{"id":"https://openalex.org/W7133351226","doi":"https://doi.org/10.48550/arxiv.2603.00905","title":"pySpatial: Generating 3D Visual Programs for Zero-Shot Spatial Reasoning","display_name":"pySpatial: Generating 3D Visual Programs for Zero-Shot Spatial Reasoning","publication_year":2026,"publication_date":"2026-03-01","ids":{"openalex":"https://openalex.org/W7133351226","doi":"https://doi.org/10.48550/arxiv.2603.00905"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.00905","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00905","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.00905","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128021357","display_name":"Zhanpeng Luo","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Luo, Zhanpeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127888348","display_name":"Ce Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Ce","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032149913","display_name":"Silong Yong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yong, Silong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076011938","display_name":"Cunxi Dai","orcid":"https://orcid.org/0009-0008-1466-3522"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dai, Cunxi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012741935","display_name":"Qianwei Wang","orcid":"https://orcid.org/0000-0003-4380-0537"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Qianwei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009090453","display_name":"Haoxi Ran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ran, Haoxi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Guanya","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127958787","display_name":"Katia Sycara","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sycara, Katia","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5127905853","display_name":"Yaqi Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Yaqi","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5128021357"],"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":0.9717000126838684,"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":0.9717000126838684,"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":0.00800000037997961,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.0035000001080334187,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7590000033378601},{"id":"https://openalex.org/keywords/python","display_name":"Python (programming language)","score":0.5278000235557556},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5004000067710876},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.4458000063896179},{"id":"https://openalex.org/keywords/visual-programming-language","display_name":"Visual programming language","score":0.43549999594688416},{"id":"https://openalex.org/keywords/spatial-relation","display_name":"Spatial relation","score":0.4050000011920929},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4016999900341034},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.38199999928474426}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7814000248908997},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7590000033378601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.544700026512146},{"id":"https://openalex.org/C519991488","wikidata":"https://www.wikidata.org/wiki/Q28865","display_name":"Python (programming language)","level":2,"score":0.5278000235557556},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5004000067710876},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.4458000063896179},{"id":"https://openalex.org/C128644962","wikidata":"https://www.wikidata.org/wiki/Q683111","display_name":"Visual programming language","level":2,"score":0.43549999594688416},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41819998621940613},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.4050000011920929},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4016999900341034},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.38199999928474426},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.37380000948905945},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.3659000098705292},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.35670000314712524},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3549000024795532},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3472000062465668},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3353999853134155},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.30320000648498535},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2782000005245209},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.25589999556541443},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.00905","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00905","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":"doi:10.48550/arxiv.2603.00905","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00905","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":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":{"Multi-modal":[0],"Large":[1],"Language":[2],"Models":[3],"(MLLMs)":[4],"have":[5],"demonstrated":[6],"strong":[7,126],"capabilities":[8],"in":[9,105],"general-purpose":[10],"perception":[11],"and":[12,57,103,116],"reasoning,":[13],"but":[14],"they":[15],"still":[16],"struggle":[17],"with":[18,41,46],"tasks":[19],"that":[20,38,120],"require":[21],"spatial":[22,47,67,95],"understanding":[23],"of":[24,163],"the":[25,42,61,113,146,160],"3D":[26,70,86],"world.":[27],"To":[28],"address":[29],"this,":[30],"we":[31,139],"introduce":[32],"pySpatial,":[33,158],"a":[34,58,106],"visual":[35],"programming":[36],"framework":[37,122],"equips":[39],"MLLMs":[40,89],"ability":[43],"to":[44,66,90],"interface":[45],"tools":[48,68],"via":[49],"Python":[50],"code":[51],"generation.":[52],"Given":[53],"an":[54,84],"image":[55],"sequence":[56],"natural-language":[59],"query,":[60],"model":[62],"composes":[63],"function":[64],"calls":[65],"including":[69],"reconstruction,":[71],"camera-pose":[72],"recovery,":[73],"novel-view":[74],"rendering,":[75],"etc.":[76],"These":[77],"operations":[78],"convert":[79],"raw":[80],"2D":[81],"inputs":[82],"into":[83],"explorable":[85],"scene,":[87],"enabling":[88],"reason":[91],"explicitly":[92],"over":[93],"structured":[94],"representations.":[96],"Notably,":[97],"pySpatial":[98,123],"requires":[99],"no":[100],"gradient-based":[101],"fine-tuning":[102],"operates":[104],"fully":[107],"zero-shot":[108],"setting.":[109],"Experimental":[110],"evaluations":[111],"on":[112,136],"challenging":[114],"MindCube":[115],"Omni3D-Bench":[117],"benchmarks":[118],"demonstrate":[119],"our":[121,164],"consistently":[124],"surpasses":[125],"MLLM":[127],"baselines;":[128],"for":[129],"instance,":[130],"it":[131],"outperforms":[132],"GPT-4.1-mini":[133],"by":[134,157],"12.94%":[135],"MindCube.":[137],"Furthermore,":[138],"conduct":[140],"real-world":[141],"indoor":[142],"navigation":[143],"experiments":[144],"where":[145],"robot":[147],"can":[148],"successfully":[149],"traverse":[150],"complex":[151],"environments":[152],"using":[153],"route":[154],"plans":[155],"generated":[156],"highlighting":[159],"practical":[161],"effectiveness":[162],"approach.":[165]},"counts_by_year":[],"updated_date":"2026-03-04T07:09:34.246503","created_date":"2026-03-04T00:00:00"}