{"id":"https://openalex.org/W7162807701","doi":"https://doi.org/10.48550/arxiv.2605.29074","title":"Embodied3DBench: Benchmarking Low-Level Embodied Spatial Intelligence of Vision Language Models","display_name":"Embodied3DBench: Benchmarking Low-Level Embodied Spatial Intelligence of Vision Language Models","publication_year":2026,"publication_date":"2026-05-27","ids":{"openalex":"https://openalex.org/W7162807701","doi":"https://doi.org/10.48550/arxiv.2605.29074"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.29074","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.29074","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.29074","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137322808","display_name":"Jiyao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jiyao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101810713","display_name":"Mingxu Zhang","orcid":"https://orcid.org/0000-0002-2509-8812"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Mingxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137354626","display_name":"Yitong Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Yitong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101491484","display_name":"Haoxuan Liu","orcid":"https://orcid.org/0009-0009-7134-8649"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Haoxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032116947","display_name":"Chenshuo Wang","orcid":"https://orcid.org/0000-0001-8598-0594"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Chenshuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137337942","display_name":"Yuxing Long","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Long, Yuxing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020769158","display_name":"Haoyang Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Haoyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137398084","display_name":"Dongjiang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Dongjiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137377498","display_name":"Nan Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Nan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137382066","display_name":"Hui Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Hui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137343925","display_name":"Hao Dong","orcid":"https://orcid.org/0000-0001-7585-5028"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.958899974822998,"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":0.958899974822998,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.005400000140070915,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.004999999888241291,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6873000264167786},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.6704000234603882},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.6481000185012817},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5253000259399414},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5162000060081482},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.49129998683929443},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48179998993873596},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.47870001196861267}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6913999915122986},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6873000264167786},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.6704000234603882},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.6481000185012817},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5795000195503235},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5253000259399414},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5162000060081482},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.49129998683929443},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48179998993873596},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.47870001196861267},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4507000148296356},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.399399995803833},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.35899999737739563},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3479999899864197},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3434999883174896},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3312999904155731},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3269999921321869},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.2964000105857849},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.2858999967575073},{"id":"https://openalex.org/C59656382","wikidata":"https://www.wikidata.org/wiki/Q191536","display_name":"Conjunction (astronomy)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.26080000400543213}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.29074","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.29074","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.29074","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.29074","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Are":[0],"current":[1,94],"Vision":[2],"Language":[3],"Models":[4],"(VLMs)":[5],"ready":[6],"to":[7],"comprehend":[8],"and":[9,57,60,68,76,88,169],"reason":[10],"about":[11],"complex":[12],"embodied":[13,29],"interactions":[14],"in":[15,28,111,152],"3D":[16,30],"environments?":[17],"We":[18,83],"introduce":[19],"Embodied3DBench,":[20],"a":[21,115,136,159,165,170,175],"robot-centric":[22],"benchmark":[23,40,72],"targeting":[24],"low-level":[25,153],"spatial":[26,100,154],"intelligence":[27],"environments.":[31],"To":[32,123],"systematically":[33],"evaluate":[34,84],"these":[35],"foundational":[36],"perceptual":[37],"capabilities,":[38],"the":[39,89,179],"includes":[41],"6":[42],"task":[43],"categories":[44],"divided":[45],"into":[46],"two":[47],"core":[48],"groups:":[49],"Spatial":[50,54],"Structural":[51],"Understanding":[52],"(Grounding,":[53],"Relation":[55],"Prediction,":[56,64,67],"Multi-view":[58],"Correspondence)":[59],"Interaction-Oriented":[61],"Perception":[62],"(Affordance":[63],"Grasp":[65],"Point":[66],"Trajectory":[69],"Prediction).":[70],"The":[71],"spans":[73],"12":[74],"subcategories":[75],"contains":[77],"over":[78],"21k":[79],"high-quality":[80],"question-answer":[81],"pairs.":[82,143],"13":[85],"state-of-the-art":[86],"models,":[87],"results":[90],"show":[91],"that":[92],"while":[93],"models":[95],"exhibit":[96],"relatively":[97],"strong":[98],"high-level":[99],"reasoning,":[101],"such":[102],"as":[103],"understanding":[104],"object-to-object":[105],"positional":[106],"relations,":[107],"they":[108],"remain":[109],"fragile":[110],"interaction-oriented":[112],"perception,":[113],"highlighting":[114],"significant":[116,150],"lack":[117],"of":[118,181],"robust":[119],"3D-aware":[120],"interaction":[121],"priors.":[122],"actively":[124],"bridge":[125],"this":[126,147],"capability":[127],"gap":[128,161],"revealed":[129],"by":[130,162],"our":[131],"benchmark,":[132],"we":[133],"further":[134],"synthesize":[135],"large-scale":[137],"training":[138],"dataset":[139,148],"comprising":[140],"1.3M":[141],"QA":[142],"Notably,":[144],"fine-tuning":[145],"on":[146],"yields":[149],"improvements":[151],"intelligence.":[155],"Ultimately,":[156],"Embodied3DBench":[157],"fills":[158],"critical":[160],"providing":[163],"both":[164],"systematic":[166],"evaluation":[167],"framework":[168],"scalable":[171],"data":[172],"solution,":[173],"setting":[174],"clear":[176],"target":[177],"for":[178],"development":[180],"interaction-aware":[182],"multimodal":[183],"systems.":[184]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-30T00:00:00"}