Papers › SpatialBot: Precise Spatial Understanding with Vision Language Models
SpatialBot: Precise Spatial Understanding with Vision Language Models
Wenxiao Cai, Iaroslav Ponomarenko, Jianhao Yuan, Xiaoqi Li, Wankou Yang, Hao Dong, Bo Zhao
Vision Language Models (VLMs) have achieved impressive performance in 2D image understanding, however they are still struggling with spatial understanding which is the foundation of Embodied AI. In this paper, we propose SpatialBot for better spatial understanding by feeding both RGB and depth images. Additionally, we have constructed the SpatialQA dataset, which involves multi-level depth-related questions to train VLMs for depth understanding. Finally, we present SpatialBench to comprehensively evaluate VLMs' capabilities in spatial understanding at different levels. Extensive experiments on our spatial-understanding benchmark, general VLM benchmarks and Embodied AI tasks, demonstrate the remarkable improvements of SpatialBot trained on SpatialQA. The model, code and data are available at https://github.com/BAAI-DCAI/SpatialBot.
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Tasks
Datasets
Introduced by this paper, per the archive.
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Spatial Reasoning | 6-DoF SpatialBench | SpatialBot | Orientation-abs | 22.9 | #4 of 7 | Archive leaderboard | report |
| Spatial Reasoning | 6-DoF SpatialBench | SpatialBot | Orientation-rel | 39.6 | #4 of 7 | Archive leaderboard | report |
| Spatial Reasoning | 6-DoF SpatialBench | SpatialBot | Position-abs | 21.6 | #4 of 7 | Archive leaderboard | report |
| Spatial Reasoning | 6-DoF SpatialBench | SpatialBot | Position-rel | 50.9 | #4 of 7 | Archive leaderboard | report |
| Spatial Reasoning | 6-DoF SpatialBench | SpatialBot | Total | 32.7 | #4 of 7 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
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