Spatial understanding has been a challenging task for existing Multi-modal Large Language Models~(MLLMs). Previous methods leverage large-scale MLLM finetuning to enhance MLLM's spatial understanding ability. In this paper, we present a data-efficient approach. We propose a LLM agent system with strong and advanced spatial reasoning ability, which can be used to solve the challenging spatial question answering task in complex indoor warehouse scenarios. Our system integrates multiple tools that allow the LLM agent to conduct spatial reasoning and API tools interaction to answer the given complicated spatial question. Extensive evaluations on the 2025 AI City Challenge Physical AI Spatial Intelligence Warehouse dataset demonstrate that our system achieves high accuracy and efficiency in tasks such as object retrieval, counting, and distance estimation. The code is available at: https://github.com/hsiangwei0903/SpatialAgent

Spatial perception is a fundamental component of intelligence. While many studies highlight that large multimodal language models (MLMs) struggle to reason about space, they only test for static spatial reasoning, such as categorizing the relative positions of objects. Meanwhile, real-world deployment requires dynamic capabilities like perspective-taking and egocentric action recognition. As a roadmap to improving spatial intelligence, we introduce SAT, Spatial Aptitude Training, which goes beyond static relative object position questions to the more dynamic tasks. SAT contains 218K question-answer pairs for 22K synthetic scenes across a training and testing set. Generated using a photo-realistic physics engine, our dataset can be arbitrarily scaled and easily extended to new actions, scenes, and 3D assets. We find that even MLMs that perform relatively well on static questions struggle to accurately answer dynamic spatial questions. Further, we show that SAT instruction-tuning data improves not only dynamic spatial reasoning on SAT, but also zero-shot performance on existing real-image spatial benchmarks: $23\%$ on CVBench, $8\%$ on the harder BLINK benchmark, and $18\%$ on VSR. When instruction-tuned on SAT, our 13B model matches larger proprietary MLMs like GPT4-V and Gemini-3-1.0 in spatial reasoning. Our data/code is available at http://arijitray1993.github.io/SAT/ .

In this paper,we propose a novel task of Manipulation Question Answering(MQA),a class of Question Answering (QA) task, where the robot is required to find the answer to the question by actively interacting with the environment via manipulation. Considering the tabletop scenario, a heatmap of the scene is generated to facilitate the robot to have a semantic understanding of the scene and an imitation learning approach with semantic understanding metric is proposed to generate manipulation actions which guide the manipulator to explore the tabletop to find the answer to the question. Besides, a novel dataset which contains a variety of tabletop scenarios and corresponding question-answer pairs is established. Extensive experiments have been conducted to validate the effectiveness of the proposed framework.

The blocks world is a classic toy domain that has long been used to build and test spatial reasoning systems. Despite its relative simplicity, tackling this domain in its full complexity requires the agent to exhibit a rich set of functional capabilities, ranging from vision to natural language understanding. There is currently a resurgence of interest in solving problems in such limited domains using modern techniques. In this work we tackle spatial question answering in a holistic way, using a vision system, speech input and output mediated by an animated avatar, a dialogue system that robustly interprets spatial queries, and a constraint solver that derives answers based on 3-D spatial modeling. The contributions of this work include a semantic parser that maps spatial questions into logical forms consistent with a general approach to meaning representation, a dialog manager based on a schema representation, and a constraint solver for spatial questions that provides answers in agreement with human perception. These and other components are integrated into a multi-modal human-computer interaction pipeline.