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license: cc-by-4.0
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license: cc-by-4.0
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---
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<div align="center">
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<h1>Spatial Reasoning with Vision-Language Models in Ego-Centric Multi-view Scenes (Code Comes Soon!)</h1>
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<p><i>Benchmarking and Improving 3D Spatial Reasoning in Vision-Language Models</i></p>
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<a href="https://arxiv.org/abs/2509.06266" target="_blank">
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<img alt="arXiv" src="https://img.shields.io/badge/arXiv-red?logo=arxiv" height="20" />
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</a>
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<a href="https://vbdi.github.io/Ego3D-Bench-webpage/" target="_blank">
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<img alt="Website" src="https://img.shields.io/badge/🌎_Website-blue.svg" height="20" />
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</a>
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<a href="https://huggingface.co/datasets/vbdai/Ego3D-Bench" target="_blank">
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<img alt="HF Dataset: Ego3D-Bench" src="https://img.shields.io/badge/%F0%9F%A4%97%20_Ego3D_Bench-ffc107?color=ffc107&logoColor=white" height="20" />
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</a>
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</div>
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---
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### 📌 Key Highlights
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- 📊 **Ego3D-Bench**: A benchmark of **8,600+ human-verified QA pairs** for evaluating VLMs in **ego-centric, multi-view outdoor environments**.
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- 🧠 **Ego3D-VLM**: A **post-training framework** that builds cognitive maps from global 3D coordinates, achieving **+12% QA accuracy** and **+56% distance estimation** improvements.
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- 🚀 **Impact**: Together, Ego3D-Bench and Ego3D-VLM move VLMs closer to **human-level 3D spatial understanding** in real-world settings.
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---
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### ⚖️ **Ego3D-Bench**
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Benchmark Overview: We introduce Ego3D-Bench, a benchmark designed to evaluate the spatial understanding of VLMs in ego-centric multi-view scenarios. Images are collected from three different datasets: NuScenes, Argoverse, and Waymo. Questions are designed to require cross-view reseasoning. We define question from the ego-perspective and from the perspective of objects in the scene. To clearly indicate the perspective of each question, we categorize them into ego-centric or object-centric. In total we have 10 questions: 8 multi-choice QAs and 2 exact number QAs. Figure
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---
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📄 **Dataset Access and License Notice:**
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This dataset includes a subsample of the Waymo Open Dataset (WOD) and is governed by the Waymo Open Dataset License Agreement.
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Please review the full license terms at: https://waymo.com/open/terms
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🔒 **Access and Usage Conditions**
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- License Compliance: This dataset is derived from the Waymo Open Dataset (WOD). All use of this dataset must comply with the terms outlined in the WOD license.
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- Non-Commercial Use Only:This dataset is made available exclusively for non-commercial research purposes. Any commercial use is strictly prohibited.
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- Access Agreement: Requesting or accessing this dataset constitutes your agreement to the Waymo Open Dataset License.
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