SphMind: Towards Robust, Training-Free VLM-based Spatial Reasoning with a 360 Camera

arXiv:2609.33462 · cs.CV · Submitted 2026-09-27 · Read on arXiv

cs.CV

Submitted: 2026-09-27

Updated: 2026-09-29

Project page: https://empactlab.github.io/SphMind-NeurIPS-2026

Terminology

• Benchmark — 19× in this paper · explained in 2 episodes
• Grounding — 18× in this paper · explained in 3 episodes
• Alignment — 11× in this paper · explained in 1 episode
• Transformer — 10× in this paper · explained in 2 episodes
• Consistency — 9× in this paper · explained in 3 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Accuracy — 6× in this paper · explained in 1 episode
• Calibration — 6× in this paper · explained in 7 episodes
• Hallucination — 6× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Fine-Tuning — 5× in this paper · explained in 5 episodes
• Steering — 5× in this paper · explained in 2 episodes
• Inference-Time Geometric Grounding — 4× in this paper
• Cosine Similarity — 3× in this paper · explained in 3 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Gradient Alignment — 3× in this paper
• Spherical Harmonics-based Spatial Graph — 3× in this paper
• Domain Adaptation — 2× in this paper · explained in 5 episodes
• GRPO — 2× in this paper · explained in 6 episodes
• Inference-Time Steering — 2× in this paper · explained in 2 episodes
• Latent Space — 2× in this paper · explained in 7 episodes
• Model-Agnostic — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Semantic Gap — 2× in this paper · explained in 2 episodes
• Semantic Understanding — 2× in this paper · explained in 2 episodes
• Training-Free Framework — 2× in this paper · explained in 2 episodes
• AI Agents — 1× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Activation Steering — 1× in this paper · explained in 4 episodes
• Adaptive Reasoning — 1× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Elias — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Frozen model — 1× in this paper · explained in 3 episodes
• Group Relative Policy Optimization — 1× in this paper
• Group Relative Policy Optimization (GRPO) — 1× in this paper · explained in 5 episodes
• Hallucination Detection — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Ontology — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Transformer Models — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• Elite360M: Efficient 360 Multi-task Learning via Bi-projection Fusion and Cross-task Collaboration
• EAGOR: Embodied Reasoning in Omni-direction
• AdapToPASS: Ambiguity-aware Adaptive Spherical Transformer for Panoramic Semantic Segmentation

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