# Perceive, Ground, Reason, and Act: A Benchmark for General-purpose Visual Representation

arXiv: https://arxiv.org/abs/2211.15402 · HTML: https://mlsanity.com/paper/2211.15402/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 56 of its 79 references that are in the map.
- First posted on arXiv 28 Nov 2022.

## Builds on (most cited first, 30 of 56)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [GLUE: A Multi-Task Benchmark and Analysis Platform for Natural Language Understanding](https://mlsanity.com/paper/1804.07461/) (2018)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Pyramid Vision Transformer: A Versatile Backbone for Dense Prediction without Convolutions](https://mlsanity.com/paper/2102.12122/) (2021)
- [SuperGLUE: A Stickier Benchmark for General-Purpose Language Understanding Systems](https://mlsanity.com/paper/1905.00537/) (2019)
- [An Empirical Study of Training Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.02057/) (2021)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [LXMERT: Learning Cross-Modality Encoder Representations from Transformers](https://mlsanity.com/paper/1908.07490/) (2019)
- [ViLT: Vision-and-Language Transformer Without Convolution or Region Supervision](https://mlsanity.com/paper/2102.03334/) (2021)
- [Oscar: Object-Semantics Aligned Pre-training for Vision-Language Tasks](https://mlsanity.com/paper/2004.06165/) (2020)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)

## Built on by (most cited first, 7 of 7)

- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)
- [ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes](https://mlsanity.com/paper/2304.04321/) (2023)
- [Multi-modal Situated Reasoning in 3D Scenes](https://mlsanity.com/paper/2409.02389/) (2024)
- [Unveiling the Mist over 3D Vision-Language Understanding: Object-centric Evaluation with Chain-of-Analysis](https://mlsanity.com/paper/2503.22420/) (2025)
- [SceneCOT: Eliciting Grounded Chain-of-Thought Reasoning in 3D Scenes](https://mlsanity.com/paper/2510.16714/) (2025)
- [LEO-VL: Efficient Scene Representation for Scalable 3D Vision-Language Learning](https://mlsanity.com/paper/2506.09935/) (2025)
- [3D-RFT: Reinforcement Fine-Tuning for Video-based 3D Scene Understanding](https://mlsanity.com/paper/2603.04976/) (2026)

## Abstract (arXiv)

Current computer vision models, unlike the human visual system, cannot yet achieve general-purpose visual understanding. Existing efforts to create a general vision model are limited in the scope of assessed tasks and offer no overarching framework to perform them holistically. We present a new comprehensive benchmark, General-purpose Visual Understanding Evaluation (G-VUE), covering the full spectrum of visual cognitive abilities with four functional domains unicodex2014 Perceive, Ground, Reason, and Act. The four domains are embodied in 11 carefully curated tasks, from 3D reconstruction to visual reasoning and manipulation. Along with the benchmark, we provide a general encoder-decoder framework to allow for the evaluation of arbitrary visual representation on all 11 tasks. We evaluate various pre-trained visual representations with our framework and observe that (1) Transformer-based visual backbone generally outperforms CNN-based backbone on G-VUE, (2) visual representations from vision-language pre-training are superior to those with vision-only pre-training across visual tasks. With G-VUE, we provide a holistic evaluation standard to motivate research toward building general-purpose visual systems via obtaining more general-purpose visual representations.