{"id":"https://openalex.org/W7131887154","doi":"https://doi.org/10.48550/arxiv.2602.22716","title":"SoPE: Spherical Coordinate-Based Positional Embedding for Enhancing Spatial Perception of 3D LVLMs","display_name":"SoPE: Spherical Coordinate-Based Positional Embedding for Enhancing Spatial Perception of 3D LVLMs","publication_year":2026,"publication_date":"2026-02-26","ids":{"openalex":"https://openalex.org/W7131887154","doi":"https://doi.org/10.48550/arxiv.2602.22716"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.22716","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085274223","display_name":"Guanting Ye","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ye, Guanting","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127422951","display_name":"Qiyan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Qiyan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127470152","display_name":"Wenhao Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Wenhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127020068","display_name":"Liangyu Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Liangyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126996705","display_name":"Mingkai Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Mingkai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127367018","display_name":"Xiaofeng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xiaofeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098821261","display_name":"Jianmin Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Jianmin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127110629","display_name":"Yanyong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yanyong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127313622","display_name":"Qing Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Qing","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5122304301","display_name":"Ka-Veng Yuen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuen, Ka-Veng","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5085274223"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8483999967575073,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8483999967575073,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.02889999933540821,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11904","display_name":"Spatial Cognition and Navigation","score":0.01640000008046627,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.7017999887466431},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5615000128746033},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5192000269889832},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5141000151634216},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.45809999108314514},{"id":"https://openalex.org/keywords/3d-modeling","display_name":"3D modeling","score":0.4449000060558319},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43720000982284546},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4075999855995178},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4043000042438507}],"concepts":[{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.7017999887466431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6352999806404114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5968000292778015},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5615000128746033},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5552999973297119},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5192000269889832},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5141000151634216},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.45809999108314514},{"id":"https://openalex.org/C2777897806","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3D modeling","level":2,"score":0.4449000060558319},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43720000982284546},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4075999855995178},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4043000042438507},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.3853999972343445},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.3668000102043152},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3619000017642975},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.35370001196861267},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.3517000079154968},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3140999972820282},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.28999999165534973},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.2816999852657318},{"id":"https://openalex.org/C3004257","wikidata":"https://www.wikidata.org/wiki/Q17084606","display_name":"Correspondence problem","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C56435381","wikidata":"https://www.wikidata.org/wiki/Q1196371","display_name":"Geometric transformation","level":3,"score":0.27399998903274536},{"id":"https://openalex.org/C138777275","wikidata":"https://www.wikidata.org/wiki/Q6884054","display_name":"Mixing (physics)","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26179999113082886},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2590000033378601}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.22716","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.22716","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.22716","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.22716","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"3D":[0,33,49,89,147],"Large":[1,8],"Vision-Language":[2],"Models":[3,10],"(3D":[4],"LVLMs)":[5],"built":[6],"upon":[7],"Language":[9],"(LLMs)":[11],"have":[12],"achieved":[13],"remarkable":[14],"progress":[15],"across":[16,139],"various":[17],"multimodal":[18,34,124],"tasks.":[19],"However,":[20],"their":[21],"inherited":[22],"position-dependent":[23],"modeling":[24,95],"mechanism,":[25],"Rotary":[26],"Position":[27],"Embedding":[28,79],"(RoPE),":[29],"remains":[30],"suboptimal":[31],"for":[32,123],"understanding.":[35],"The":[36],"vanilla":[37],"RoPE":[38],"formulation":[39,103],"fails":[40],"to":[41,63,135],"preserve":[42],"essential":[43],"three-dimensional":[44],"spatial":[45,97,113],"structures":[46],"when":[47],"encoding":[48],"tokens,":[50],"and":[51,99,115,119],"its":[52,162],"relative":[53],"distance":[54],"computation":[55],"overlooks":[56],"angular":[57],"dependencies,":[58],"hindering":[59],"the":[60,105,151],"model's":[61],"ability":[62],"capture":[64],"directional":[65,100],"variations":[66],"in":[67],"visual":[68],"representations.":[69],"To":[70],"overcome":[71],"these":[72],"limitations,":[73],"we":[74,128],"introduce":[75,129],"Spherical":[76],"Coordinate-based":[77],"Positional":[78],"(SoPE).":[80],"Our":[81],"method":[82],"maps":[83],"point-cloud":[84,110],"token":[85],"indices":[86],"into":[87],"a":[88,130],"spherical":[90],"coordinate":[91],"space,":[92],"enabling":[93],"unified":[94],"of":[96,109,153],"locations":[98],"angles.":[101],"This":[102],"preserves":[104],"inherent":[106],"geometric":[107,121],"structure":[108],"data,":[111],"enhances":[112],"awareness,":[114],"yields":[116],"more":[117],"consistent":[118],"expressive":[120],"representations":[122],"learning.":[125],"In":[126],"addition,":[127],"multi-scale":[131],"frequency":[132,141],"mixing":[133],"strategy":[134],"fuse":[136],"feature":[137],"information":[138],"different":[140],"domains.":[142],"Experimental":[143],"results":[144],"on":[145],"multiple":[146],"scene":[148],"benchmarks":[149],"validate":[150],"effectiveness":[152],"our":[154],"approach,":[155],"while":[156],"real-world":[157],"deployment":[158],"experiments":[159],"further":[160],"demonstrate":[161],"strong":[163],"generalization":[164],"capability.":[165]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-28T00:00:00"}