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Spatial reasoning is a fundamental capability of multimodal large language models (MLLMs), yet their performance in open aerial environments remains underexplored.
Clevr: A diagnostic dataset for compositional language and elementary visual reasoning. In Proceedings of the IEEE conference on computer vision and pattern recognition . 2901–2910
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments. In Proceedings of the IEEE conference on computer vision and pattern recognition . 3674–3683
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Superglue: A stickier benchmark for general-purpose language understanding systems
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Beyond the nav-graph: Vision-and-language navigation in continuous environments. In Computer Vision–ECCV 2020: 16th European Conference, Glasgow, UK, August 23–28, 2020, Proceedings, Part XXVIII 16 . Springer, 104–120
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Alfred: A benchmark for interpreting grounded instructions for everyday tasks. In Proceedings of the IEEE/CVF conference on computer vision and pattern recognition . 10740–10749
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WildUAV: Monocular UAV Dataset for Depth Estimation Tasks
Horatiu Florea, Vlad-Cristian Miclea, and Sergiu Nedevschi. 2021 · 2021
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Lora: Low-rank adaptation of large language models
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Scanqa: 3d question answering for spatial scene understanding. In proceedings of the IEEE/CVF conference on computer vision and pattern recognition . 19129–19139
Daichi Azuma, Taiki Miyanishi, Shuhei Kurita, and Motoaki Kawanabe. 2022 · 2022
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Learning models as functionals of signed-distance fields for manipulation planning. In Conference on robot learning . PMLR, 245–255
Danny Driess, Jung-Su Ha, Marc Toussaint, and Russ Tedrake. 2022 · 2022
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Capturing, reconstructing, and simulating: the urbanscene3d dataset. In European Conference on Computer Vision . Springer, 93–109
Liqiang Lin, Yilin Liu, Yue Hu, Xingguang Yan, Ke Xie, and Hui Huang. 2022 · 2022
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Sqa3d: Situated question answering in 3d scenes
Xiaojian Ma, Silong Yong, Zilong Zheng, Qing Li, Yitao Liang, Song-Chun Zhu, and Siyuan Huang. 2022 · 2022
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Zson: Zero-shot object-goal navigation using multimodal goal embeddings
Arjun Majumdar, Gunjan Aggarwal, Bhavika Devnani, Judy Hoffman, and Dhruv Batra. 2022 · 2022
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Self-instruct: Aligning language models with self-generated instructions
Yizhong Wang, Yeganeh Kordi, Swaroop Mishra, Alisa Liu, Noah A Smith, Daniel Khashabi, and Hannaneh Hajishirzi. 2022 · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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Cows on pasture: Baselines and benchmarks for language-driven zero-shot object navigation. In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition . 23171–23181
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song. 2023 · 2023
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3d-llm: Injecting the 3d world into large language models
Yining Hong, Haoyu Zhen, Peihao Chen, Shuhong Zheng, Yilun Du, Zhenfang Chen, and Chuang Gan. 2023 · 2023
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An embodied generalist agent in 3d world
Jiangyong Huang, Silong Yong, Xiaojian Ma, Xiongkun Linghu, Puhao Li, Yan Wang, Qing Li, Song-Chun Zhu, Baoxiong Jia, and Siyuan Huang. 2023 · 2023
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Visual spatial reasoning
Fangyu Liu, Guy Emerson, and Nigel Collier. 2023a · 2023
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Segclip: Patch aggregation with learnable centers for open-vocabulary semantic segmentation. In International Conference on Machine Learning . PMLR, 23033–23044
Huaishao Luo, Junwei Bao, Youzheng Wu, Xiaodong He, and Tianrui Li. 2023 · 2023
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Kosmos-2.5: A multimodal literate model
Tengchao Lv, Yupan Huang, Jingye Chen, Yuzhong Zhao, Yilin Jia, Lei Cui, Shuming Ma, Yaoyao Chang, Shaohan Huang, Wenhui Wang, et al · 2023
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee. 2024 · 2024
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Deepseek-vl: towards real-world vision-language understanding
Haoyu Lu, Wen Liu, Bo Zhang, Bingxuan Wang, Kai Dong, Bo Liu, Jingxiang Sun, Tongzheng Ren, Zhuoshu Li, Hao Yang, et al · 2024
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Lexicon3d: Probing visual foundation models for complex 3d scene understanding
Yunze Man, Shuhong Zheng, Zhipeng Bao, Martial Hebert, Liang-Yan Gui, and Yu-Xiong Wang. 2024b · 2024
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Gpt4point: A unified framework for point-language understanding and generation. In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition . 26417–26427
Zhangyang Qi, Ye Fang, Zeyi Sun, Xiaoyang Wu, Tong Wu, Jiaqi Wang, Dahua Lin, and Hengshuang Zhao. 2024 · 2024
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Gemini Team, Rohan Anil, Sebastian Borgeaud, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, Katie Millican, et al · 2023
Cited alongside, same era.
Cogvlm: Visual expert for pretrained language models
Weihan Wang, Qingsong Lv, Wenmeng Yu, Wenyi Hong, Ji Qi, Yan Wang, Junhui Ji, Zhuoyi Yang, Lei Zhao, Xixuan Song, et al · 2023
Cited alongside, same era.
3d-vista: Pre-trained transformer for 3d vision and text alignment. In Proceedings of the IEEE/CVF International Conference on Computer Vision . 2911–2921
Ziyu Zhu, Xiaojian Ma, Yixin Chen, Zhidong Deng, Siyuan Huang, and Qing Li. 2023 · 2023
Cited alongside, same era.
Ddl: Empowering delivery drones with large-scale urban sensing capability
Xuecheng Chen, Haoyang Wang, Yuhan Cheng, Haohao Fu, Yuxuan Liu, Fan Dang, Yunhao Liu, Jinqiang Cui, and Xinlei Chen. 2024a · 2024
Cited alongside, same era.
Soscheduler: Toward proactive and adaptive wildfire suppression via multi-uav collaborative scheduling
Xuecheng Chen, Zijian Xiao, Yuhan Cheng, Chen-Chun Hsia, Haoyang Wang, Jingao Xu, Susu Xu, Fan Dang, Xiao-Ping Zhang, Yunhao Liu, et al · 2024
Cited alongside, same era.
SpatialRGPT: Grounded Spatial Reasoning in Vision Language Model
An-Chieh Cheng, Hongxu Yin, Yang Fu, Qiushan Guo, Ruihan Yang, Jan Kautz, Xiaolong Wang, and Sifei Liu. 2024 · 2024
Cited alongside, same era.
Mengfei Du, Binhao Wu, Zejun Li, Xuanjing Huang, and Zhongyu Wei. 2024 · 2024
Cited alongside, same era.
EmbodiedCity: A Benchmark Platform for Embodied Agent in Real-world City Environment
Chen Gao, Baining Zhao, Weichen Zhang, Jinzhu Mao, Jun Zhang, Zhiheng Zheng, Fanhang Man, Jianjie Fang, Zile Zhou, Jinqiang Cui, et al · 2024
Cited alongside, same era.
Nikhila Ravi, Valentin Gabeur, Yuan-Ting Hu, Ronghang Hu, Chaitanya Ryali, Tengyu Ma, Haitham Khedr, Roman Rädle, Chloe Rolland, Laura Gustafson, et al · 2024
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VQASynth: A Framework for Synthetic Visual Question Answering Dataset Generation
RemyXAI. 2023 · 2024
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An Empirical Analysis on Spatial Reasoning Capabilities of Large Multimodal Models
Fatemeh Shiri, Xiao-Yu Guo, Mona Golestan Far, Xin Yu, Gholamreza Haffari, and Yuan-Fang Li. 2024 · 2024
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Qwen2-vl: Enhancing vision-language model’s perception of the world at any resolution
Peng Wang, Shuai Bai, Sinan Tan, Shijie Wang, Zhihao Fan, Jinze Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, et al · 2024
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Thinking in space: How multimodal large language models see, remember, and recall spaces
Jihan Yang, Shusheng Yang, Anjali W Gupta, Rilyn Han, Li Fei-Fei, and Saining Xie. 2024 · 2024
Later among the works it cites.
Minicpm-v: A gpt-4v level mllm on your phone
Yuan Yao, Tianyu Yu, Ao Zhang, Chongyi Wang, Junbo Cui, Hongji Zhu, Tianchi Cai, Haoyu Li, Weilin Zhao, Zhihui He, et al · 2024
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Qwen Documentation
Alibaba Cloud. 2025 · 2025
Closest in time.
Gemini API Documentation
Google. 2025 · 2025
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Sceneverse: Scaling 3d vision-language learning for grounded scene understanding. In European Conference on Computer Vision . Springer, 289–310
Baoxiong Jia, Yixin Chen, Huangyue Yu, Yan Wang, Xuesong Niu, Tengyu Liu, Qing Li, and Siyuan Huang. 2025 · 2025
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Vggt: Visual geometry grounded transformer
Jianyuan Wang, Minghao Chen, Nikita Karaev, Andrea Vedaldi, Christian Rupprecht, and David Novotny. 2025 · 2025
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Pointllm: Empowering large language models to understand point clouds. In European Conference on Computer Vision . Springer, 131–147
Runsen Xu, Xiaolong Wang, Tai Wang, Yilun Chen, Jiangmiao Pang, and Dahua Lin. 2025 · 2025
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Baining Zhao, Jianjie Fang, Zichao Dai, Ziyou Wang, Jirong Zha, Weichen Zhang, Chen Gao, Yue Wang, Jinqiang Cui, Xinlei Chen, et al · 2025
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