{"id":"https://openalex.org/W7167587808","doi":"https://doi.org/10.48550/arxiv.2607.02921","title":"R3D: Quantitative 3D Spatial Reasoning for Egocentric Wearables","display_name":"R3D: Quantitative 3D Spatial Reasoning for Egocentric Wearables","publication_year":2026,"publication_date":"2026-07-03","ids":{"openalex":"https://openalex.org/W7167587808","doi":"https://doi.org/10.48550/arxiv.2607.02921"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.02921","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.02921","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.02921","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012428670","display_name":"Maxwell Horton","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Horton, Maxwell","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140210459","display_name":"Wei Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140180922","display_name":"Quan Tran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tran, Quan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075401818","display_name":"Yury Astashonok","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Astashonok, Yury","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069701674","display_name":"Kirmani Ahmed","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ahmed, Kirmani","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020194007","display_name":"Babak Damavandi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Damavandi, Babak","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140162885","display_name":"Anuj Kumar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumar, Anuj","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140212154","display_name":"Xiao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140168827","display_name":"Seungwhan Moon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moon, Seungwhan","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":0.6079000234603882,"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":0.6079000234603882,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.0803999975323677,"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/T12290","display_name":"Human Motion and Animation","score":0.06449999660253525,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/baseline","display_name":"Baseline (sea)","score":0.6406999826431274},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5566999912261963},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5383999943733215},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.5357000231742859},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.525600016117096},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.48260000348091125},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.46799999475479126}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7578999996185303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6897000074386597},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.6406999826431274},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5566999912261963},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5383999943733215},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5357000231742859},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.525600016117096},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5058000087738037},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.48260000348091125},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.46799999475479126},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.41040000319480896},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.31459999084472656},{"id":"https://openalex.org/C89288958","wikidata":"https://www.wikidata.org/wiki/Q7301504","display_name":"Reasoning system","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2939999997615814},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2870999872684479},{"id":"https://openalex.org/C2988454689","wikidata":"https://www.wikidata.org/wiki/Q173131","display_name":"Digital video","level":3,"score":0.28110000491142273},{"id":"https://openalex.org/C54290928","wikidata":"https://www.wikidata.org/wiki/Q4845080","display_name":"Wearable technology","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.02921","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.02921","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.02921","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.02921","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":{"Quantitative":[0],"3D":[1,39,109,119],"spatial":[2,40,58,98,139],"reasoning":[3,41,59,70],"from":[4,81,121],"egocentric":[5,28,78],"RGB-D":[6,32],"video":[7,33,79,122],"is":[8],"a":[9,53,87,96,118],"critical":[10],"capability":[11],"for":[12],"next-generation":[13],"wearable":[14],"assistants.":[15],"Yet":[16],"existing":[17,104],"benchmarks":[18],"do":[19],"not":[20],"reflect":[21],"the":[22,112,154,161],"challenges":[23],"of":[24,55,76],"handling":[25],"(1)":[26],"natural":[27],"video,":[29],"(2)":[30],"posed":[31],"inputs,":[34],"and":[35,68,125,160],"(3)":[36],"challenging":[37],"quantitative":[38,57],"Q&A.":[42],"To":[43,85],"fill":[44],"this":[45,91,131],"gap,":[46],"we":[47,93],"introduce":[48,94],"R3D-Bench":[49],"(Reasoning":[50],"in":[51],"3D),":[52],"benchmark":[54],"3,033":[56],"questions":[60,71],"across":[61],"15":[62],"types":[63],"--":[64,72],"spanning":[65],"multiple-choice,":[66],"distance-based,":[67],"volumetric":[69],"built":[73],"on":[74,90],"top":[75],"57":[77],"sequences":[80],"Aria":[82],"Digital":[83],"Twin.":[84],"set":[86],"strong":[88],"baseline":[89,157,164],"dataset,":[92],"R3D,":[95],"model-agnostic":[97],"tool-calling":[99],"framework.":[100],"In":[101],"contrast":[102],"to":[103,133],"approaches":[105],"that":[106],"directly":[107],"embed":[108],"information":[110,132],"into":[111],"model's":[113],"input":[114],"representation,":[115],"R3D":[116,143],"constructs":[117],"scene":[120],"using":[123],"segmentation":[124],"depth-lifted":[126],"object":[127],"representations.":[128],"It":[129],"provides":[130],"an":[134],"LLM":[135],"through":[136],"eight":[137],"composable":[138],"tools.":[140],"On":[141],"R3D-Bench,":[142],"with":[144],"Qwen3-VL":[145],"235B":[146],"achieves":[147],"73.5%":[148],"mean":[149],"relative":[150],"accuracy,":[151],"substantially":[152],"outperforming":[153],"best":[155,162],"depth-enabled":[156],"(CuTR+Tools,":[158],"61.9%)":[159],"RGB-only":[163],"(Gemini":[165],"3":[166],"Flash,":[167],"46.5%).":[168]},"counts_by_year":[],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2026-07-08T00:00:00"}