for direction discovery that capture the richness and generalizability of human perception. Our approach puts creators in the discovery loop during real-time tool use, in order to identify directions that are perceptually meaningful to them, and generate interpretable image translations along those directions.

Humans subconsciously engage in geospatial reasoning when reading articles. We recognize place names and their spatial relations in text and mentally associate them with their physical locations on Earth. Although pretrained language models can mimic this cognitive process using linguistic context, they do not utilize valuable geospatial information in large, widely available geographical databases, e.g., OpenStreetMap. This paper introduces GeoLM, a geospatially grounded language model that enhances the understanding of geo-entities in natural language. GeoLM leverages geo-entity mentions as anchors to connect linguistic information in text corpora with geospatial information extracted from geographical databases. GeoLM connects the two types of context through contrastive learning and masked language modeling. It also incorporates a spatial coordinate embedding mechanism to encode distance and direction relations to capture geospatial context. In the experiment, we demonstrate that GeoLM exhibits promising capabilities in supporting toponym recognition, toponym linking, relation extraction, and geo-entity typing, which bridge the gap between natural language processing and geospatial sciences. The code is publicly available at https://github.com/knowledge-computing/geolm.

Spatial reasoning is an important component of human intelligence. We can imagine the shapes of 3D objects and reason about their spatial relations by merely looking at their three-view line drawings in 2D, with different levels of competence. Can deep networks be trained to perform spatial reasoning tasks? How can we measure their "spatial intelligence"? To answer these questions, we present the SPARE3D dataset. Based on cognitive science and psychometrics, SPARE3D contains three types of 2D-3D reasoning tasks on view consistency, camera pose, and shape generation, with increasing difficulty. We then design a method to automatically generate a large number of challenging questions with ground truth answers for each task. They are used to provide supervision for training our baseline models using state-of-the-art architectures like ResNet. Our experiments show that although convolutional networks have achieved superhuman performance in many visual learning tasks, their spatial reasoning performance on SPARE3D tasks is either lower than average human performance or even close to random guesses. We hope SPARE3D can stimulate new problem formulations and network designs for spatial reasoning to empower intelligent robots to operate effectively in the 3D world via 2D sensors. The dataset and code are available at https://ai4ce.github.io/SPARE3D.

Humans possess the visual-spatial intelligence to remember spaces from sequential visual observations. However, can Multimodal Large Language Models (MLLMs) trained on million-scale video datasets also ``think in space'' from videos? We present a novel video-based visual-spatial intelligence benchmark (VSI-Bench) of over 5,000 question-answer pairs, and find that MLLMs exhibit competitive - though subhuman - visual-spatial intelligence. We probe models to express how they think in space both linguistically and visually and find that while spatial reasoning capabilities remain the primary bottleneck for MLLMs to reach higher benchmark performance, local world models and spatial awareness do emerge within these models. Notably, prevailing linguistic reasoning techniques (e.g., chain-of-thought, self-consistency, tree-of-thoughts) fail to improve performance, whereas explicitly generating cognitive maps during question-answering enhances MLLMs' spatial distance ability.

Spatial computing is a technological advancement that facilitates the seamless integration of devices into the physical environment, resulting in a more natural and intuitive digital world user experience. Spatial computing has the potential to become a significant advancement in the field of computing. From GPS and location-based services to healthcare, spatial computing technologies have influenced and improved our interactions with the digital world. The use of spatial computing in creating interactive digital environments has become increasingly popular and effective. This is explained by its increasing significance among researchers and industrial organisations, which motivated us to conduct this review. This review provides a detailed overview of spatial computing, including its enabling technologies and its impact on various applications. Projects related to spatial computing are also discussed. In this review, we also explored the potential challenges and limitations of spatial computing. Furthermore, we discuss potential solutions and future directions. Overall, this paper aims to provide a comprehensive understanding of spatial computing, its enabling technologies, their impact on various applications, emerging challenges, and potential solutions.

Spatial intelligence is a critical component of embodied AI, promoting robots to understand and interact with their environments. While recent advances have enhanced the ability of VLMs to perceive object locations and positional relationships, they still lack the capability to precisely understand object orientations-a key requirement for tasks involving fine-grained manipulations. Addressing this limitation not only requires geometric reasoning but also an expressive and intuitive way to represent orientation. In this context, we propose that natural language offers a more flexible representation space than canonical frames, making it particularly suitable for instruction-following robotic systems. In this paper, we introduce the concept of semantic orientation, which defines object orientations using natural language in a reference-frame-free manner (e.g., the ''plug-in'' direction of a USB or the ''handle'' direction of a knife). To support this, we construct OrienText300K, a large-scale dataset of 3D models annotated with semantic orientations that link geometric understanding to functional semantics. By integrating semantic orientation into a VLM system, we enable robots to generate manipulation actions with both positional and orientational constraints. Extensive experiments in simulation and real world demonstrate that our approach significantly enhances robotic manipulation capabilities, e.g., 48.7% accuracy on Open6DOR and 74.9% accuracy on SIMPLER.

Despite recent advances demonstrating vision-language models' (VLMs) abilities to describe complex relationships in images using natural language, their capability to quantitatively reason about object sizes and distances remains underexplored. In this work, we introduce a manually annotated benchmark, Q-Spatial Bench, with 271 questions across five categories designed for quantitative spatial reasoning and systematically investigate the performance of state-of-the-art VLMs on this task. Our analysis reveals that reasoning about distances between objects is particularly challenging for SoTA VLMs; however, some VLMs significantly outperform others, with an over 40-point gap between the two best performing models. We also make the surprising observation that the success rate of the top-performing VLM increases by 19 points when a reasoning path using a reference object emerges naturally in the response. Inspired by this observation, we develop a zero-shot prompting technique, SpatialPrompt, that encourages VLMs to answer quantitative spatial questions using reference objects as visual cues. By instructing VLMs to use reference objects in their reasoning paths via SpatialPrompt, Gemini 1.5 Pro, Gemini 1.5 Flash, and GPT-4V improve their success rates by over 40, 20, and 30 points, respectively. We emphasize that these significant improvements are obtained without needing more data, model architectural modifications, or fine-tuning.

Incorporating domain-specific priors in search and navigation tasks has shown promising results in improving generalization and sample complexity over end-to-end trained policies. In this work, we study how object embeddings that capture spatial semantic priors can guide search and navigation tasks in a structured environment. We know that humans can search for an object like a book, or a plate in an unseen house, based on the spatial semantics of bigger objects detected. For example, a book is likely to be on a bookshelf or a table, whereas a plate is likely to be in a cupboard or dishwasher. We propose a method to incorporate such spatial semantic awareness in robots by leveraging pre-trained language models and multi-relational knowledge bases as object embeddings. We demonstrate using these object embeddings to search a query object in an unseen indoor environment. We measure the performance of these embeddings in an indoor simulator (AI2Thor). We further evaluate different pre-trained embedding onSuccess Rate(SR) and success weighted by Path Length(SPL).

Despite the impressive performance of Large Language Models (LLM) for various natural language processing tasks, little is known about their comprehension of geographic data and related ability to facilitate informed geospatial decision-making. This paper investigates the extent of geospatial knowledge, awareness, and reasoning abilities encoded within such pretrained LLMs. With a focus on autoregressive language models, we devise experimental approaches related to (i) probing LLMs for geo-coordinates to assess geospatial knowledge, (ii) using geospatial and non-geospatial prepositions to gauge their geospatial awareness, and (iii) utilizing a multidimensional scaling (MDS) experiment to assess the models' geospatial reasoning capabilities and to determine locations of cities based on prompting. Our results confirm that it does not only take larger, but also more sophisticated LLMs to synthesize geospatial knowledge from textual information. As such, this research contributes to understanding the potential and limitations of LLMs in dealing with geospatial information.

Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic instructions. A natural goal in Vision Language Navigation (VLN) research is to impart autonomous agents with similar capabilities. Recent works take a step towards this goal by creating a semantic spatial map representation of the environment without any labeled data. However, their representations are limited for practical applicability as they do not distinguish between different instances of the same object. In this work, we address this limitation by integrating instance-level information into spatial map representation using a community detection algorithm and utilizing word ontology learned by large language models (LLMs) to perform open-set semantic associations in the mapping representation. The resulting map representation improves the navigation performance by two-fold (233%) on realistic language commands with instance-specific descriptions compared to the baseline. We validate the practicality and effectiveness of our approach through extensive qualitative and quantitative experiments.

This study reveals an unexpected parallel between instructible vision-language models (VLMs) and human cognitive disorders, specifically constructive apraxia. We tested 25 state-of-the-art VLMs, including GPT-4 Vision, DALL-E 3, and Midjourney v5, on their ability to generate images of the Ponzo illusion, a task that requires basic spatial reasoning and is often used in clinical assessments of constructive apraxia. Remarkably, 24 out of 25 models failed to correctly render two horizontal lines against a perspective background, mirroring the deficits seen in patients with parietal lobe damage. The models consistently misinterpreted spatial instructions, producing tilted or misaligned lines that followed the perspective of the background rather than remaining horizontal. This behavior is strikingly similar to how apraxia patients struggle to copy or construct simple figures despite intact visual perception and motor skills. Our findings suggest that current VLMs, despite their advanced capabilities in other domains, lack fundamental spatial reasoning abilities akin to those impaired in constructive apraxia. This limitation in AI systems provides a novel computational model for studying spatial cognition deficits and highlights a critical area for improvement in VLM architecture and training methodologies.

The capabilities of large language models (LLMs) have sparked debate over whether such systems just learn an enormous collection of superficial statistics or a coherent model of the data generating process -- a world model. We find evidence for the latter by analyzing the learned representations of three spatial datasets (world, US, NYC places) and three temporal datasets (historical figures, artworks, news headlines) in the Llama-2 family of models. We discover that LLMs learn linear representations of space and time across multiple scales. These representations are robust to prompting variations and unified across different entity types (e.g. cities and landmarks). In addition, we identify individual ``space neurons'' and ``time neurons'' that reliably encode spatial and temporal coordinates. Our analysis demonstrates that modern LLMs acquire structured knowledge about fundamental dimensions such as space and time, supporting the view that they learn not merely superficial statistics, but literal world models.

Vision Language Models (VLMs) have achieved impressive performance in 2D image understanding, however they are still struggling with spatial understanding which is the foundation of Embodied AI. In this paper, we propose SpatialBot for better spatial understanding by feeding both RGB and depth images. Additionally, we have constructed the SpatialQA dataset, which involves multi-level depth-related questions to train VLMs for depth understanding. Finally, we present SpatialBench to comprehensively evaluate VLMs' capabilities in spatial understanding at different levels. Extensive experiments on our spatial-understanding benchmark, general VLM benchmarks and Embodied AI tasks, demonstrate the remarkable improvements of SpatialBot trained on SpatialQA. The model, code and data are available at https://github.com/BAAI-DCAI/SpatialBot.

While existing large vision-language multimodal models focus on whole image understanding, there is a prominent gap in achieving region-specific comprehension. Current approaches that use textual coordinates or spatial encodings often fail to provide a user-friendly interface for visual prompting. To address this challenge, we introduce a novel multimodal model capable of decoding arbitrary visual prompts. This allows users to intuitively mark images and interact with the model using natural cues like a "red bounding box" or "pointed arrow". Our simple design directly overlays visual markers onto the RGB image, eliminating the need for complex region encodings, yet achieves state-of-the-art performance on region-understanding tasks like Visual7W, PointQA, and Visual Commonsense Reasoning benchmark. Furthermore, we present ViP-Bench, a comprehensive benchmark to assess the capability of models in understanding visual prompts across multiple dimensions, enabling future research in this domain. Code, data, and model are publicly available.

We present a large-scale dataset, ReCoRD, for machine reading comprehension requiring commonsense reasoning. Experiments on this dataset demonstrate that the performance of state-of-the-art MRC systems fall far behind human performance. ReCoRD represents a challenge for future research to bridge the gap between human and machine commonsense reading comprehension. ReCoRD is available at http://nlp.jhu.edu/record.

Spatial relationships between objects represent key scene information for humans to understand and interact with the world. To study the capability of current computer vision systems to recognize physically grounded spatial relations, we start by proposing precise relation definitions that permit consistently annotating a benchmark dataset. Despite the apparent simplicity of this task relative to others in the recognition literature, we observe that existing approaches perform poorly on this benchmark. We propose new approaches exploiting the long-range attention capabilities of transformers for this task, and evaluating key design principles. We identify a simple "RelatiViT" architecture and demonstrate that it outperforms all current approaches. To our knowledge, this is the first method to convincingly outperform naive baselines on spatial relation prediction in in-the-wild settings. The code and datasets are available in https://sites.google.com/view/spatial-relation.

Embodied language comprehension emphasizes that language understanding is not solely a matter of mental processing in the brain but also involves interactions with the physical and social environment. With the explosive growth of Large Language Models (LLMs) and their already ubiquitous presence in our daily lives, it is becoming increasingly necessary to verify their real-world understanding. Inspired by cognitive theories, we propose POSQA: a Physical Object Size Question Answering dataset with simple size comparison questions to examine the extremity and analyze the potential mechanisms of the embodied comprehension of the latest LLMs. We show that even the largest LLMs today perform poorly under the zero-shot setting. We then push their limits with advanced prompting techniques and external knowledge augmentation. Furthermore, we investigate whether their real-world comprehension primarily derives from contextual information or internal weights and analyse the impact of prompt formats and report bias of different objects. Our results show that real-world understanding that LLMs shaped from textual data can be vulnerable to deception and confusion by the surface form of prompts, which makes it less aligned with human behaviours.

Episodic memory plays a crucial role in various cognitive processes, such as the ability to mentally recall past events. While cognitive science emphasizes the significance of spatial context in the formation and retrieval of episodic memory, the current primary approach to implementing episodic memory in AI systems is through transformers that store temporally ordered experiences, which overlooks the spatial dimension. As a result, it is unclear how the underlying structure could be extended to incorporate the spatial axis beyond temporal order alone and thereby what benefits can be obtained. To address this, this paper explores the use of Spatially-Aware Transformer models that incorporate spatial information. These models enable the creation of place-centric episodic memory that considers both temporal and spatial dimensions. Adopting this approach, we demonstrate that memory utilization efficiency can be improved, leading to enhanced accuracy in various place-centric downstream tasks. Additionally, we propose the Adaptive Memory Allocator, a memory management method based on reinforcement learning that aims to optimize efficiency of memory utilization. Our experiments demonstrate the advantages of our proposed model in various environments and across multiple downstream tasks, including prediction, generation, reasoning, and reinforcement learning. The source code for our models and experiments will be available at https://github.com/junmokane/spatially-aware-transformer.

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.

Spatial sound reasoning is a fundamental human skill, enabling us to navigate and interpret our surroundings based on sound. In this paper we present BAT, which combines the spatial sound perception ability of a binaural acoustic scene analysis model with the natural language reasoning capabilities of a large language model (LLM) to replicate this innate ability. To address the lack of existing datasets of in-the-wild spatial sounds, we synthesized a binaural audio dataset using AudioSet and SoundSpaces 2.0. Next, we developed SpatialSoundQA, a spatial sound-based question-answering dataset, offering a range of QA tasks that train BAT in various aspects of spatial sound perception and reasoning. The acoustic front end encoder of BAT is a novel spatial audio encoder named Spatial Audio Spectrogram Transformer, or Spatial-AST, which by itself achieves strong performance across sound event detection, spatial localization, and distance estimation. By integrating Spatial-AST with LLaMA-2 7B model, BAT transcends standard Sound Event Localization and Detection (SELD) tasks, enabling the model to reason about the relationships between the sounds in its environment. Our experiments demonstrate BAT's superior performance on both spatial sound perception and reasoning, showcasing the immense potential of LLMs in navigating and interpreting complex spatial audio environments.

Reading comprehension (RC)---in contrast to information retrieval---requires integrating information and reasoning about events, entities, and their relations across a full document. Question answering is conventionally used to assess RC ability, in both artificial agents and children learning to read. However, existing RC datasets and tasks are dominated by questions that can be solved by selecting answers using superficial information (e.g., local context similarity or global term frequency); they thus fail to test for the essential integrative aspect of RC. To encourage progress on deeper comprehension of language, we present a new dataset and set of tasks in which the reader must answer questions about stories by reading entire books or movie scripts. These tasks are designed so that successfully answering their questions requires understanding the underlying narrative rather than relying on shallow pattern matching or salience. We show that although humans solve the tasks easily, standard RC models struggle on the tasks presented here. We provide an analysis of the dataset and the challenges it presents.

How can a robot efficiently extract a desired object from a shelf when it is fully occluded by other objects? Prior works propose geometric approaches for this problem but do not consider object semantics. Shelves in pharmacies, restaurant kitchens, and grocery stores are often organized such that semantically similar objects are placed close to one another. Can large language models (LLMs) serve as semantic knowledge sources to accelerate robotic mechanical search in semantically arranged environments? With Semantic Spatial Search on Shelves (S^4), we use LLMs to generate affinity matrices, where entries correspond to semantic likelihood of physical proximity between objects. We derive semantic spatial distributions by synthesizing semantics with learned geometric constraints. S^4 incorporates Optical Character Recognition (OCR) and semantic refinement with predictions from ViLD, an open-vocabulary object detection model. Simulation experiments suggest that semantic spatial search reduces the search time relative to pure spatial search by an average of 24% across three domains: pharmacy, kitchen, and office shelves. A manually collected dataset of 100 semantic scenes suggests that OCR and semantic refinement improve object detection accuracy by 35%. Lastly, physical experiments in a pharmacy shelf suggest 47.1% improvement over pure spatial search. Supplementary material can be found at https://sites.google.com/view/s4-rss/home.

Various methods have been proposed for utilizing Large Language Models (LLMs) in autonomous driving. One strategy of using LLMs for autonomous driving involves inputting surrounding objects as text prompts to the LLMs, along with their coordinate and velocity information, and then outputting the subsequent movements of the vehicle. When using LLMs for such purposes, capabilities such as spatial recognition and planning are essential. In particular, two foundational capabilities are required: (1) spatial-aware decision making, which is the ability to recognize space from coordinate information and make decisions to avoid collisions, and (2) the ability to adhere to traffic rules. However, quantitative research has not been conducted on how accurately different types of LLMs can handle these problems. In this study, we quantitatively evaluated these two abilities of LLMs in the context of autonomous driving. Furthermore, to conduct a Proof of Concept (POC) for the feasibility of implementing these abilities in actual vehicles, we developed a system that uses LLMs to drive a vehicle.

Multimodal large language models (MLLMs) have shown remarkable capabilities across a broad range of tasks but their knowledge and abilities in the geographic and geospatial domains are yet to be explored, despite potential wide-ranging benefits to navigation, environmental research, urban development, and disaster response. We conduct a series of experiments exploring various vision capabilities of MLLMs within these domains, particularly focusing on the frontier model GPT-4V, and benchmark its performance against open-source counterparts. Our methodology involves challenging these models with a small-scale geographic benchmark consisting of a suite of visual tasks, testing their abilities across a spectrum of complexity. The analysis uncovers not only where such models excel, including instances where they outperform humans, but also where they falter, providing a balanced view of their capabilities in the geographic domain. To enable the comparison and evaluation of future models, our benchmark will be publicly released.

Distinguishing spatial relations is a basic part of human cognition which requires fine-grained perception on cross-instance. Although benchmarks like MME, MMBench and SEED comprehensively have evaluated various capabilities which already include visual spatial reasoning(VSR). There is still a lack of sufficient quantity and quality evaluation and optimization datasets for Vision Large Language Models(VLLMs) specifically targeting visual positional reasoning. To handle this, we first diagnosed current VLLMs with the VSR dataset and proposed a unified test set. We found current VLLMs to exhibit a contradiction of over-sensitivity to language instructions and under-sensitivity to visual positional information. By expanding the original benchmark from two aspects of tunning data and model structure, we mitigated this phenomenon. To our knowledge, we expanded spatially positioned image data controllably using diffusion models for the first time and integrated original visual encoding(CLIP) with other 3 powerful visual encoders(SigLIP, SAM and DINO). After conducting combination experiments on scaling data and models, we obtained a VLLM VSR Expert(VSRE) that not only generalizes better to different instructions but also accurately distinguishes differences in visual positional information. VSRE achieved over a 27\% increase in accuracy on the VSR test set. It becomes a performant VLLM on the position reasoning of both the VSR dataset and relevant subsets of other evaluation benchmarks. We open-sourced the expanded model with data and Appendix at https://github.com/peijin360/vsre and hope it will accelerate advancements in VLLM on VSR learning.

Understanding narratives requires reading between the lines, which in turn, requires interpreting the likely causes and effects of events, even when they are not mentioned explicitly. In this paper, we introduce Cosmos QA, a large-scale dataset of 35,600 problems that require commonsense-based reading comprehension, formulated as multiple-choice questions. In stark contrast to most existing reading comprehension datasets where the questions focus on factual and literal understanding of the context paragraph, our dataset focuses on reading between the lines over a diverse collection of people's everyday narratives, asking such questions as "what might be the possible reason of ...?", or "what would have happened if ..." that require reasoning beyond the exact text spans in the context. To establish baseline performances on Cosmos QA, we experiment with several state-of-the-art neural architectures for reading comprehension, and also propose a new architecture that improves over the competitive baselines. Experimental results demonstrate a significant gap between machine (68.4%) and human performance (94%), pointing to avenues for future research on commonsense machine comprehension. Dataset, code and leaderboard is publicly available at https://wilburone.github.io/cosmos.

Language models now constitute essential tools for improving efficiency for many professional tasks such as writing, coding, or learning. For this reason, it is imperative to identify inherent biases. In the field of Natural Language Processing, five sources of bias are well-identified: data, annotation, representation, models, and research design. This study focuses on biases related to geographical knowledge. We explore the connection between geography and language models by highlighting their tendency to misrepresent spatial information, thus leading to distortions in the representation of geographical distances. This study introduces four indicators to assess these distortions, by comparing geographical and semantic distances. Experiments are conducted from these four indicators with ten widely used language models. Results underscore the critical necessity of inspecting and rectifying spatial biases in language models to ensure accurate and equitable representations.

Text-to-Image (T2I) and multimodal large language models (MLLMs) have been adopted in solutions for several computer vision and multimodal learning tasks. However, it has been found that such vision-language models lack the ability to correctly reason over spatial relationships. To tackle this shortcoming, we develop the REVISION framework which improves spatial fidelity in vision-language models. REVISION is a 3D rendering based pipeline that generates spatially accurate synthetic images, given a textual prompt. REVISION is an extendable framework, which currently supports 100+ 3D assets, 11 spatial relationships, all with diverse camera perspectives and backgrounds. Leveraging images from REVISION as additional guidance in a training-free manner consistently improves the spatial consistency of T2I models across all spatial relationships, achieving competitive performance on the VISOR and T2I-CompBench benchmarks. We also design RevQA, a question-answering benchmark to evaluate the spatial reasoning abilities of MLLMs, and find that state-of-the-art models are not robust to complex spatial reasoning under adversarial settings. Our results and findings indicate that utilizing rendering-based frameworks is an effective approach for developing spatially-aware generative models.

A key component of successfully reading a passage of text is the ability to apply knowledge gained from the passage to a new situation. In order to facilitate progress on this kind of reading, we present ROPES, a challenging benchmark for reading comprehension targeting Reasoning Over Paragraph Effects in Situations. We target expository language describing causes and effects (e.g., "animal pollinators increase efficiency of fertilization in flowers"), as they have clear implications for new situations. A system is presented a background passage containing at least one of these relations, a novel situation that uses this background, and questions that require reasoning about effects of the relationships in the background passage in the context of the situation. We collect background passages from science textbooks and Wikipedia that contain such phenomena, and ask crowd workers to author situations, questions, and answers, resulting in a 14,322 question dataset. We analyze the challenges of this task and evaluate the performance of state-of-the-art reading comprehension models. The best model performs only slightly better than randomly guessing an answer of the correct type, at 61.6% F1, well below the human performance of 89.0%.

Can human reading comprehension be assessed from eye movements in reading? In this work, we address this longstanding question using large-scale eyetracking data over textual materials that are geared towards behavioral analyses of reading comprehension. We focus on a fine-grained and largely unaddressed task of predicting reading comprehension from eye movements at the level of a single question over a passage. We tackle this task using three new multimodal language models, as well as a battery of prior models from the literature. We evaluate the models' ability to generalize to new textual items, new participants, and the combination of both, in two different reading regimes, ordinary reading and information seeking. The evaluations suggest that although the task is highly challenging, eye movements contain useful signals for fine-grained prediction of reading comprehension. Code and data will be made publicly available.

The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to enhance MLLMs, such as incorporating point cloud features, have been made, yet a considerable gap remains between the models' learned representations and the inherent complexity of 3D scenes. This discrepancy largely stems from the training of MLLMs on predominantly 2D data, which restricts their effectiveness in comprehending 3D spaces. To address this issue, in this paper, we propose a novel generalist model, i.e., Video-3D LLM, for 3D scene understanding. By treating 3D scenes as dynamic videos and incorporating 3D position encoding into these representations, our Video-3D LLM aligns video representations with real-world spatial contexts more accurately. Additionally, we have implemented a maximum coverage sampling technique to optimize the balance between computational costs and performance efficiency. Extensive experiments demonstrate that our model achieves state-of-the-art performance on several 3D scene understanding benchmarks, including ScanRefer, Multi3DRefer, Scan2Cap, ScanQA, and SQA3D.

The rapid evolution of large language models (LLMs) holds promise for reforming the methodology of spatio-temporal data mining. However, current works for evaluating the spatio-temporal understanding capability of LLMs are somewhat limited and biased. These works either fail to incorporate the latest language models or only focus on assessing the memorized spatio-temporal knowledge. To address this gap, this paper dissects LLMs' capability of spatio-temporal data into four distinct dimensions: knowledge comprehension, spatio-temporal reasoning, accurate computation, and downstream applications. We curate several natural language question-answer tasks for each category and build the benchmark dataset, namely STBench, containing 13 distinct tasks and over 60,000 QA pairs. Moreover, we have assessed the capabilities of 13 LLMs, such as GPT-4o, Gemma and Mistral. Experimental results reveal that existing LLMs show remarkable performance on knowledge comprehension and spatio-temporal reasoning tasks, with potential for further enhancement on other tasks through in-context learning, chain-of-though prompting, and fine-tuning. The code and datasets of STBench are released on https://github.com/LwbXc/STBench.

Given the importance of remote sensing, surprisingly little attention has been paid to it by the representation learning community. To address it and to establish baselines and a common evaluation protocol in this domain, we provide simplified access to 5 diverse remote sensing datasets in a standardized form. Specifically, we investigate in-domain representation learning to develop generic remote sensing representations and explore which characteristics are important for a dataset to be a good source for remote sensing representation learning. The established baselines achieve state-of-the-art performance on these datasets.

Scene understanding is an active research area. Commercial depth sensors, such as Kinect, have enabled the release of several RGB-D datasets over the past few years which spawned novel methods in 3D scene understanding. More recently with the launch of the LiDAR sensor in Apple's iPads and iPhones, high quality RGB-D data is accessible to millions of people on a device they commonly use. This opens a whole new era in scene understanding for the Computer Vision community as well as app developers. The fundamental research in scene understanding together with the advances in machine learning can now impact people's everyday experiences. However, transforming these scene understanding methods to real-world experiences requires additional innovation and development. In this paper we introduce ARKitScenes. It is not only the first RGB-D dataset that is captured with a now widely available depth sensor, but to our best knowledge, it also is the largest indoor scene understanding data released. In addition to the raw and processed data from the mobile device, ARKitScenes includes high resolution depth maps captured using a stationary laser scanner, as well as manually labeled 3D oriented bounding boxes for a large taxonomy of furniture. We further analyze the usefulness of the data for two downstream tasks: 3D object detection and color-guided depth upsampling. We demonstrate that our dataset can help push the boundaries of existing state-of-the-art methods and it introduces new challenges that better represent real-world scenarios.

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. To represent the previously visited environment, most approaches for VLN implement memory using recurrent states, topological maps, or top-down semantic maps. In contrast to these approaches, we build the top-down egocentric and dynamically growing Grid Memory Map (i.e., GridMM) to structure the visited environment. From a global perspective, historical observations are projected into a unified grid map in a top-down view, which can better represent the spatial relations of the environment. From a local perspective, we further propose an instruction relevance aggregation method to capture fine-grained visual clues in each grid region. Extensive experiments are conducted on both the REVERIE, R2R, SOON datasets in the discrete environments, and the R2R-CE dataset in the continuous environments, showing the superiority of our proposed method.

Vision language models (VLMs) have experienced rapid advancements through the integration of large language models (LLMs) with image-text pairs, yet they struggle with detailed regional visual understanding due to limited spatial awareness of the vision encoder, and the use of coarse-grained training data that lacks detailed, region-specific captions. To address this, we introduce RegionGPT (short as RGPT), a novel framework designed for complex region-level captioning and understanding. RGPT enhances the spatial awareness of regional representation with simple yet effective modifications to existing visual encoders in VLMs. We further improve performance on tasks requiring a specific output scope by integrating task-guided instruction prompts during both training and inference phases, while maintaining the model's versatility for general-purpose tasks. Additionally, we develop an automated region caption data generation pipeline, enriching the training set with detailed region-level captions. We demonstrate that a universal RGPT model can be effectively applied and significantly enhancing performance across a range of region-level tasks, including but not limited to complex region descriptions, reasoning, object classification, and referring expressions comprehension.

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features from large vision-language models to encode semantics in 3D representations. However, these approaches tend to produce maps with per-point feature vectors, which do not scale well in larger environments, nor do they contain semantic spatial relationships between entities in the environment, which are useful for downstream planning. In this work, we propose ConceptGraphs, an open-vocabulary graph-structured representation for 3D scenes. ConceptGraphs is built by leveraging 2D foundation models and fusing their output to 3D by multi-view association. The resulting representations generalize to novel semantic classes, without the need to collect large 3D datasets or finetune models. We demonstrate the utility of this representation through a number of downstream planning tasks that are specified through abstract (language) prompts and require complex reasoning over spatial and semantic concepts. (Project page: https://concept-graphs.github.io/ Explainer video: https://youtu.be/mRhNkQwRYnc )

Visual reasoning -- the ability to interpret the visual world -- is crucial for embodied agents that operate within three-dimensional scenes. Progress in AI has led to vision and language models capable of answering questions from images. However, their performance declines when tasked with 3D spatial reasoning. To tackle the complexity of such reasoning problems, we introduce an agentic program synthesis approach where LLM agents collaboratively generate a Pythonic API with new functions to solve common subproblems. Our method overcomes limitations of prior approaches that rely on a static, human-defined API, allowing it to handle a wider range of queries. To assess AI capabilities for 3D understanding, we introduce a new benchmark of queries involving multiple steps of grounding and inference. We show that our method outperforms prior zero-shot models for visual reasoning in 3D and empirically validate the effectiveness of our agentic framework for 3D spatial reasoning tasks. Project website: https://glab-caltech.github.io/vadar/

Multi-modal Large Language Models (MLLMs) have shown remarkable capabilities in many vision-language tasks. Nevertheless, most MLLMs still lack the Referential Comprehension (RC) ability to identify a specific object or area in images, limiting their application in fine-grained perception tasks. This paper proposes a novel method to enhance the RC capability for MLLMs. Our model represents the referring object in the image using the coordinates of its bounding box and converts the coordinates into texts in a specific format. This allows the model to treat the coordinates as natural language. Moreover, we construct the instruction tuning dataset with various designed RC tasks at a low cost by unleashing the potential of annotations in existing datasets. To further boost the RC ability of the model, we propose a self-consistent bootstrapping method that extends dense object annotations of a dataset into high-quality referring-expression-bounding-box pairs. The model is trained end-to-end with a parameter-efficient tuning framework that allows both modalities to benefit from multi-modal instruction tuning. This framework requires fewer trainable parameters and less training data. Experimental results on conventional vision-language and RC tasks demonstrate the superior performance of our method. For instance, our model exhibits a 12.0% absolute accuracy improvement over Instruct-BLIP on VSR and surpasses Kosmos-2 by 24.7% on RefCOCO_val under zero-shot settings. We also attain the top position on the leaderboard of MMBench. The models, datasets, and codes are publicly available at https://github.com/SY-Xuan/Pink

Visual spatial description (VSD) aims to generate texts that describe the spatial relations of the given objects within images. Existing VSD work merely models the 2D geometrical vision features, thus inevitably falling prey to the problem of skewed spatial understanding of target objects. In this work, we investigate the incorporation of 3D scene features for VSD. With an external 3D scene extractor, we obtain the 3D objects and scene features for input images, based on which we construct a target object-centered 3D spatial scene graph (Go3D-S2G), such that we model the spatial semantics of target objects within the holistic 3D scenes. Besides, we propose a scene subgraph selecting mechanism, sampling topologically-diverse subgraphs from Go3D-S2G, where the diverse local structure features are navigated to yield spatially-diversified text generation. Experimental results on two VSD datasets demonstrate that our framework outperforms the baselines significantly, especially improving on the cases with complex visual spatial relations. Meanwhile, our method can produce more spatially-diversified generation. Code is available at https://github.com/zhaoyucs/VSD.

Cognitive textual and visual reasoning tasks, such as puzzles, series, and analogies, demand the ability to quickly reason, decipher, and evaluate patterns both textually and spatially. While LLMs and VLMs, through extensive training on large amounts of human-curated data, have attained a high level of pseudo-human intelligence in some common sense reasoning tasks, they still struggle with more complex reasoning tasks that require cognitive understanding. In this work, we introduce a new dataset, NTSEBench, designed to evaluate the cognitive multi-modal reasoning and problem-solving skills of large models. The dataset comprises 2,728 multiple-choice questions comprising of a total of 4,642 images across 26 categories sampled from the NTSE examination conducted nationwide in India, featuring both visual and textual general aptitude questions that do not rely on rote learning. We establish baselines on the dataset using state-of-the-art LLMs and VLMs. To facilitate a comparison between open source and propriety models, we propose four distinct modeling strategies to handle different modalities (text and images) in the dataset instances.

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve exploration efficiency. However, the planning process of LLMs is limited within texts and it is difficult to represent the spatial occupancy and geometry layout only by texts. Both are important for making rational navigation decisions. In this work, we seek to unleash the spatial perception and planning ability of Vision-Language Models (VLMs), and explore whether the VLM, with only on-board camera captured RGB/RGB-D stream inputs, can efficiently finish the visual navigation tasks in a mapless manner. We achieve this by developing the imagination-powered navigation framework ImagineNav, which imagines the future observation images at valuable robot views and translates the complex navigation planning process into a rather simple best-view image selection problem for VLM. To generate appropriate candidate robot views for imagination, we introduce the Where2Imagine module, which is distilled to align with human navigation habits. Finally, to reach the VLM preferred views, an off-the-shelf point-goal navigation policy is utilized. Empirical experiments on the challenging open-vocabulary object navigation benchmarks demonstrates the superiority of our proposed system.

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information for object-oriented exploration. On the other hand, end-to-end learning methods alleviate manual map design and predict actions using implicit representations. Such methods, however, lack an explicit notion of geometry and may have limited ability to encode navigation history. In this work, we propose an implicit spatial map for object goal navigation. Our implicit map is recursively updated with new observations at each step using a transformer. To encourage spatial reasoning, we introduce auxiliary tasks and train our model to reconstruct explicit maps as well as to predict visual features, semantic labels and actions. Our method significantly outperforms the state of the art on the challenging MP3D dataset and generalizes well to the HM3D dataset. We successfully deploy our model on a real robot and achieve encouraging object goal navigation results in real scenes using only a few real-world demonstrations. Code, trained models and videos are available at https://www.di.ens.fr/willow/research/onav_rim/.

Vision-Language Models (VLMs) are expected to be capable of reasoning with commonsense knowledge as human beings. One example is that humans can reason where and when an image is taken based on their knowledge. This makes us wonder if, based on visual cues, Vision-Language Models that are pre-trained with large-scale image-text resources can achieve and even outperform human's capability in reasoning times and location. To address this question, we propose a two-stage \recognition\space and \reasoning\space probing task, applied to discriminative and generative VLMs to uncover whether VLMs can recognize times and location-relevant features and further reason about it. To facilitate the investigation, we introduce WikiTiLo, a well-curated image dataset compromising images with rich socio-cultural cues. In the extensive experimental studies, we find that although VLMs can effectively retain relevant features in visual encoders, they still fail to make perfect reasoning. We will release our dataset and codes to facilitate future studies.

An ability that underlies human syntactic knowledge is determining which words can appear in the similar structures (i.e. grouping words by their syntactic categories). These groupings enable humans to combine structures in order to communicate complex meanings. A foundational question is how do children acquire this ability underlying syntactic knowledge. In exploring this process, we will review various engineering approaches whose goal is similar to that of a child's -- without prior syntactic knowledge, correctly identify the parts of speech (POS) of the words in a sample of text. In reviewing these unsupervised tagging efforts, we will discuss common themes that support the advances in the models and their relevance for language acquisition. For example, we discuss how each model judges success (evaluation metrics), the "additional information" that constrains the POS learning (such as orthographic information), and the context used to determine POS (only previous word, words before and after the target, etc). The identified themes pave the way for future investigations into the cognitive processes that underpin the acquisition of syntactic categories and provide a useful layout of current state of the art unsupervised POS tagging models.

We present a new dataset for machine comprehension in the medical domain. Our dataset uses clinical case reports with around 100,000 gap-filling queries about these cases. We apply several baselines and state-of-the-art neural readers to the dataset, and observe a considerable gap in performance (20% F1) between the best human and machine readers. We analyze the skills required for successful answering and show how reader performance varies depending on the applicable skills. We find that inferences using domain knowledge and object tracking are the most frequently required skills, and that recognizing omitted information and spatio-temporal reasoning are the most difficult for the machines.

The confluence of recent advances in availability of geospatial information, computing power, and artificial intelligence offers new opportunities to understand how and where our cities differ or are alike. Departing from a traditional `top-down' analysis of urban design features, this project analyses millions of images of urban form (consisting of street view, satellite imagery, and street maps) to find shared characteristics. A (novel) neural network-based framework is trained with imagery from the largest 1692 cities in the world and the resulting models are used to compare within-city locations from Melbourne and Sydney to determine the closest connections between these areas and their international comparators. This work demonstrates a new, consistent, and objective method to begin to understand the relationship between cities and their health, transport, and environmental consequences of their design. The results show specific advantages and disadvantages using each type of imagery. Neural networks trained with map imagery will be highly influenced by the mix of roads, public transport, and green and blue space as well as the structure of these elements. The colours of natural and built features stand out as dominant characteristics in satellite imagery. The use of street view imagery will emphasise the features of a human scaled visual geography of streetscapes. Finally, and perhaps most importantly, this research also answers the age-old question, ``Is there really a `Paris-end' to your city?''.

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images for classification or with self-supervised learning methods to adapt to the indoor navigation domain, neglecting the spatial relationships that are essential to the learning of navigation. Inspired by the behavior that humans naturally build semantically and spatially meaningful cognitive maps in their brains during navigation, in this paper, we propose a novel navigational-specific visual representation learning method by contrasting the agent's egocentric views and semantic maps (Ego^2-Map). We apply the visual transformer as the backbone encoder and train the model with data collected from the large-scale Habitat-Matterport3D environments. Ego^2-Map learning transfers the compact and rich information from a map, such as objects, structure and transition, to the agent's egocentric representations for navigation. Experiments show that agents using our learned representations on object-goal navigation outperform recent visual pre-training methods. Moreover, our representations significantly improve vision-and-language navigation in continuous environments for both high-level and low-level action spaces, achieving new state-of-the-art results of 47% SR and 41% SPL on the test server.

Multimodal language models (MLLMs) are increasingly being implemented in real-world environments, necessitating their ability to interpret 3D spaces and comprehend temporal dynamics. Despite their potential, current top models within our community still fall short in adequately understanding spatial and temporal dimensions. We introduce Coarse Correspondence, a simple, training-free, effective, and general-purpose visual prompting method to elicit 3D and temporal understanding in multimodal LLMs. Our method uses a lightweight tracking model to find object correspondences between frames in a video or between sets of image viewpoints. It selects the most frequent object instances and visualizes them with markers with unique IDs in the image. With this simple approach, we achieve state-of-the-art results on 3D understanding benchmarks including ScanQA (+20.5\%) and a subset of OpenEQA (+9.7\%), and on long-form video benchmarks such as EgoSchema (+6.0\%). We also curate a small diagnostic dataset to evaluate whether MLLMs can reason about space from a described viewpoint other than the camera viewpoint. Again, Coarse Correspondence improves spatial perspective-taking abilities but we highlight that MLLMs struggle with this task. Together, we demonstrate that our simple prompting method can significantly aid downstream tasks that require 3D or temporal reasoning.

In recent decades, several assistive technologies have been developed for visually impaired and blind (VIB) individuals to improve their ability to navigate independently and safely. At the same time, simultaneous localization and mapping (SLAM) techniques have become sufficiently robust and efficient to be adopted in the development of these assistive technologies. In this paper, we first report the results of an anonymous worldwide survey conducted with VIB people to understand their experiences, needs, and challenges in navigation, differentiating our approach from prior work that often has a limited geographic scope and focuses on specific challenges. We then present a systematic literature review of recent studies on SLAM-based solutions for VIB people. This review explores various SLAM techniques employed in this context. We discuss the advantages and limitations of these techniques for VIB navigation. Moreover, we examined a range of challenging situations addressed in the studies included in this review. We explain how SLAM-based solutions offer potential to improve the ability of visually impaired individuals to navigate effectively. Finally, we present future opportunities and challenges in this domain.

Comprehending text-rich visual content is paramount for the practical application of Multimodal Large Language Models (MLLMs), since text-rich scenarios are ubiquitous in the real world, which are characterized by the presence of extensive texts embedded within images. Recently, the advent of MLLMs with impressive versatility has raised the bar for what we can expect from MLLMs. However, their proficiency in text-rich scenarios has yet to be comprehensively and objectively assessed, since current MLLM benchmarks primarily focus on evaluating general visual comprehension. In this work, we introduce SEED-Bench-2-Plus, a benchmark specifically designed for evaluating text-rich visual comprehension of MLLMs. Our benchmark comprises 2.3K multiple-choice questions with precise human annotations, spanning three broad categories: Charts, Maps, and Webs, each of which covers a wide spectrum of text-rich scenarios in the real world. These categories, due to their inherent complexity and diversity, effectively simulate real-world text-rich environments. We further conduct a thorough evaluation involving 34 prominent MLLMs (including GPT-4V, Gemini-Pro-Vision and Claude-3-Opus) and emphasize the current limitations of MLLMs in text-rich visual comprehension. We hope that our work can serve as a valuable addition to existing MLLM benchmarks, providing insightful observations and inspiring further research in the area of text-rich visual comprehension with MLLMs. The dataset and evaluation code can be accessed at https://github.com/AILab-CVC/SEED-Bench.

Navigating drones through natural language commands remains challenging due to the dearth of accessible multi-modal datasets and the stringent precision requirements for aligning visual and textual data. To address this pressing need, we introduce GeoText-1652, a new natural language-guided geo-localization benchmark. This dataset is systematically constructed through an interactive human-computer process leveraging Large Language Model (LLM) driven annotation techniques in conjunction with pre-trained vision models. GeoText-1652 extends the established University-1652 image dataset with spatial-aware text annotations, thereby establishing one-to-one correspondences between image, text, and bounding box elements. We further introduce a new optimization objective to leverage fine-grained spatial associations, called blending spatial matching, for region-level spatial relation matching. Extensive experiments reveal that our approach maintains a competitive recall rate comparing other prevailing cross-modality methods. This underscores the promising potential of our approach in elevating drone control and navigation through the seamless integration of natural language commands in real-world scenarios.

The development of large language models (LLMs) has greatly advanced the field of multimodal understanding, leading to the emergence of large multimodal models (LMMs). In order to enhance the level of visual comprehension, recent studies have equipped LMMs with region-level understanding capabilities by representing object bounding box coordinates as a series of text sequences (pixel2seq). In this paper, we introduce a novel paradigm for object location modeling called pixel2emb method, where we ask the LMM to output the location embeddings and then decoded by different decoders. This paradigm allows for different location formats (such as bounding boxes and masks) to be used in multimodal conversations Furthermore, this kind of embedding based location modeling enables the utilization of existing practices in localization tasks, such as detection and segmentation. In scenarios with limited resources, our pixel2emb demonstrates superior performance compared to existing state-of-the-art (SOTA) approaches in both the location input and output tasks under fair comparison. Leveraging the proposed pixel2emb method, we train an LMM named NExT-Chat and demonstrate its capability of handling multiple tasks like visual grounding, region caption, and grounded reasoning.

The remarkable potential of multi-modal large language models (MLLMs) in comprehending both vision and language information has been widely acknowledged. However, the scarcity of 3D scenes-language pairs in comparison to their 2D counterparts, coupled with the inadequacy of existing approaches in understanding of 3D scenes by LLMs, poses a significant challenge. In response, we collect and construct an extensive dataset comprising 75K instruction-response pairs tailored for 3D scenes. This dataset addresses tasks related to 3D VQA, 3D grounding, and 3D conversation. To further enhance the integration of 3D spatial information into LLMs, we introduce a novel and efficient prompt tuning paradigm, 3DMIT. This paradigm eliminates the alignment stage between 3D scenes and language and extends the instruction prompt with the 3D modality information including the entire scene and segmented objects. We evaluate the effectiveness of our method across diverse tasks in the 3D scene domain and find that our approach serves as a strategic means to enrich LLMs' comprehension of the 3D world. Our code is available at https://github.com/staymylove/3DMIT.

Image-to-text tasks, such as open-ended image captioning and controllable image description, have received extensive attention for decades. Here, we further advance this line of work by presenting Visual Spatial Description (VSD), a new perspective for image-to-text toward spatial semantics. Given an image and two objects inside it, VSD aims to produce one description focusing on the spatial perspective between the two objects. Accordingly, we manually annotate a dataset to facilitate the investigation of the newly-introduced task and build several benchmark encoder-decoder models by using VL-BART and VL-T5 as backbones. In addition, we investigate pipeline and joint end-to-end architectures for incorporating visual spatial relationship classification (VSRC) information into our model. Finally, we conduct experiments on our benchmark dataset to evaluate all our models. Results show that our models are impressive, providing accurate and human-like spatial-oriented text descriptions. Meanwhile, VSRC has great potential for VSD, and the joint end-to-end architecture is the better choice for their integration. We make the dataset and codes public for research purposes.

We introduce a task and dataset for referring expression generation and comprehension in multi-agent embodied environments. In this task, two agents in a shared scene must take into account one another's visual perspective, which may be different from their own, to both produce and understand references to objects in a scene and the spatial relations between them. We collect a dataset of 2,970 human-written referring expressions, each paired with human comprehension judgments, and evaluate the performance of automated models as speakers and listeners paired with human partners, finding that model performance in both reference generation and comprehension lags behind that of pairs of human agents. Finally, we experiment training an open-weight speaker model with evidence of communicative success when paired with a listener, resulting in an improvement from 58.9 to 69.3% in communicative success and even outperforming the strongest proprietary model.

"Search for" or "Navigate to"? When finding an object, the two choices always come up in our subconscious mind. Before seeing the target, we search for the target based on experience. After seeing the target, we remember the target location and navigate to. However, recently methods in object navigation field almost only consider using object association to enhance "search for" phase while neglect the importance of "navigate to" phase. Therefore, this paper proposes the dual adaptive thinking (DAT) method to flexibly adjust the different thinking strategies at different navigation stages. Dual thinking includes search thinking with the object association ability and navigation thinking with the target location ability. To make the navigation thinking more effective, we design the target-oriented memory graph (TOMG) to store historical target information and the target-aware multi-scale aggregator (TAMSA) to encode the relative target position. We assess our methods on the AI2-Thor dataset. Compared with the state-of-the-art (SOTA) method, our method reports 10.8%, 21.5% and 15.7% increase in success rate (SR), success weighted by path length (SPL) and success weighted by navigation efficiency (SNE), respectively.

Understanding and mapping a new environment are core abilities of any autonomously navigating agent. While classical robotics usually estimates maps in a stand-alone manner with SLAM variants, which maintain a topological or metric representation, end-to-end learning of navigation keeps some form of memory in a neural network. Networks are typically imbued with inductive biases, which can range from vectorial representations to birds-eye metric tensors or topological structures. In this work, we propose to structure neural networks with two neural implicit representations, which are learned dynamically during each episode and map the content of the scene: (i) the Semantic Finder predicts the position of a previously seen queried object; (ii) the Occupancy and Exploration Implicit Representation encapsulates information about explored area and obstacles, and is queried with a novel global read mechanism which directly maps from function space to a usable embedding space. Both representations are leveraged by an agent trained with Reinforcement Learning (RL) and learned online during each episode. We evaluate the agent on Multi-Object Navigation and show the high impact of using neural implicit representations as a memory source.

In mixed reality (MR) environments, understanding space and creating virtual objects is crucial to providing an intuitive and rich user experience. This paper introduces sMoRe (Spatial Mapping and Object Rendering Environment), an MR application that combines Generative AI (GenAI) with large language models (LLMs) to assist users in creating, placing, and managing virtual objects within physical spaces. sMoRe allows users to use voice or typed text commands to create and place virtual objects using GenAI while specifying spatial constraints. The system leverages LLMs to interpret users' commands, analyze the current scene, and identify optimal locations. Additionally, sMoRe integrates text-to-3D generative AI to dynamically create 3D objects based on users' descriptions. Our user study demonstrates the effectiveness of sMoRe in enhancing user comprehension, interaction, and organization of the MR environment.

Human perception of the world is shaped by a multitude of viewpoints and modalities. While many existing datasets focus on scene understanding from a certain perspective (e.g. egocentric or third-person views), our dataset offers a panoptic perspective (i.e. multiple viewpoints with multiple data modalities). Specifically, we encapsulate third-person panoramic and front views, as well as egocentric monocular/binocular views with rich modalities including video, multi-channel audio, directional binaural delay, location data and textual scene descriptions within each scene captured, presenting comprehensive observation of the world. Figure 1 offers a glimpse of all 28 scene categories of our 360+x dataset. To the best of our knowledge, this is the first database that covers multiple viewpoints with multiple data modalities to mimic how daily information is accessed in the real world. Through our benchmark analysis, we presented 5 different scene understanding tasks on the proposed 360+x dataset to evaluate the impact and benefit of each data modality and perspective in panoptic scene understanding. We hope this unique dataset could broaden the scope of comprehensive scene understanding and encourage the community to approach these problems from more diverse perspectives.

Recent methods for embodied instruction following are typically trained end-to-end using imitation learning. This often requires the use of expert trajectories and low-level language instructions. Such approaches assume that neural states will integrate multimodal semantics to perform state tracking, building spatial memory, exploration, and long-term planning. In contrast, we propose a modular method with structured representations that (1) builds a semantic map of the scene and (2) performs exploration with a semantic search policy, to achieve the natural language goal. Our modular method achieves SOTA performance (24.46 %) with a substantial (8.17 % absolute) gap from previous work while using less data by eschewing both expert trajectories and low-level instructions. Leveraging low-level language, however, can further increase our performance (26.49 %). Our findings suggest that an explicit spatial memory and a semantic search policy can provide a stronger and more general representation for state-tracking and guidance, even in the absence of expert trajectories or low-level instructions.

We introduce WonderJourney, a modularized framework for perpetual 3D scene generation. Unlike prior work on view generation that focuses on a single type of scenes, we start at any user-provided location (by a text description or an image) and generate a journey through a long sequence of diverse yet coherently connected 3D scenes. We leverage an LLM to generate textual descriptions of the scenes in this journey, a text-driven point cloud generation pipeline to make a compelling and coherent sequence of 3D scenes, and a large VLM to verify the generated scenes. We show compelling, diverse visual results across various scene types and styles, forming imaginary "wonderjourneys". Project website: https://kovenyu.com/WonderJourney/

We analyse perception and memory, using mathematical models for knowledge graphs and tensors, to gain insights into the corresponding functionalities of the human mind. Our discussion is based on the concept of propositional sentences consisting of subject-predicate-object (SPO) triples for expressing elementary facts. SPO sentences are the basis for most natural languages but might also be important for explicit perception and declarative memories, as well as intra-brain communication and the ability to argue and reason. A set of SPO sentences can be described as a knowledge graph, which can be transformed into an adjacency tensor. We introduce tensor models, where concepts have dual representations as indices and associated embeddings, two constructs we believe are essential for the understanding of implicit and explicit perception and memory in the brain. We argue that a biological realization of perception and memory imposes constraints on information processing. In particular, we propose that explicit perception and declarative memories require a semantic decoder, which, in a simple realization, is based on four layers: First, a sensory memory layer, as a buffer for sensory input, second, an index layer representing concepts, third, a memoryless representation layer for the broadcasting of information ---the "blackboard", or the "canvas" of the brain--- and fourth, a working memory layer as a processing center and data buffer. We discuss the operations of the four layers and relate them to the global workspace theory. In a Bayesian brain interpretation, semantic memory defines the prior for observable triple statements. We propose that ---in evolution and during development--- semantic memory, episodic memory, and natural language evolved as emergent properties in agents' process to gain a deeper understanding of sensory information.

Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural language descriptions of object goals, it remains disjoint from the process of mapping the environment, so that it lacks the spatial precision of classic geometric maps. To address this problem, we propose VLMaps, a spatial map representation that directly fuses pretrained visual-language features with a 3D reconstruction of the physical world. VLMaps can be autonomously built from video feed on robots using standard exploration approaches and enables natural language indexing of the map without additional labeled data. Specifically, when combined with large language models (LLMs), VLMaps can be used to (i) translate natural language commands into a sequence of open-vocabulary navigation goals (which, beyond prior work, can be spatial by construction, e.g., "in between the sofa and TV" or "three meters to the right of the chair") directly localized in the map, and (ii) can be shared among multiple robots with different embodiments to generate new obstacle maps on-the-fly (by using a list of obstacle categories). Extensive experiments carried out in simulated and real world environments show that VLMaps enable navigation according to more complex language instructions than existing methods. Videos are available at https://vlmaps.github.io.

Recently, Large Language Models (LLMs) have demonstrated great potential in robotic applications by providing essential general knowledge for situations that can not be pre-programmed beforehand. Generally speaking, mobile robots need to understand maps to execute tasks such as localization or navigation. In this letter, we address the problem of enabling LLMs to comprehend Area Graph, a text-based map representation, in order to enhance their applicability in the field of mobile robotics. Area Graph is a hierarchical, topometric semantic map representation utilizing polygons to demark areas such as rooms, corridors or buildings. In contrast to commonly used map representations, such as occupancy grid maps or point clouds, osmAG (Area Graph in OpensStreetMap format) is stored in a XML textual format naturally readable by LLMs. Furthermore, conventional robotic algorithms such as localization and path planning are compatible with osmAG, facilitating this map representation comprehensible by LLMs, traditional robotic algorithms and humans. Our experiments show that with a proper map representation, LLMs possess the capability to understand maps and answer queries based on that understanding. Following simple fine-tuning of LLaMA2 models, it surpassed ChatGPT-3.5 in tasks involving topology and hierarchy understanding. Our dataset, dataset generation code, fine-tuned LoRA adapters can be accessed at https://github.com/xiefujing/LLM-osmAG-Comprehension.

Understanding the spatial relations between objects in images is a surprisingly challenging task. A chair may be "behind" a person even if it appears to the left of the person in the image (depending on which way the person is facing). Two students that appear close to each other in the image may not in fact be "next to" each other if there is a third student between them. We introduce SpatialSense, a dataset specializing in spatial relation recognition which captures a broad spectrum of such challenges, allowing for proper benchmarking of computer vision techniques. SpatialSense is constructed through adversarial crowdsourcing, in which human annotators are tasked with finding spatial relations that are difficult to predict using simple cues such as 2D spatial configuration or language priors. Adversarial crowdsourcing significantly reduces dataset bias and samples more interesting relations in the long tail compared to existing datasets. On SpatialSense, state-of-the-art recognition models perform comparably to simple baselines, suggesting that they rely on straightforward cues instead of fully reasoning about this complex task. The SpatialSense benchmark provides a path forward to advancing the spatial reasoning capabilities of computer vision systems. The dataset and code are available at https://github.com/princeton-vl/SpatialSense.

Informally, the 'linear representation hypothesis' is the idea that high-level concepts are represented linearly as directions in some representation space. In this paper, we address two closely related questions: What does "linear representation" actually mean? And, how do we make sense of geometric notions (e.g., cosine similarity or projection) in the representation space? To answer these, we use the language of counterfactuals to give two formalizations of "linear representation", one in the output (word) representation space, and one in the input (sentence) space. We then prove these connect to linear probing and model steering, respectively. To make sense of geometric notions, we use the formalization to identify a particular (non-Euclidean) inner product that respects language structure in a sense we make precise. Using this causal inner product, we show how to unify all notions of linear representation. In particular, this allows the construction of probes and steering vectors using counterfactual pairs. Experiments with LLaMA-2 demonstrate the existence of linear representations of concepts, the connection to interpretation and control, and the fundamental role of the choice of inner product.

Graphical User Interfaces (GUIs) are central to our interaction with digital devices. Recently, growing efforts have been made to build models for various GUI understanding tasks. However, these efforts largely overlook an important GUI-referring task: screen reading based on user-indicated points, which we name the Screen Point-and-Read (SPR) task. This task is predominantly handled by rigid accessible screen reading tools, in great need of new models driven by advancements in Multimodal Large Language Models (MLLMs). In this paper, we propose a Tree-of-Lens (ToL) agent, utilizing a novel ToL grounding mechanism, to address the SPR task. Based on the input point coordinate and the corresponding GUI screenshot, our ToL agent constructs a Hierarchical Layout Tree. Based on the tree, our ToL agent not only comprehends the content of the indicated area but also articulates the layout and spatial relationships between elements. Such layout information is crucial for accurately interpreting information on the screen, distinguishing our ToL agent from other screen reading tools. We also thoroughly evaluate the ToL agent against other baselines on a newly proposed SPR benchmark, which includes GUIs from mobile, web, and operating systems. Last but not least, we test the ToL agent on mobile GUI navigation tasks, demonstrating its utility in identifying incorrect actions along the path of agent execution trajectories. Code and data: screen-point-and-read.github.io

The web provides a rich, open-domain environment with textual, structural, and spatial properties. We propose a new task for grounding language in this environment: given a natural language command (e.g., "click on the second article"), choose the correct element on the web page (e.g., a hyperlink or text box). We collected a dataset of over 50,000 commands that capture various phenomena such as functional references (e.g. "find who made this site"), relational reasoning (e.g. "article by john"), and visual reasoning (e.g. "top-most article"). We also implemented and analyzed three baseline models that capture different phenomena present in the dataset.

There is a practically unlimited amount of natural language data available. Still, recent work in text comprehension has focused on datasets which are small relative to current computing possibilities. This article is making a case for the community to move to larger data and as a step in that direction it is proposing the BookTest, a new dataset similar to the popular Children's Book Test (CBT), however more than 60 times larger. We show that training on the new data improves the accuracy of our Attention-Sum Reader model on the original CBT test data by a much larger margin than many recent attempts to improve the model architecture. On one version of the dataset our ensemble even exceeds the human baseline provided by Facebook. We then show in our own human study that there is still space for further improvement.

Although most current large multimodal models (LMMs) can already understand photos of natural scenes and portraits, their understanding of abstract images, e.g., charts, maps, or layouts, and visual reasoning capabilities remains quite rudimentary. They often struggle with simple daily tasks, such as reading time from a clock, understanding a flowchart, or planning a route using a road map. In light of this, we design a multi-modal self-instruct, utilizing large language models and their code capabilities to synthesize massive abstract images and visual reasoning instructions across daily scenarios. Our strategy effortlessly creates a multimodal benchmark with 11,193 instructions for eight visual scenarios: charts, tables, simulated maps, dashboards, flowcharts, relation graphs, floor plans, and visual puzzles. This benchmark, constructed with simple lines and geometric elements, exposes the shortcomings of most advanced LMMs like Claude-3.5-Sonnet and GPT-4o in abstract image understanding, spatial relations reasoning, and visual element induction. Besides, to verify the quality of our synthetic data, we fine-tune an LMM using 62,476 synthetic chart, table and road map instructions. The results demonstrate improved chart understanding and map navigation performance, and also demonstrate potential benefits for other visual reasoning tasks. Our code is available at: https://github.com/zwq2018/Multi-modal-Self-instruct.

Large Language Models (LLMs) and Large Multi-modality Models (LMMs) have demonstrated remarkable decision masking capabilities on a variety of tasks. However, they inherently operate planning within the language space, lacking the vision and spatial imagination ability. In contrast, humans utilize both left and right hemispheres of the brain for language and visual planning during the thinking process. Therefore, we introduce a novel vision-language planning framework in this work to perform concurrent visual and language planning for tasks with inputs of any form. Our framework incorporates visual planning to capture intricate environmental details, while language planning enhances the logical coherence of the overall system. We evaluate the effectiveness of our framework across vision-language tasks, vision-only tasks, and language-only tasks. The results demonstrate the superior performance of our approach, indicating that the integration of visual and language planning yields better contextually aware task execution.

Multimodal large language models (MLLMs) have demonstrated promising results in a variety of tasks that combine vision and language. As these models become more integral to research and applications, conducting comprehensive evaluations of their capabilities has grown increasingly important. However, most existing benchmarks fail to consider that, in certain situations, images need to be interpreted within a broader context. In this work, we introduce a new benchmark, named as CODIS, designed to assess the ability of models to use context provided in free-form text to enhance visual comprehension. Our findings indicate that MLLMs consistently fall short of human performance on this benchmark. Further analysis confirms that these models struggle to effectively extract and utilize contextual information to improve their understanding of images. This underscores the pressing need to enhance the ability of MLLMs to comprehend visuals in a context-dependent manner. View our project website at https://thunlp-mt.github.io/CODIS.

Agents navigating in 3D environments require some form of memory, which should hold a compact and actionable representation of the history of observations useful for decision taking and planning. In most end-to-end learning approaches the representation is latent and usually does not have a clearly defined interpretation, whereas classical robotics addresses this with scene reconstruction resulting in some form of map, usually estimated with geometry and sensor models and/or learning. In this work we propose to learn an actionable representation of the scene independently of the targeted downstream task and without explicitly optimizing reconstruction. The learned representation is optimized by a blind auxiliary agent trained to navigate with it on multiple short sub episodes branching out from a waypoint and, most importantly, without any direct visual observation. We argue and show that the blindness property is important and forces the (trained) latent representation to be the only means for planning. With probing experiments we show that the learned representation optimizes navigability and not reconstruction. On downstream tasks we show that it is robust to changes in distribution, in particular the sim2real gap, which we evaluate with a real physical robot in a real office building, significantly improving performance.

In recent years, the rapid advancement of Large Language Models (LLMs) such as the Generative Pre-trained Transformer (GPT) has attracted increasing attention due to their potential in a variety of practical applications. The application of LLMs with Embodied Intelligence has emerged as a significant area of focus. Among the myriad applications of LLMs, navigation tasks are particularly noteworthy because they demand a deep understanding of the environment and quick, accurate decision-making. LLMs can augment embodied intelligence systems with sophisticated environmental perception and decision-making support, leveraging their robust language and image-processing capabilities. This article offers an exhaustive summary of the symbiosis between LLMs and embodied intelligence with a focus on navigation. It reviews state-of-the-art models, research methodologies, and assesses the advantages and disadvantages of existing embodied navigation models and datasets. Finally, the article elucidates the role of LLMs in embodied intelligence, based on current research, and forecasts future directions in the field. A comprehensive list of studies in this survey is available at https://github.com/Rongtao-Xu/Awesome-LLM-EN

Internet image collections containing photos captured by crowds of photographers show promise for enabling digital exploration of large-scale tourist landmarks. However, prior works focus primarily on geometric reconstruction and visualization, neglecting the key role of language in providing a semantic interface for navigation and fine-grained understanding. In constrained 3D domains, recent methods have leveraged vision-and-language models as a strong prior of 2D visual semantics. While these models display an excellent understanding of broad visual semantics, they struggle with unconstrained photo collections depicting such tourist landmarks, as they lack expert knowledge of the architectural domain. In this work, we present a localization system that connects neural representations of scenes depicting large-scale landmarks with text describing a semantic region within the scene, by harnessing the power of SOTA vision-and-language models with adaptations for understanding landmark scene semantics. To bolster such models with fine-grained knowledge, we leverage large-scale Internet data containing images of similar landmarks along with weakly-related textual information. Our approach is built upon the premise that images physically grounded in space can provide a powerful supervision signal for localizing new concepts, whose semantics may be unlocked from Internet textual metadata with large language models. We use correspondences between views of scenes to bootstrap spatial understanding of these semantics, providing guidance for 3D-compatible segmentation that ultimately lifts to a volumetric scene representation. Our results show that HaLo-NeRF can accurately localize a variety of semantic concepts related to architectural landmarks, surpassing the results of other 3D models as well as strong 2D segmentation baselines. Our project page is at https://tau-vailab.github.io/HaLo-NeRF/.

Inverse graphics -- the task of inverting an image into physical variables that, when rendered, enable reproduction of the observed scene -- is a fundamental challenge in computer vision and graphics. Disentangling an image into its constituent elements, such as the shape, color, and material properties of the objects of the 3D scene that produced it, requires a comprehensive understanding of the environment. This requirement limits the ability of existing carefully engineered approaches to generalize across domains. Inspired by the zero-shot ability of large language models (LLMs) to generalize to novel contexts, we investigate the possibility of leveraging the broad world knowledge encoded in such models in solving inverse-graphics problems. To this end, we propose the Inverse-Graphics Large Language Model (IG-LLM), an inverse-graphics framework centered around an LLM, that autoregressively decodes a visual embedding into a structured, compositional 3D-scene representation. We incorporate a frozen pre-trained visual encoder and a continuous numeric head to enable end-to-end training. Through our investigation, we demonstrate the potential of LLMs to facilitate inverse graphics through next-token prediction, without the use of image-space supervision. Our analysis opens up new possibilities for precise spatial reasoning about images that exploit the visual knowledge of LLMs. We will release our code and data to ensure the reproducibility of our investigation and to facilitate future research at https://ig-llm.is.tue.mpg.de/

The next Point of Interest (POI) recommendation task is to predict users' immediate next POI visit given their historical data. Location-Based Social Network (LBSN) data, which is often used for the next POI recommendation task, comes with challenges. One frequently disregarded challenge is how to effectively use the abundant contextual information present in LBSN data. Previous methods are limited by their numerical nature and fail to address this challenge. In this paper, we propose a framework that uses pretrained Large Language Models (LLMs) to tackle this challenge. Our framework allows us to preserve heterogeneous LBSN data in its original format, hence avoiding the loss of contextual information. Furthermore, our framework is capable of comprehending the inherent meaning of contextual information due to the inclusion of commonsense knowledge. In experiments, we test our framework on three real-world LBSN datasets. Our results show that the proposed framework outperforms the state-of-the-art models in all three datasets. Our analysis demonstrates the effectiveness of the proposed framework in using contextual information as well as alleviating the commonly encountered cold-start and short trajectory problems.

Recent advancements in AI have led to the development of large multimodal models (LMMs) capable of processing complex tasks involving joint reasoning over text and visual content in the image (e.g., navigating maps in public places). This paper introduces ConTextual, a novel benchmark comprising instructions designed explicitly to evaluate LMMs' ability to perform context-sensitive text-rich visual reasoning. ConTextual emphasizes diverse real-world scenarios (e.g., time-reading, navigation, shopping and more) demanding a deeper understanding of the interactions between textual and visual elements. Our findings reveal a significant performance gap of 30.8% between the best-performing LMM, GPT-4V(ision), and human capabilities using human evaluation indicating substantial room for improvement in context-sensitive text-rich visual reasoning. Notably, while GPT-4V excelled in abstract categories like meme and quote interpretation, its overall performance still lagged behind humans. In addition to human evaluations, we also employed automatic evaluation metrics using GPT-4, uncovering similar trends in performance disparities. We also perform a fine-grained evaluation across diverse visual contexts and provide qualitative analysis which provides a robust framework for future advancements in the LMM design. https://con-textual.github.io/

Is it possible to build a system to determine the location where a photo was taken using just its pixels? In general, the problem seems exceptionally difficult: it is trivial to construct situations where no location can be inferred. Yet images often contain informative cues such as landmarks, weather patterns, vegetation, road markings, and architectural details, which in combination may allow one to determine an approximate location and occasionally an exact location. Websites such as GeoGuessr and View from your Window suggest that humans are relatively good at integrating these cues to geolocate images, especially en-masse. In computer vision, the photo geolocation problem is usually approached using image retrieval methods. In contrast, we pose the problem as one of classification by subdividing the surface of the earth into thousands of multi-scale geographic cells, and train a deep network using millions of geotagged images. While previous approaches only recognize landmarks or perform approximate matching using global image descriptors, our model is able to use and integrate multiple visible cues. We show that the resulting model, called PlaNet, outperforms previous approaches and even attains superhuman levels of accuracy in some cases. Moreover, we extend our model to photo albums by combining it with a long short-term memory (LSTM) architecture. By learning to exploit temporal coherence to geolocate uncertain photos, we demonstrate that this model achieves a 50% performance improvement over the single-image model.

Length extrapolation algorithms based on Rotary position embedding (RoPE) have shown promising results in extending the context length of language models. However, understanding how position embedding can capture longer-range contextual information remains elusive. Based on the intuition that different dimensions correspond to different frequency of changes in RoPE encoding, we conducted a dimension-level analysis to investigate the correlation between a hidden dimension of an attention head and its contribution to capturing long-distance dependencies. Using our correlation metric, we identified a particular type of attention heads, which we named Positional Heads, from various length-extrapolated models. These heads exhibit a strong focus on long-range information interaction and play a pivotal role in long input processing, as evidence by our ablation. We further demonstrate the correlation between the efficiency of length extrapolation and the extension of the high-dimensional attention allocation of these heads. The identification of Positional Heads provides insights for future research in long-text comprehension.

Large language models have shown impressive results for multi-hop mathematical reasoning when the input question is only textual. Many mathematical reasoning problems, however, contain both text and image. With the ever-increasing adoption of vision language models (VLMs), understanding their reasoning abilities for such problems is crucial. In this paper, we evaluate the reasoning capabilities of VLMs along various axes through the lens of geometry problems. We procedurally create a synthetic dataset of geometry questions with controllable difficulty levels along multiple axes, thus enabling a systematic evaluation. The empirical results obtained using our benchmark for state-of-the-art VLMs indicate that these models are not as capable in subjects like geometry (and, by generalization, other topics requiring similar reasoning) as suggested by previous benchmarks. This is made especially clear by the construction of our benchmark at various depth levels, since solving higher-depth problems requires long chains of reasoning rather than additional memorized knowledge. We release the dataset for further research in this area.

This document presents the Center for Robot Assisted Search And Rescue - Uncrewed Aerial Systems - Disaster Response Overhead Inspection Dataset (CRASAR-U-DROIDs) for building damage assessment and spatial alignment collected from small uncrewed aerial systems (sUAS) geospatial imagery. This dataset is motivated by the increasing use of sUAS in disaster response and the lack of previous work in utilizing high-resolution geospatial sUAS imagery for machine learning and computer vision models, the lack of alignment with operational use cases, and with hopes of enabling further investigations between sUAS and satellite imagery. The CRASAR-U-DRIODs dataset consists of fifty-two (52) orthomosaics from ten (10) federally declared disasters (Hurricane Ian, Hurricane Ida, Hurricane Harvey, Hurricane Idalia, Hurricane Laura, Hurricane Michael, Musset Bayou Fire, Mayfield Tornado, Kilauea Eruption, and Champlain Towers Collapse) spanning 67.98 square kilometers (26.245 square miles), containing 21,716 building polygons and damage labels, and 7,880 adjustment annotations. The imagery was tiled and presented in conjunction with overlaid building polygons to a pool of 130 annotators who provided human judgments of damage according to the Joint Damage Scale. These annotations were then reviewed via a two-stage review process in which building polygon damage labels were first reviewed individually and then again by committee. Additionally, the building polygons have been aligned spatially to precisely overlap with the imagery to enable more performant machine learning models to be trained. It appears that CRASAR-U-DRIODs is the largest labeled dataset of sUAS orthomosaic imagery.

Studies have shown that a dominant class of questions asked by visually impaired users on images of their surroundings involves reading text in the image. But today's VQA models can not read! Our paper takes a first step towards addressing this problem. First, we introduce a new "TextVQA" dataset to facilitate progress on this important problem. Existing datasets either have a small proportion of questions about text (e.g., the VQA dataset) or are too small (e.g., the VizWiz dataset). TextVQA contains 45,336 questions on 28,408 images that require reasoning about text to answer. Second, we introduce a novel model architecture that reads text in the image, reasons about it in the context of the image and the question, and predicts an answer which might be a deduction based on the text and the image or composed of the strings found in the image. Consequently, we call our approach Look, Read, Reason & Answer (LoRRA). We show that LoRRA outperforms existing state-of-the-art VQA models on our TextVQA dataset. We find that the gap between human performance and machine performance is significantly larger on TextVQA than on VQA 2.0, suggesting that TextVQA is well-suited to benchmark progress along directions complementary to VQA 2.0.

Vision-Language Models (VLMs) have transformed tasks requiring visual and reasoning abilities, such as image retrieval and Visual Question Answering (VQA). Despite their success, VLMs face significant challenges with tasks involving geometric reasoning, algebraic problem-solving, and counting. These limitations stem from difficulties effectively integrating multiple modalities and accurately interpreting geometry-related tasks. Various works claim that introducing a captioning pipeline before VQA tasks enhances performance. We incorporated this pipeline for tasks involving geometry, algebra, and counting. We found that captioning results are not generalizable, specifically with larger VLMs primarily trained on downstream QnA tasks showing random performance on math-related challenges. However, we present a promising alternative: task-based prompting, enriching the prompt with task-specific guidance. This approach shows promise and proves more effective than direct captioning methods for math-heavy problems.

As it is empirically observed that Vision Transformers (ViTs) are quite insensitive to the order of input tokens, the need for an appropriate self-supervised pretext task that enhances the location awareness of ViTs is becoming evident. To address this, we present DropPos, a novel pretext task designed to reconstruct Dropped Positions. The formulation of DropPos is simple: we first drop a large random subset of positional embeddings and then the model classifies the actual position for each non-overlapping patch among all possible positions solely based on their visual appearance. To avoid trivial solutions, we increase the difficulty of this task by keeping only a subset of patches visible. Additionally, considering there may be different patches with similar visual appearances, we propose position smoothing and attentive reconstruction strategies to relax this classification problem, since it is not necessary to reconstruct their exact positions in these cases. Empirical evaluations of DropPos show strong capabilities. DropPos outperforms supervised pre-training and achieves competitive results compared with state-of-the-art self-supervised alternatives on a wide range of downstream benchmarks. This suggests that explicitly encouraging spatial reasoning abilities, as DropPos does, indeed contributes to the improved location awareness of ViTs. The code is publicly available at https://github.com/Haochen-Wang409/DropPos.

Instruction tuning large language model (LLM) on image-text pairs has achieved unprecedented vision-language multimodal abilities. However, their vision-language alignments are only built on image-level, the lack of region-level alignment limits their advancements to fine-grained multimodal understanding. In this paper, we propose instruction tuning on region-of-interest. The key design is to reformulate the bounding box as the format of spatial instruction. The interleaved sequences of visual features extracted by the spatial instruction and the language embedding are input to LLM, and trained on the transformed region-text data in instruction tuning format. Our region-level vision-language model, termed as GPT4RoI, brings brand new conversational and interactive experience beyond image-level understanding. (1) Controllability: Users can interact with our model by both language and spatial instructions to flexibly adjust the detail level of the question. (2) Capacities: Our model supports not only single-region spatial instruction but also multi-region. This unlocks more region-level multimodal capacities such as detailed region caption and complex region reasoning. (3) Composition: Any off-the-shelf object detector can be a spatial instruction provider so as to mine informative object attributes from our model, like color, shape, material, action, relation to other objects, etc. The code, data, and demo can be found at https://github.com/jshilong/GPT4RoI.

We study the task of semantic mapping - specifically, an embodied agent (a robot or an egocentric AI assistant) is given a tour of a new environment and asked to build an allocentric top-down semantic map ("what is where?") from egocentric observations of an RGB-D camera with known pose (via localization sensors). Towards this goal, we present SemanticMapNet (SMNet), which consists of: (1) an Egocentric Visual Encoder that encodes each egocentric RGB-D frame, (2) a Feature Projector that projects egocentric features to appropriate locations on a floor-plan, (3) a Spatial Memory Tensor of size floor-plan length x width x feature-dims that learns to accumulate projected egocentric features, and (4) a Map Decoder that uses the memory tensor to produce semantic top-down maps. SMNet combines the strengths of (known) projective camera geometry and neural representation learning. On the task of semantic mapping in the Matterport3D dataset, SMNet significantly outperforms competitive baselines by 4.01-16.81% (absolute) on mean-IoU and 3.81-19.69% (absolute) on Boundary-F1 metrics. Moreover, we show how to use the neural episodic memories and spatio-semantic allocentric representations build by SMNet for subsequent tasks in the same space - navigating to objects seen during the tour("Find chair") or answering questions about the space ("How many chairs did you see in the house?"). Project page: https://vincentcartillier.github.io/smnet.html.

We present a new probing dataset named PROST: Physical Reasoning about Objects Through Space and Time. This dataset contains 18,736 multiple-choice questions made from 14 manually curated templates, covering 10 physical reasoning concepts. All questions are designed to probe both causal and masked language models in a zero-shot setting. We conduct an extensive analysis which demonstrates that state-of-the-art pretrained models are inadequate at physical reasoning: they are influenced by the order in which answer options are presented to them, they struggle when the superlative in a question is inverted (e.g., most <-> least), and increasing the amount of pretraining data and parameters only yields minimal improvements. These results provide support for the hypothesis that current pretrained models' ability to reason about physical interactions is inherently limited by a lack of real world experience. By highlighting these limitations, we hope to motivate the development of models with a human-like understanding of the physical world.

We present a new dataset, Functional Map of the World (fMoW), which aims to inspire the development of machine learning models capable of predicting the functional purpose of buildings and land use from temporal sequences of satellite images and a rich set of metadata features. The metadata provided with each image enables reasoning about location, time, sun angles, physical sizes, and other features when making predictions about objects in the image. Our dataset consists of over 1 million images from over 200 countries. For each image, we provide at least one bounding box annotation containing one of 63 categories, including a "false detection" category. We present an analysis of the dataset along with baseline approaches that reason about metadata and temporal views. Our data, code, and pretrained models have been made publicly available.

Computer-aided design (CAD) significantly enhances the efficiency, accuracy, and innovation of design processes by enabling precise 2D and 3D modeling, extensive analysis, and optimization. Existing methods for creating CAD models rely on latent vectors or point clouds, which are difficult to obtain and costly to store. Recent advances in Multimodal Large Language Models (MLLMs) have inspired researchers to use natural language instructions and images for CAD model construction. However, these models still struggle with inferring accurate 3D spatial location and orientation, leading to inaccuracies in determining the spatial 3D starting points and extrusion directions for constructing geometries. This work introduces CAD-GPT, a CAD synthesis method with spatial reasoning-enhanced MLLM that takes either a single image or a textual description as input. To achieve precise spatial inference, our approach introduces a 3D Modeling Spatial Mechanism. This method maps 3D spatial positions and 3D sketch plane rotation angles into a 1D linguistic feature space using a specialized spatial unfolding mechanism, while discretizing 2D sketch coordinates into an appropriate planar space to enable precise determination of spatial starting position, sketch orientation, and 2D sketch coordinate translations. Extensive experiments demonstrate that CAD-GPT consistently outperforms existing state-of-the-art methods in CAD model synthesis, both quantitatively and qualitatively.

We present MapReader, a free, open-source software library written in Python for analyzing large map collections (scanned or born-digital). This library transforms the way historians can use maps by turning extensive, homogeneous map sets into searchable primary sources. MapReader allows users with little or no computer vision expertise to i) retrieve maps via web-servers; ii) preprocess and divide them into patches; iii) annotate patches; iv) train, fine-tune, and evaluate deep neural network models; and v) create structured data about map content. We demonstrate how MapReader enables historians to interpret a collection of approx16K nineteenth-century Ordnance Survey map sheets (approx30.5M patches), foregrounding the challenge of translating visual markers into machine-readable data. We present a case study focusing on British rail infrastructure and buildings as depicted on these maps. We also show how the outputs from the MapReader pipeline can be linked to other, external datasets, which we use to evaluate as well as enrich and interpret the results. We release approx62K manually annotated patches used here for training and evaluating the models.

We introduce TIDEE, an embodied agent that tidies up a disordered scene based on learned commonsense object placement and room arrangement priors. TIDEE explores a home environment, detects objects that are out of their natural place, infers plausible object contexts for them, localizes such contexts in the current scene, and repositions the objects. Commonsense priors are encoded in three modules: i) visuo-semantic detectors that detect out-of-place objects, ii) an associative neural graph memory of objects and spatial relations that proposes plausible semantic receptacles and surfaces for object repositions, and iii) a visual search network that guides the agent's exploration for efficiently localizing the receptacle-of-interest in the current scene to reposition the object. We test TIDEE on tidying up disorganized scenes in the AI2THOR simulation environment. TIDEE carries out the task directly from pixel and raw depth input without ever having observed the same room beforehand, relying only on priors learned from a separate set of training houses. Human evaluations on the resulting room reorganizations show TIDEE outperforms ablative versions of the model that do not use one or more of the commonsense priors. On a related room rearrangement benchmark that allows the agent to view the goal state prior to rearrangement, a simplified version of our model significantly outperforms a top-performing method by a large margin. Code and data are available at the project website: https://tidee-agent.github.io/.

State-of-the-art visual localization approaches generally rely on a first image retrieval step whose role is crucial. Yet, retrieval often struggles when facing varying conditions, due to e.g. weather or time of day, with dramatic consequences on the visual localization accuracy. In this paper, we improve this retrieval step and tailor it to the final localization task. Among the several changes we advocate for, we propose to synthesize variants of the training set images, obtained from generative text-to-image models, in order to automatically expand the training set towards a number of nameable variations that particularly hurt visual localization. After expanding the training set, we propose a training approach that leverages the specificities and the underlying geometry of this mix of real and synthetic images. We experimentally show that those changes translate into large improvements for the most challenging visual localization datasets. Project page: https://europe.naverlabs.com/ret4loc

Web search is an essential way for humans to obtain information, but it's still a great challenge for machines to understand the contents of web pages. In this paper, we introduce the task of structural reading comprehension (SRC) on web. Given a web page and a question about it, the task is to find the answer from the web page. This task requires a system not only to understand the semantics of texts but also the structure of the web page. Moreover, we proposed WebSRC, a novel Web-based Structural Reading Comprehension dataset. WebSRC consists of 400K question-answer pairs, which are collected from 6.4K web pages. Along with the QA pairs, corresponding HTML source code, screenshots, and metadata are also provided in our dataset. Each question in WebSRC requires a certain structural understanding of a web page to answer, and the answer is either a text span on the web page or yes/no. We evaluate various baselines on our dataset to show the difficulty of our task. We also investigate the usefulness of structural information and visual features. Our dataset and baselines have been publicly available at https://x-lance.github.io/WebSRC/.

When we look around and perform complex tasks, how we see and selectively process what we see is crucial. However, the lack of this visual search mechanism in current multimodal LLMs (MLLMs) hinders their ability to focus on important visual details, especially when handling high-resolution and visually crowded images. To address this, we introduce V*, an LLM-guided visual search mechanism that employs the world knowledge in LLMs for efficient visual querying. When combined with an MLLM, this mechanism enhances collaborative reasoning, contextual understanding, and precise targeting of specific visual elements. This integration results in a new MLLM meta-architecture, named Show, sEArch, and TelL (SEAL). We further create V*Bench, a benchmark specifically designed to evaluate MLLMs in their ability to process high-resolution images and focus on visual details. Our study highlights the necessity of incorporating visual search capabilities into multimodal systems. The code is available https://github.com/penghao-wu/vstar.

Large language models (LLMs) have complicated internal dynamics, but induce representations of words and phrases whose geometry we can study. Human language processing is also opaque, but neural response measurements can provide (noisy) recordings of activation during listening or reading, from which we can extract similar representations of words and phrases. Here we study the extent to which the geometries induced by these representations, share similarities in the context of brain decoding. We find that the larger neural language models get, the more their representations are structurally similar to neural response measurements from brain imaging. Code is available at https://github.com/coastalcph/brainlm.

Determining the location of an image anywhere on Earth is a complex visual task, which makes it particularly relevant for evaluating computer vision algorithms. Yet, the absence of standard, large-scale, open-access datasets with reliably localizable images has limited its potential. To address this issue, we introduce OpenStreetView-5M, a large-scale, open-access dataset comprising over 5.1 million geo-referenced street view images, covering 225 countries and territories. In contrast to existing benchmarks, we enforce a strict train/test separation, allowing us to evaluate the relevance of learned geographical features beyond mere memorization. To demonstrate the utility of our dataset, we conduct an extensive benchmark of various state-of-the-art image encoders, spatial representations, and training strategies. All associated codes and models can be found at https://github.com/gastruc/osv5m.

Geolocating images of a ground-level scene entails estimating the location on Earth where the picture was taken, in absence of GPS or other location metadata. Typically, methods are evaluated by measuring the Great Circle Distance (GCD) between a predicted location and ground truth. However, this measurement is limited because it only evaluates a single point, not estimates of regions or score heatmaps. This is especially important in applications to rural, wilderness and under-sampled areas, where finding the exact location may not be possible, and when used in aggregate systems that progressively narrow down locations. In this paper, we introduce a novel metric, Recall vs Area (RvA), which measures the accuracy of estimated distributions of locations. RvA treats image geolocation results similarly to document retrieval, measuring recall as a function of area: For a ranked list of (possibly non-contiguous) predicted regions, we measure the accumulated area required for the region to contain the ground truth coordinate. This produces a curve similar to a precision-recall curve, where "precision" is replaced by square kilometers area, allowing evaluation of performance for different downstream search area budgets. Following directly from this view of the problem, we then examine a simple ensembling approach to global-scale image geolocation, which incorporates information from multiple sources to help address domain shift, and can readily incorporate multiple models, attribute predictors, and data sources. We study its effectiveness by combining the geolocation models GeoEstimation and the current SOTA GeoCLIP, with attribute predictors based on ORNL LandScan and ESA-CCI Land Cover. We find significant improvements in image geolocation for areas that are under-represented in the training set, particularly non-urban areas, on both Im2GPS3k and Street View images.

Recently, rapid advancements in Multi-Modal In-Context Learning (MM-ICL) have achieved notable success, which is capable of achieving superior performance across various tasks without requiring additional parameter tuning. However, the underlying rules for the effectiveness of MM-ICL remain under-explored. To fill this gap, this work aims to investigate the research question: "What factors affect the performance of MM-ICL?'' To this end, we investigate extensive experiments on the three core steps of MM-ICL including demonstration retrieval, demonstration ordering, and prompt construction using 6 vision large language models and 20 strategies. Our findings highlight (1) the necessity of a multi-modal retriever for demonstration retrieval, (2) the importance of intra-demonstration ordering over inter-demonstration ordering, and (3) the enhancement of task comprehension through introductory instructions in prompts. We hope this study can serve as a foundational guide for optimizing MM-ICL strategies in future research.

The advances in Vision-Language models (VLMs) offer exciting opportunities for robotic applications involving image geo-localization, the problem of identifying the geo-coordinates of a place based on visual data only. Recent research works have focused on using a VLM as embeddings extractor for geo-localization, however, the most sophisticated VLMs may only be available as black boxes that are accessible through an API, and come with a number of limitations: there is no access to training data, model features and gradients; retraining is not possible; the number of predictions may be limited by the API; training on model outputs is often prohibited; and queries are open-ended. The utilization of a VLM as a stand-alone, zero-shot geo-localization system using a single text-based prompt is largely unexplored. To bridge this gap, this paper undertakes the first systematic study, to the best of our knowledge, to investigate the potential of some of the state-of-the-art VLMs as stand-alone, zero-shot geo-localization systems in a black-box setting with realistic constraints. We consider three main scenarios for this thorough investigation: a) fixed text-based prompt; b) semantically-equivalent text-based prompts; and c) semantically-equivalent query images. We also take into account the auto-regressive and probabilistic generation process of the VLMs when investigating their utility for geo-localization task by using model consistency as a metric in addition to traditional accuracy. Our work provides new insights in the capabilities of different VLMs for the above-mentioned scenarios.

Few images on the Web receive alt-text descriptions that would make them accessible to blind and low vision (BLV) users. Image-based NLG systems have progressed to the point where they can begin to address this persistent societal problem, but these systems will not be fully successful unless we evaluate them on metrics that guide their development correctly. Here, we argue against current referenceless metrics -- those that don't rely on human-generated ground-truth descriptions -- on the grounds that they do not align with the needs of BLV users. The fundamental shortcoming of these metrics is that they do not take context into account, whereas contextual information is highly valued by BLV users. To substantiate these claims, we present a study with BLV participants who rated descriptions along a variety of dimensions. An in-depth analysis reveals that the lack of context-awareness makes current referenceless metrics inadequate for advancing image accessibility. As a proof-of-concept, we provide a contextual version of the referenceless metric CLIPScore which begins to address the disconnect to the BLV data. An accessible HTML version of this paper is available at https://elisakreiss.github.io/contextual-description-evaluation/paper/reflessmetrics.html

High-resolution (HR) image perception remains a key challenge in multimodal large language models (MLLMs). To overcome the limitations of existing methods, this paper shifts away from prior dedicated heuristic approaches and revisits the most fundamental idea to HR perception by enhancing the long-context capability of MLLMs, driven by recent advances in long-context techniques like retrieval-augmented generation (RAG) for general LLMs. Towards this end, this paper presents the first study exploring the use of RAG to address HR perception challenges. Specifically, we propose Retrieval-Augmented Perception (RAP), a training-free framework that retrieves and fuses relevant image crops while preserving spatial context using the proposed Spatial-Awareness Layout. To accommodate different tasks, the proposed Retrieved-Exploration Search (RE-Search) dynamically selects the optimal number of crops based on model confidence and retrieval scores. Experimental results on HR benchmarks demonstrate the significant effectiveness of RAP, with LLaVA-v1.5-13B achieving a 43% improvement on V^* Bench and 19% on HR-Bench.

In most Vision-Language models (VL), the understanding of the image structure is enabled by injecting the position information (PI) about objects in the image. In our case study of LXMERT, a state-of-the-art VL model, we probe the use of the PI in the representation and study its effect on Visual Question Answering. We show that the model is not capable of leveraging the PI for the image-text matching task on a challenge set where only position differs. Yet, our experiments with probing confirm that the PI is indeed present in the representation. We introduce two strategies to tackle this: (i) Positional Information Pre-training and (ii) Contrastive Learning on PI using Cross-Modality Matching. Doing so, the model can correctly classify if images with detailed PI statements match. Additionally to the 2D information from bounding boxes, we introduce the object's depth as new feature for a better object localization in the space. Even though we were able to improve the model properties as defined by our probes, it only has a negligible effect on the downstream performance. Our results thus highlight an important issue of multimodal modeling: the mere presence of information detectable by a probing classifier is not a guarantee that the information is available in a cross-modal setup.

The application of machine learning (ML) in a range of geospatial tasks is increasingly common but often relies on globally available covariates such as satellite imagery that can either be expensive or lack predictive power. Here we explore the question of whether the vast amounts of knowledge found in Internet language corpora, now compressed within large language models (LLMs), can be leveraged for geospatial prediction tasks. We first demonstrate that LLMs embed remarkable spatial information about locations, but naively querying LLMs using geographic coordinates alone is ineffective in predicting key indicators like population density. We then present GeoLLM, a novel method that can effectively extract geospatial knowledge from LLMs with auxiliary map data from OpenStreetMap. We demonstrate the utility of our approach across multiple tasks of central interest to the international community, including the measurement of population density and economic livelihoods. Across these tasks, our method demonstrates a 70% improvement in performance (measured using Pearson's r^2) relative to baselines that use nearest neighbors or use information directly from the prompt, and performance equal to or exceeding satellite-based benchmarks in the literature. With GeoLLM, we observe that GPT-3.5 outperforms Llama 2 and RoBERTa by 19% and 51% respectively, suggesting that the performance of our method scales well with the size of the model and its pretraining dataset. Our experiments reveal that LLMs are remarkably sample-efficient, rich in geospatial information, and robust across the globe. Crucially, GeoLLM shows promise in mitigating the limitations of existing geospatial covariates and complementing them well. Code is available on the project website: https://rohinmanvi.github.io/GeoLLM

Readers can have different goals with respect to the text they are reading. Can these goals be decoded from the pattern of their eye movements over the text? In this work, we examine for the first time whether it is possible to decode two types of reading goals that are common in daily life: information seeking and ordinary reading. Using large scale eye-tracking data, we apply to this task a wide range of state-of-the-art models for eye movements and text that cover different architectural and data representation strategies, and further introduce a new model ensemble. We systematically evaluate these models at three levels of generalization: new textual item, new participant, and the combination of both. We find that eye movements contain highly valuable signals for this task. We further perform an error analysis which builds on prior empirical findings on differences between ordinary reading and information seeking and leverages rich textual annotations. This analysis reveals key properties of textual items and participant eye movements that contribute to the difficulty of the task.

Multi-modal Large Language Models (MLLMs) exhibit impressive problem-solving abilities in various domains, but their visual comprehension and abstract reasoning skills remain under-evaluated. To this end, we present PolyMATH, a challenging benchmark aimed at evaluating the general cognitive reasoning abilities of MLLMs. PolyMATH comprises 5,000 manually collected high-quality images of cognitive textual and visual challenges across 10 distinct categories, including pattern recognition, spatial reasoning, and relative reasoning. We conducted a comprehensive, and quantitative evaluation of 15 MLLMs using four diverse prompting strategies, including Chain-of-Thought and Step-Back. The best scores achieved on PolyMATH are ~41%, ~36%, and ~27%, obtained by Claude-3.5 Sonnet, GPT-4o and Gemini-1.5 Pro respectively - highlighting the logical and visual complexity of these questions. A further fine-grained error analysis reveals that these models struggle to understand spatial relations and perform drawn-out, high-level reasoning. This is further strengthened by our ablation study estimating MLLM performance when given textual descriptions in place of diagrams. As evidenced by ~4% improvement over textual descriptions as opposed to actual images, we discover that models do not truly comprehend visual diagrams and the spatial information therein, and are thus prone to logical errors. Finally, we evaluate the OpenAI o1 models and find that their performance only matches the human baseline, highlighting the difficulty of the benchmark. The results on PolyMATH highlight the room for improvement in multi-modal reasoning and provide unique insights to guide the development of future MLLMs.

Determining the exact latitude and longitude that a photo was taken is a useful and widely applicable task, yet it remains exceptionally difficult despite the accelerated progress of other computer vision tasks. Most previous approaches have opted to learn a single representation of query images, which are then classified at different levels of geographic granularity. These approaches fail to exploit the different visual cues that give context to different hierarchies, such as the country, state, and city level. To this end, we introduce an end-to-end transformer-based architecture that exploits the relationship between different geographic levels (which we refer to as hierarchies) and the corresponding visual scene information in an image through hierarchical cross-attention. We achieve this by learning a query for each geographic hierarchy and scene type. Furthermore, we learn a separate representation for different environmental scenes, as different scenes in the same location are often defined by completely different visual features. We achieve state of the art street level accuracy on 4 standard geo-localization datasets : Im2GPS, Im2GPS3k, YFCC4k, and YFCC26k, as well as qualitatively demonstrate how our method learns different representations for different visual hierarchies and scenes, which has not been demonstrated in the previous methods. These previous testing datasets mostly consist of iconic landmarks or images taken from social media, which makes them either a memorization task, or biased towards certain places. To address this issue we introduce a much harder testing dataset, Google-World-Streets-15k, comprised of images taken from Google Streetview covering the whole planet and present state of the art results. Our code will be made available in the camera-ready version.

When studying unconstrained behaviour and allowing mice to leave their cage to navigate a complex labyrinth, the mice exhibit foraging behaviour in the labyrinth searching for rewards, returning to their home cage now and then, e.g. to drink. Surprisingly, when executing such a ``home run'', the mice do not follow the exact reverse path, in fact, the entry path and home path have very little overlap. Recent work proposed a hierarchical active inference model for navigation, where the low level model makes inferences about hidden states and poses that explain sensory inputs, whereas the high level model makes inferences about moving between locations, effectively building a map of the environment. However, using this ``map'' for planning, only allows the agent to find trajectories that it previously explored, far from the observed mice's behaviour. In this paper, we explore ways of incorporating before-unvisited paths in the planning algorithm, by using the low level generative model to imagine potential, yet undiscovered paths. We demonstrate a proof of concept in a grid-world environment, showing how an agent can accurately predict a new, shorter path in the map leading to its starting point, using a generative model learnt from pixel-based observations.

The emergence of multimodal large models (MLMs) has significantly advanced the field of visual understanding, offering remarkable capabilities in the realm of visual question answering (VQA). Yet, the true challenge lies in the domain of knowledge-intensive VQA tasks, which necessitate not just recognition of visual elements, but also a deep comprehension of the visual information in conjunction with a vast repository of learned knowledge. To uncover such capabilities of MLMs, particularly the newly introduced GPT-4V and Gemini, we provide an in-depth evaluation from three perspectives: 1) Commonsense Knowledge, which assesses how well models can understand visual cues and connect to general knowledge; 2) Fine-grained World Knowledge, which tests the model's skill in reasoning out specific knowledge from images, showcasing their proficiency across various specialized fields; 3) Comprehensive Knowledge with Decision-making Rationales, which examines model's capability to provide logical explanations for its inference, facilitating a deeper analysis from the interpretability perspective. Additionally, we utilize a visual knowledge-enhanced training strategy and multimodal retrieval-augmented generation approach to enhance MLMs, highlighting the future need for advancements in this research direction. Extensive experiments indicate that: a) GPT-4V demonstrates enhanced explanation generation when using composite images as few-shots; b) GPT-4V and other MLMs produce severe hallucinations when dealing with world knowledge; c) Visual knowledge enhanced training and prompting technicals present potential to improve performance. Codes: https://github.com/HITsz-TMG/Cognitive-Visual-Language-Mapper

3D vision and spatial reasoning have long been recognized as preferable for accurately perceiving our three-dimensional world, especially when compared with traditional visual reasoning based on 2D images. Due to the difficulties in collecting high-quality 3D data, research in this area has only recently gained momentum. With the advent of powerful large language models (LLMs), multi-modal LLMs for 3D vision have been developed over the past few years. However, most of these models focus primarily on the vision encoder for 3D data. In this paper, we propose converting existing densely activated LLMs into mixture-of-experts (MoE) models, which have proven effective for multi-modal data processing. In addition to leveraging these models' instruction-following capabilities, we further enable embodied task planning by attaching a diffusion head, Pose-DiT, that employs a novel rectified flow diffusion scheduler. Experimental results on 3D question answering and task-planning tasks demonstrate that our 3D-MoE framework achieves improved performance with fewer activated parameters.

Recent advancements in autonomous driving, augmented reality, robotics, and embodied intelligence have necessitated 3D perception algorithms. However, current 3D perception methods, particularly small models, struggle with processing logical reasoning, question-answering, and handling open scenario categories. On the other hand, generative multimodal large language models (MLLMs) excel in general capacity but underperform in 3D tasks, due to weak spatial and local object perception, poor text-based geometric numerical output, and inability to handle camera focal variations. To address these challenges, we propose the following solutions: Spatial-Enhanced Local Feature Mining for better spatial feature extraction, 3D Query Token-Derived Info Decoding for precise geometric regression, and Geometry Projection-Based 3D Reasoning for handling camera focal length variations. We employ parameter-efficient fine-tuning for a pre-trained MLLM and develop LLMI3D, a powerful 3D perception MLLM. Additionally, we have constructed the IG3D dataset, which provides fine-grained descriptions and question-answer annotations. Extensive experiments demonstrate that our LLMI3D achieves state-of-the-art performance, significantly outperforming existing methods.

Most Reading Comprehension methods limit themselves to queries which can be answered using a single sentence, paragraph, or document. Enabling models to combine disjoint pieces of textual evidence would extend the scope of machine comprehension methods, but currently there exist no resources to train and test this capability. We propose a novel task to encourage the development of models for text understanding across multiple documents and to investigate the limits of existing methods. In our task, a model learns to seek and combine evidence - effectively performing multi-hop (alias multi-step) inference. We devise a methodology to produce datasets for this task, given a collection of query-answer pairs and thematically linked documents. Two datasets from different domains are induced, and we identify potential pitfalls and devise circumvention strategies. We evaluate two previously proposed competitive models and find that one can integrate information across documents. However, both models struggle to select relevant information, as providing documents guaranteed to be relevant greatly improves their performance. While the models outperform several strong baselines, their best accuracy reaches 42.9% compared to human performance at 74.0% - leaving ample room for improvement.

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to implicitly correlate incomplete, duplicate observations within the panoramas, which may impair an agent's spatial understanding. Thus, we propose a new map-based pre-training paradigm that is spatial-aware for use in VLN. Concretely, we build a local metric map to explicitly aggregate incomplete observations and remove duplicates, while modeling navigation dependency in a global topological map. This hybrid design can balance the demand of VLN for both short-term reasoning and long-term planning. Then, based on the hybrid map, we devise a pre-training framework to learn a multimodal map representation, which enhances spatial-aware cross-modal reasoning thereby facilitating the language-guided navigation goal. Extensive experiments demonstrate the effectiveness of the map-based pre-training route for VLN, and the proposed method achieves state-of-the-art on four VLN benchmarks.

Reading comprehension has been widely studied. One of the most representative reading comprehension tasks is Stanford Question Answering Dataset (SQuAD), on which machine is already comparable with human. On the other hand, accessing large collections of multimedia or spoken content is much more difficult and time-consuming than plain text content for humans. It's therefore highly attractive to develop machines which can automatically understand spoken content. In this paper, we propose a new listening comprehension task - Spoken SQuAD. On the new task, we found that speech recognition errors have catastrophic impact on machine comprehension, and several approaches are proposed to mitigate the impact.

Large Language Models (LLMs) have demonstrated impressive capabilities in language processing, yet they often struggle with tasks requiring genuine visual spatial reasoning. In this paper, we introduce a novel two-stage training framework designed to equip standard LLMs with visual reasoning abilities for maze navigation. First, we leverage Supervised Fine Tuning (SFT) on a curated dataset of tokenized maze representations to teach the model to predict step-by-step movement commands. Next, we apply Group Relative Policy Optimization (GRPO)-a technique used in DeepSeekR1-with a carefully crafted reward function to refine the model's sequential decision-making and encourage emergent chain-of-thought behaviors. Experimental results on synthetically generated mazes show that while a baseline model fails to navigate the maze, the SFT-trained model achieves 86% accuracy, and further GRPO fine-tuning boosts accuracy to 93%. Qualitative analyses reveal that GRPO fosters more robust and self-corrective reasoning, highlighting the potential of our approach to bridge the gap between language models and visual spatial tasks. These findings offer promising implications for applications in robotics, autonomous navigation, and other domains that require integrated visual and sequential reasoning.

Instruction following vision-language (VL) models offer a flexible interface that supports a broad range of multimodal tasks in a zero-shot fashion. However, interfaces that operate on full images do not directly enable the user to "point to" and access specific regions within images. This capability is important not only to support reference-grounded VL benchmarks, but also, for practical applications that require precise within-image reasoning. We build Localized Visual Commonsense models, which allow users to specify (multiple) regions as input. We train our model by sampling localized commonsense knowledge from a large language model (LLM): specifically, we prompt an LLM to collect commonsense knowledge given a global literal image description and a local literal region description automatically generated by a set of VL models. With a separately trained critic model that selects high-quality examples, we find that training on the localized commonsense corpus can successfully distill existing VL models to support a reference-as-input interface. Empirical results and human evaluations in a zero-shot setup demonstrate that our distillation method results in more precise VL models of reasoning compared to a baseline of passing a generated referring expression to an LLM.

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves richer concepts such as spatial relationships, affordances, physics, layout, and so on. In this work, we propose to inject the 3D world into large language models and introduce a whole new family of 3D-LLMs. Specifically, 3D-LLMs can take 3D point clouds and their features as input and perform a diverse set of 3D-related tasks, including captioning, dense captioning, 3D question answering, task decomposition, 3D grounding, 3D-assisted dialog, navigation, and so on. Using three types of prompting mechanisms that we design, we are able to collect over 300k 3D-language data covering these tasks. To efficiently train 3D-LLMs, we first utilize a 3D feature extractor that obtains 3D features from rendered multi- view images. Then, we use 2D VLMs as our backbones to train our 3D-LLMs. By introducing a 3D localization mechanism, 3D-LLMs can better capture 3D spatial information. Experiments on ScanQA show that our model outperforms state-of-the-art baselines by a large margin (e.g., the BLEU-1 score surpasses state-of-the-art score by 9%). Furthermore, experiments on our held-in datasets for 3D captioning, task composition, and 3D-assisted dialogue show that our model outperforms 2D VLMs. Qualitative examples also show that our model could perform more tasks beyond the scope of existing LLMs and VLMs. Project Page: : https://vis-www.cs.umass.edu/3dllm/.

This article presents the Cogni-CISMeF project, which aims at improving medical information search in the CISMeF system (Catalog and Index of French-language health resources) by including a conversational agent to interact with the user in natural language. To study the cognitive processes involved during the information search, a bottom-up methodology was adopted. Experimentation has been set up to obtain human dialogs between a user (playing the role of patient) dealing with medical information search and a CISMeF expert refining the request. The analysis of these dialogs underlined the use of discursive evidence: vocabulary, reformulation, implicit or explicit expression of user intentions, conversational sequences, etc. A model of artificial agent is proposed. It leads the user in its information search by proposing to him examples, assistance and choices. This model was implemented and integrated in the CISMeF system. ---- Cet article d\'ecrit le projet Cogni-CISMeF qui propose un module de dialogue Homme-Machine \`a int\'egrer dans le syst\`eme d'indexation de connaissances m\'edicales CISMeF (Catalogue et Index des Sites M\'edicaux Francophones). Nous avons adopt\'e une d\'emarche de mod\'elisation cognitive en proc\'edant \`a un recueil de corpus de dialogues entre un utilisateur (jouant le r\^ole d'un patient) d\'esirant une information m\'edicale et un expert CISMeF af inant cette demande pour construire la requ\^ete. Nous avons analys\'e la structure des dialogues ainsi obtenus et avons \'etudi\'e un certain nombre d'indices discursifs : vocabulaire employ\'e, marques de reformulation, commentaires m\'eta et \'epilinguistiques, expression implicite ou explicite des intentions de l'utilisateur, encha\^inement conversationnel, etc. De cette analyse, nous avons construit un mod\`ele d'agent artificiel dot\'e de capacit\'es cognitives capables d'aider l'utilisateur dans sa t\^ache de recherche d'information. Ce mod\`ele a \'et\'e impl\'ement\'e et int\'egr\'e dans le syst\`eme CISMeF.

Vision-and-Language Navigation (VLN) has gained increasing attention over recent years and many approaches have emerged to advance their development. The remarkable achievements of foundation models have shaped the challenges and proposed methods for VLN research. In this survey, we provide a top-down review that adopts a principled framework for embodied planning and reasoning, and emphasizes the current methods and future opportunities leveraging foundation models to address VLN challenges. We hope our in-depth discussions could provide valuable resources and insights: on one hand, to milestone the progress and explore opportunities and potential roles for foundation models in this field, and on the other, to organize different challenges and solutions in VLN to foundation model researchers.

Visual Spatial Description (VSD) aims to generate texts that describe the spatial relationships between objects within images. Traditional visual spatial relationship classification (VSRC) methods typically output the spatial relationship between two objects in an image, often neglecting world knowledge and lacking general language capabilities. In this paper, we propose a Large Language-and-Vision Assistant for Visual Spatial Description, named LLaVA-VSD, which is designed for the classification, description, and open-ended description of visual spatial relationships. Specifically, the model first constructs a VSD instruction-following dataset using given figure-caption pairs for the three tasks. It then employs LoRA to fine-tune a Large Language and Vision Assistant for VSD, which has 13 billion parameters and supports high-resolution images. Finally, a large language model (Qwen-2) is used to refine the generated sentences, enhancing their diversity and accuracy. LLaVA-VSD demonstrates excellent multimodal conversational capabilities and can follow open-ended instructions to assist with inquiries about object relationships in images.

Logical reading comprehension is a challenging task that entails grasping the underlying semantics of text and applying reasoning to deduce the correct answer. Prior researches have primarily focused on enhancing logical reasoning capabilities through Chain-of-Thought (CoT) or data augmentation. However, previous work constructing chain-of-thought rationales concentrates solely on analyzing correct options, neglecting the incorrect alternatives. Addtionally, earlier efforts on data augmentation by altering contexts rely on rule-based methods, which result in generated contexts that lack diversity and coherence. To address these issues, we propose a Premise-Oriented Data Augmentation (PODA) framework. This framework can generate CoT rationales including analyses for both correct and incorrect options, while constructing diverse and high-quality counterfactual contexts from incorrect candidate options. We integrate summarizing premises and identifying premises for each option into rationales. Subsequently, we employ multi-step prompts with identified premises to construct counterfactual context. To facilitate the model's capabilities to better differentiate the reasoning process associated with each option, we introduce a novel thought-path contrastive learning method that compares reasoning paths between the original and counterfactual samples. Experimental results on three representative LLMs demonstrate that our method can improve the baselines substantially across two challenging logical reasoning benchmarks (ReClor and LogiQA 2.0). The data and code are released at https://github.com/lalalamdbf/TPReasoner.

Humans describe the physical world using natural language to refer to specific 3D locations based on a vast range of properties: visual appearance, semantics, abstract associations, or actionable affordances. In this work we propose Language Embedded Radiance Fields (LERFs), a method for grounding language embeddings from off-the-shelf models like CLIP into NeRF, which enable these types of open-ended language queries in 3D. LERF learns a dense, multi-scale language field inside NeRF by volume rendering CLIP embeddings along training rays, supervising these embeddings across training views to provide multi-view consistency and smooth the underlying language field. After optimization, LERF can extract 3D relevancy maps for a broad range of language prompts interactively in real-time, which has potential use cases in robotics, understanding vision-language models, and interacting with 3D scenes. LERF enables pixel-aligned, zero-shot queries on the distilled 3D CLIP embeddings without relying on region proposals or masks, supporting long-tail open-vocabulary queries hierarchically across the volume. The project website can be found at https://lerf.io .

Research on 3D Vision-Language Models (3D-VLMs) is gaining increasing attention, which is crucial for developing embodied AI within 3D scenes, such as visual navigation and embodied question answering. Due to the high density of visual features, especially in large 3D scenes, accurately locating task-relevant visual information is challenging. Existing works attempt to segment all objects and consider their features as scene representations. However, these task-agnostic object features include much redundant information and missing details for the task-relevant area. To tackle these problems, we propose LSceneLLM, an adaptive framework that automatically identifies task-relevant areas by leveraging LLM's visual preference for different tasks, followed by a plug-and-play scene magnifier module to capture fine-grained details in focused areas. Specifically, a dense token selector examines the attention map of LLM to identify visual preferences for the instruction input. It then magnifies fine-grained details of the focusing area. An adaptive self-attention module is leveraged to fuse the coarse-grained and selected fine-grained visual information. To comprehensively evaluate the large scene understanding ability of 3D-VLMs, we further introduce a cross-room understanding benchmark, XR-Scene, which contains a series of large scene understanding tasks including XR-QA, XR-EmbodiedPlanning, and XR-SceneCaption. Experiments show that our method surpasses existing methods on both large scene understanding and existing scene understanding benchmarks. Plunging our scene magnifier module into the existing 3D-VLMs also brings significant improvement.

Recent advances in large multimodal models (LMMs) have recognized fine-grained grounding as an imperative factor of visual understanding and dialogue. However, the benefits of such representation in LMMs are limited to the natural image domain, and these models perform poorly for remote sensing (RS). The distinct overhead viewpoint, scale variation, and presence of small objects in high-resolution RS imagery present a unique challenge in region-level comprehension. Moreover, the development of the grounding conversation capability of LMMs within RS is hindered by the lack of granular, RS domain-specific grounded data. Addressing these limitations, we propose GeoPixel - the first end-to-end high resolution RS-LMM that supports pixel-level grounding. This capability allows fine-grained visual perception by generating interleaved masks in conversation. GeoPixel supports up to 4K HD resolution in any aspect ratio, ideal for high-precision RS image analysis. To support the grounded conversation generation (GCG) in RS imagery, we curate a visually grounded dataset GeoPixelD through a semi-automated pipeline that utilizes set-of-marks prompting and spatial priors tailored for RS data to methodically control the data generation process. GeoPixel demonstrates superior performance in pixel-level comprehension, surpassing existing LMMs in both single-target and multi-target segmentation tasks. Our methodological ablation studies validate the effectiveness of each component in the overall architecture. Our code and data will be publicly released.

This paper considers a scenario in city navigation: an AI agent is provided with language descriptions of the goal location with respect to some well-known landmarks; By only observing the scene around, including recognizing landmarks and road network connections, the agent has to make decisions to navigate to the goal location without instructions. This problem is very challenging, because it requires agent to establish self-position and acquire spatial representation of complex urban environment, where landmarks are often invisible. In the absence of navigation instructions, such abilities are vital for the agent to make high-quality decisions in long-range city navigation. With the emergent reasoning ability of large language models (LLMs), a tempting baseline is to prompt LLMs to "react" on each observation and make decisions accordingly. However, this baseline has very poor performance that the agent often repeatedly visits same locations and make short-sighted, inconsistent decisions. To address these issues, this paper introduces a novel agentic workflow featured by its abilities to perceive, reflect and plan. Specifically, we find LLaVA-7B can be fine-tuned to perceive the direction and distance of landmarks with sufficient accuracy for city navigation. Moreover, reflection is achieved through a memory mechanism, where past experiences are stored and can be retrieved with current perception for effective decision argumentation. Planning uses reflection results to produce long-term plans, which can avoid short-sighted decisions in long-range navigation. We show the designed workflow significantly improves navigation ability of the LLM agent compared with the state-of-the-art baselines.

We present a new task and dataset, ScreenQA, for screen content understanding via question answering. The existing screen datasets are focused either on structure and component-level understanding, or on a much higher-level composite task such as navigation and task completion. We attempt to bridge the gap between these two by annotating 86K question-answer pairs over the RICO dataset in hope to benchmark the screen reading comprehension capacity.

We develop information geometric techniques to understand the representations learned by deep networks when they are trained on different tasks using supervised, meta-, semi-supervised and contrastive learning. We shed light on the following phenomena that relate to the structure of the space of tasks: (1) the manifold of probabilistic models trained on different tasks using different representation learning methods is effectively low-dimensional; (2) supervised learning on one task results in a surprising amount of progress even on seemingly dissimilar tasks; progress on other tasks is larger if the training task has diverse classes; (3) the structure of the space of tasks indicated by our analysis is consistent with parts of the Wordnet phylogenetic tree; (4) episodic meta-learning algorithms and supervised learning traverse different trajectories during training but they fit similar models eventually; (5) contrastive and semi-supervised learning methods traverse trajectories similar to those of supervised learning. We use classification tasks constructed from the CIFAR-10 and Imagenet datasets to study these phenomena.

Recently, "visual o1" began to enter people's vision, with expectations that this slow-thinking design can solve visual reasoning tasks, especially geometric math problems. However, the reality is that current LVLMs (Large Vision Language Models) can hardly even accurately copy a geometric figure, let alone truly understand the complex inherent logic and spatial relationships within geometric shapes. We believe accurate copying (strong perception) is the first step to visual o1. Accordingly, we introduce the concept of "slow perception" (SP), which guides the model to gradually perceive basic point-line combinations, as our humans, reconstruct complex geometric structures progressively. There are two-fold stages in SP: a) perception decomposition. Perception is not instantaneous. In this stage, complex geometric figures are broken down into basic simple units to unify geometry representation. b) perception flow, which acknowledges that accurately tracing a line is not an easy task. This stage aims to avoid "long visual jumps" in regressing line segments by using a proposed "perceptual ruler" to trace each line stroke-by-stroke. Surprisingly, such a human-like perception manner enjoys an inference time scaling law -- the slower, the better. Researchers strive to speed up the model's perception in the past, but we slow it down again, allowing the model to read the image step-by-step and carefully.

The Airbnb search system grapples with many unique challenges as it continues to evolve. We oversee a marketplace that is nuanced by geography, diversity of homes, and guests with a variety of preferences. Crafting an efficient search system that can accommodate diverse guest needs, while showcasing relevant homes lies at the heart of Airbnb's success. Airbnb search has many challenges that parallel other recommendation and search systems but it has a unique information retrieval problem, upstream of ranking, called location retrieval. It requires defining a topological map area that is relevant to the searched query for homes listing retrieval. The purpose of this paper is to demonstrate the methodology, challenges, and impact of building a machine learning based location retrieval product from the ground up. Despite the lack of suitable, prevalent machine learning based approaches, we tackle cold start, generalization, differentiation and algorithmic bias. We detail the efficacy of heuristics, statistics, machine learning, and reinforcement learning approaches to solve these challenges, particularly for systems that are often unexplored by current literature.

Natural language provides an accessible and expressive interface to specify long-term tasks for robotic agents. However, non-experts are likely to specify such tasks with high-level instructions, which abstract over specific robot actions through several layers of abstraction. We propose that key to bridging this gap between language and robot actions over long execution horizons are persistent representations. We propose a persistent spatial semantic representation method, and show how it enables building an agent that performs hierarchical reasoning to effectively execute long-term tasks. We evaluate our approach on the ALFRED benchmark and achieve state-of-the-art results, despite completely avoiding the commonly used step-by-step instructions.

Maps are fundamental medium to visualize and represent the real word in a simple and 16 philosophical way. The emergence of the 3rd wave information has made a proportion of maps are available to be generated ubiquitously, which would significantly enrich the dimensions and perspectives to understand the characteristics of the real world. However, a majority of map dataset have never been discovered, acquired and effectively used, and the map data used in many applications might not be completely fitted for the authentic demands of these applications. This challenge is emerged due to the lack of numerous well-labelled benchmark datasets for implementing the deep learning approaches into identifying complicated map content. Thus, we develop a large-scale benchmark dataset that includes well-labelled dataset for map text annotation recognition, map scene classification, map super-resolution reconstruction, and map style transferring. Furthermore, these well-labelled datasets would facilitate the state-of-the-art machine intelligence technologies to conduct map feature detection, map pattern recognition and map content retrieval. We hope our efforts would be useful for AI-enhanced cartographical applications.

Multimodal large language models (MLLMs), such as GPT-4o, Gemini, LLaVA, and Flamingo, have made significant progress in integrating visual and textual modalities, excelling in tasks like visual question answering (VQA), image captioning, and content retrieval. They can generate coherent and contextually relevant descriptions of images. However, they still face challenges in accurately identifying and counting objects and determining their spatial locations, particularly in complex scenes with overlapping or small objects. To address these limitations, we propose a novel framework based on multimodal retrieval-augmented generation (RAG), which introduces structured scene graphs to enhance object recognition, relationship identification, and spatial understanding within images. Our framework improves the MLLM's capacity to handle tasks requiring precise visual descriptions, especially in scenarios with challenging perspectives, such as aerial views or scenes with dense object arrangements. Finally, we conduct extensive experiments on the VG-150 dataset that focuses on first-person visual understanding and the AUG dataset that involves aerial imagery. The results show that our approach consistently outperforms existing MLLMs in VQA tasks, which stands out in recognizing, localizing, and quantifying objects in different spatial contexts and provides more accurate visual descriptions.

Recently an influx of studies claim emergent cognitive abilities in large language models (LLMs). Yet, most rely on anecdotes, overlook contamination of training sets, or lack systematic Evaluation involving multiple tasks, control conditions, multiple iterations, and statistical robustness tests. Here we make two major contributions. First, we propose CogEval, a cognitive science-inspired protocol for the systematic evaluation of cognitive capacities in Large Language Models. The CogEval protocol can be followed for the evaluation of various abilities. Second, here we follow CogEval to systematically evaluate cognitive maps and planning ability across eight LLMs (OpenAI GPT-4, GPT-3.5-turbo-175B, davinci-003-175B, Google Bard, Cohere-xlarge-52.4B, Anthropic Claude-1-52B, LLaMA-13B, and Alpaca-7B). We base our task prompts on human experiments, which offer both established construct validity for evaluating planning, and are absent from LLM training sets. We find that, while LLMs show apparent competence in a few planning tasks with simpler structures, systematic evaluation reveals striking failure modes in planning tasks, including hallucinations of invalid trajectories and getting trapped in loops. These findings do not support the idea of emergent out-of-the-box planning ability in LLMs. This could be because LLMs do not understand the latent relational structures underlying planning problems, known as cognitive maps, and fail at unrolling goal-directed trajectories based on the underlying structure. Implications for application and future directions are discussed.

Recently, reading comprehension models achieved near-human performance on large-scale datasets such as SQuAD, CoQA, MS Macro, RACE, etc. This is largely due to the release of pre-trained contextualized representations such as BERT and ELMo, which can be fine-tuned for the target task. Despite those advances and the creation of more challenging datasets, most of the work is still done for English. Here, we study the effectiveness of multilingual BERT fine-tuned on large-scale English datasets for reading comprehension (e.g., for RACE), and we apply it to Bulgarian multiple-choice reading comprehension. We propose a new dataset containing 2,221 questions from matriculation exams for twelfth grade in various subjects -history, biology, geography and philosophy-, and 412 additional questions from online quizzes in history. While the quiz authors gave no relevant context, we incorporate knowledge from Wikipedia, retrieving documents matching the combination of question + each answer option. Moreover, we experiment with different indexing and pre-training strategies. The evaluation results show accuracy of 42.23%, which is well above the baseline of 24.89%.

We explore the use of language as a perceptual representation for vision-and-language navigation. Our approach uses off-the-shelf vision systems (for image captioning and object detection) to convert an agent's egocentric panoramic view at each time step into natural language descriptions. We then finetune a pretrained language model to select an action, based on the current view and the trajectory history, that would best fulfill the navigation instructions. In contrast to the standard setup which adapts a pretrained language model to work directly with continuous visual features from pretrained vision models, our approach instead uses (discrete) language as the perceptual representation. We explore two use cases of our language-based navigation (LangNav) approach on the R2R vision-and-language navigation benchmark: generating synthetic trajectories from a prompted large language model (GPT-4) with which to finetune a smaller language model; and sim-to-real transfer where we transfer a policy learned on a simulated environment (ALFRED) to a real-world environment (R2R). Our approach is found to improve upon strong baselines that rely on visual features in settings where only a few gold trajectories (10-100) are available, demonstrating the potential of using language as a perceptual representation for navigation tasks.

When re-finding items, users who forget or are uncertain about identifying details often rely on creative strategies for expressing their information needs -- complex queries that describe content elements (e.g., book characters or events), information beyond the document text (e.g., descriptions of book covers), or personal context (e.g., when they read a book). This retrieval setting, called tip of the tongue (TOT), is especially challenging for models heavily reliant on lexical and semantic overlap between query and document text. In this work, we introduce a simple yet effective framework for handling such complex queries by decomposing the query into individual clues, routing those as sub-queries to specialized retrievers, and ensembling the results. This approach allows us to take advantage of off-the-shelf retrievers (e.g., CLIP for retrieving images of book covers) or incorporate retriever-specific logic (e.g., date constraints). We show that our framework incorportating query decompositions into retrievers can improve gold book recall up to 7% relative again for Recall@5 on a new collection of 14,441 real-world query-book pairs from an online community for resolving TOT inquiries.

Recent visuolinguistic pre-trained models show promising progress on various end tasks such as image retrieval and video captioning. Yet, they fail miserably on the recently proposed Winoground dataset, which challenges models to match paired images and English captions, with items constructed to overlap lexically but differ in meaning (e.g., "there is a mug in some grass" vs. "there is some grass in a mug"). By annotating the dataset using new fine-grained tags, we show that solving the Winoground task requires not just compositional language understanding, but a host of other abilities like commonsense reasoning or locating small, out-of-focus objects in low-resolution images. In this paper, we identify the dataset's main challenges through a suite of experiments on related tasks (probing task, image retrieval task), data augmentation, and manual inspection of the dataset. Our analysis suggests that a main challenge in visuolinguistic models may lie in fusing visual and textual representations, rather than in compositional language understanding. We release our annotation and code at https://github.com/ajd12342/why-winoground-hard .

Solving complex visual tasks such as "Who invented the musical instrument on the right?" involves a composition of skills: understanding space, recognizing instruments, and also retrieving prior knowledge. Recent work shows promise by decomposing such tasks using a large language model (LLM) into an executable program that invokes specialized vision models. However, generated programs are error-prone: they omit necessary steps, include spurious ones, and are unable to recover when the specialized models give incorrect outputs. Moreover, they require loading multiple models, incurring high latency and computation costs. We propose Visual Program Distillation (VPD), an instruction tuning framework that produces a vision-language model (VLM) capable of solving complex visual tasks with a single forward pass. VPD distills the reasoning ability of LLMs by using them to sample multiple candidate programs, which are then executed and verified to identify a correct one. It translates each correct program into a language description of the reasoning steps, which are then distilled into a VLM. Extensive experiments show that VPD improves the VLM's ability to count, understand spatial relations, and reason compositionally. Our VPD-trained PaLI-X outperforms all prior VLMs, achieving state-of-the-art performance across complex vision tasks, including MMBench, OK-VQA, A-OKVQA, TallyQA, POPE, and Hateful Memes. An evaluation with human annotators also confirms that VPD improves model response factuality and consistency. Finally, experiments on content moderation demonstrate that VPD is also helpful for adaptation to real-world applications with limited data.

Earth observation data such as satellite imagery can, when combined with machine learning, have profound impacts on our understanding of the geography of poverty through the prediction of living conditions, especially where government-derived economic indicators are either unavailable or potentially untrustworthy. Recent work has progressed in using EO data not only to predict spatial economic outcomes, but also to explore cause and effect, an understanding which is critical for downstream policy analysis. In this review, we first document the growth of interest in EO-ML analyses in the causal space. We then trace the relationship between spatial statistics and EO-ML methods before discussing the four ways in which EO data has been used in causal ML pipelines -- (1.) poverty outcome imputation for downstream causal analysis, (2.) EO image deconfounding, (3.) EO-based treatment effect heterogeneity, and (4.) EO-based transportability analysis. We conclude by providing a workflow for how researchers can incorporate EO data in causal ML analysis going forward.

Navigation in unfamiliar environments presents a major challenge for robots: while mapping and planning techniques can be used to build up a representation of the world, quickly discovering a path to a desired goal in unfamiliar settings with such methods often requires lengthy mapping and exploration. Humans can rapidly navigate new environments, particularly indoor environments that are laid out logically, by leveraging semantics -- e.g., a kitchen often adjoins a living room, an exit sign indicates the way out, and so forth. Language models can provide robots with such knowledge, but directly using language models to instruct a robot how to reach some destination can also be impractical: while language models might produce a narrative about how to reach some goal, because they are not grounded in real-world observations, this narrative might be arbitrarily wrong. Therefore, in this paper we study how the ``semantic guesswork'' produced by language models can be utilized as a guiding heuristic for planning algorithms. Our method, Language Frontier Guide (LFG), uses the language model to bias exploration of novel real-world environments by incorporating the semantic knowledge stored in language models as a search heuristic for planning with either topological or metric maps. We evaluate LFG in challenging real-world environments and simulated benchmarks, outperforming uninformed exploration and other ways of using language models.

Image geo-localization is the task of predicting the specific location of an image and requires complex reasoning across visual, geographical, and cultural contexts. While prior Vision Language Models (VLMs) have the best accuracy at this task, there is a dearth of high-quality datasets and models for analytical reasoning. We first create NaviClues, a high-quality dataset derived from GeoGuessr, a popular geography game, to supply examples of expert reasoning from language. Using this dataset, we present Navig, a comprehensive image geo-localization framework integrating global and fine-grained image information. By reasoning with language, Navig reduces the average distance error by 14% compared to previous state-of-the-art models while requiring fewer than 1000 training samples. Our dataset and code are available at https://github.com/SparrowZheyuan18/Navig/.

Humans interact with the environment using a combination of perception - transforming sensory inputs from their environment into symbols, and cognition - mapping symbols to knowledge about the environment for supporting abstraction, reasoning by analogy, and long-term planning. Human perception-inspired machine perception, in the context of AI, refers to large-scale pattern recognition from raw data using neural networks trained using self-supervised learning objectives such as next-word prediction or object recognition. On the other hand, machine cognition encompasses more complex computations, such as using knowledge of the environment to guide reasoning, analogy, and long-term planning. Humans can also control and explain their cognitive functions. This seems to require the retention of symbolic mappings from perception outputs to knowledge about their environment. For example, humans can follow and explain the guidelines and safety constraints driving their decision-making in safety-critical applications such as healthcare, criminal justice, and autonomous driving. This article introduces the rapidly emerging paradigm of Neurosymbolic AI combines neural networks and knowledge-guided symbolic approaches to create more capable and flexible AI systems. These systems have immense potential to advance both algorithm-level (e.g., abstraction, analogy, reasoning) and application-level (e.g., explainable and safety-constrained decision-making) capabilities of AI systems.