Uruqi: Learning Spatial Cognition from Visual Experience

arXiv:2609.39195 · cs.CV · Submitted 2026-09-30 · Read on arXiv

cs.CV

Submitted: 2026-09-30

Updated: 2026-09-30

Project page: https://d2i-ai.github.io/SpatialAxiom

Terminology

• Benchmark — 25× in this paper · explained in 2 episodes
• Accuracy — 14× in this paper · explained in 1 episode
• Vision-language models — 10× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 4× in this paper
• Instruction Tuning — 2× in this paper · explained in 2 episodes
• Reasoning Traces — 2× in this paper · explained in 3 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Agentic AI — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Qwen3-VL Technical Report
• S-Agent: Spatial Tool-Use Elicits Reasoning for Spatial Intelligence
• Active Exploring like a Pigeon: Reinforcing Spatial Reasoning via Agentic Vision-Language Models
• MANTIS: Interleaved Multi-Image Instruction Tuning
• SpaceR: Reinforcing MLLMs in Video Spatial Reasoning
• MindCube: Spatial Mental Modeling from Limited Views
• 3ViewSense: Spatial and Mental Perspective Reasoning from Orthographic Views in Vision-Language Models
• InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models

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