LeRF: Learning Reference Coordinate Frames for Perspective Taking Reasoning

arXiv:2609.36219 · cs.CV · Submitted 2026-09-28 · Read on arXiv

cs.CV

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Accuracy — 15× in this paper · explained in 1 episode
• Benchmark — 11× in this paper · explained in 2 episodes
• Grounding — 10× in this paper · explained in 3 episodes
• Fine-Tuning — 7× in this paper · explained in 5 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Vision-language models — 6× in this paper · explained in 2 episodes
• Entity Grounding — 5× in this paper · explained in 2 episodes
• GRPO — 4× in this paper · explained in 6 episodes
• Supervised Fine-Tuning — 4× in this paper
• Ablation — 2× in this paper · explained in 1 episode
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Supervised Fine-Tuning (SFT) — 2× in this paper · explained in 8 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• CVF International Conference on Computer Vision — 1× in this paper
• Compositional Spatial Reasoning — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Group Relative Policy Optimization — 1× in this paper
• Group Relative Policy Optimization (GRPO) — 1× in this paper · explained in 5 episodes
• Multimodal Reasoning — 1× in this paper · explained in 5 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Scaffolding — 1× in this paper · explained in 3 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• LoRA: Low-Rank Adaptation of Large Language Models
• ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
• GLM-4.5V and GLM-4.1V-Thinking: Towards Versatile Multimodal Reasoning with Scalable Reinforcement Learning
• Thinking with Blueprints: Assisting Vision-Language Models in Spatial Reasoning via Structured Object Representation
• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models
• Qwen3.5-Omni Technical Report
• InternVL3.5: Advancing Open-Source Multimodal Models in Versatility, Reasoning, and Efficiency

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