# Spatial and Visual Perspective-Taking via View Rotation and Relation Reasoning for Embodied Reference Understanding

arXiv: https://arxiv.org/abs/2309.01073 · HTML: https://mlsanity.com/paper/2309.01073/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 55 references that are in the map.
- First posted on arXiv 3 Sep 2023.

## Builds on (most cited first, 30 of 42)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [CLEVR: A Diagnostic Dataset for Compositional Language and Elementary Visual Reasoning](https://mlsanity.com/paper/1612.06890/) (2016)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [Generation and Comprehension of Unambiguous Object Descriptions](https://mlsanity.com/paper/1511.02283/) (2015)
- [Deep Ordinal Regression Network for Monocular Depth Estimation](https://mlsanity.com/paper/1806.02446/) (2018)
- [AdaBins: Depth Estimation using Adaptive Bins](https://mlsanity.com/paper/2011.14141/) (2020)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [MAttNet: Modular Attention Network for Referring Expression Comprehension](https://mlsanity.com/paper/1801.08186/) (2018)
- [The Neuro-Symbolic Concept Learner: Interpreting Scenes, Words, and Sentences From Natural Supervision](https://mlsanity.com/paper/1904.12584/) (2019)
- [Neural-Symbolic VQA: Disentangling Reasoning from Vision and Language Understanding](https://mlsanity.com/paper/1810.02338/) (2018)
- [Modeling Context Between Objects for Referring Expression Understanding](https://mlsanity.com/paper/1608.00525/) (2016)
- [PAD-Net: Multi-Tasks Guided Prediction-and-Distillation Network for Simultaneous Depth Estimation and Scene Parsing](https://mlsanity.com/paper/1805.04409/) (2018)
- [Multi-task Collaborative Network for Joint Referring Expression Comprehension and Segmentation](https://mlsanity.com/paper/2003.08813/) (2020)
- [A Fast and Accurate One-Stage Approach to Visual Grounding](https://mlsanity.com/paper/1908.06354/) (2019)
- [Compositional Attention Networks for Machine Reasoning](https://mlsanity.com/paper/1803.03067/) (2018)
- [Improving One-stage Visual Grounding by Recursive Sub-query Construction](https://mlsanity.com/paper/2008.01059/) (2020)
- [A Real-Time Cross-modality Correlation Filtering Method for Referring Expression Comprehension](https://mlsanity.com/paper/1909.07072/) (2019)
- [Dynamic Graph Attention for Referring Expression Comprehension](https://mlsanity.com/paper/1909.08164/) (2019)
- [Modeling Relationships in Referential Expressions with Compositional Modular Networks](https://mlsanity.com/paper/1611.09978/) (2016)
- [Neighbourhood Watch: Referring Expression Comprehension via Language-guided Graph Attention Networks](https://mlsanity.com/paper/1812.04794/) (2018)
- [Improving Referring Expression Grounding with Cross-modal Attention-guided Erasing](https://mlsanity.com/paper/1903.00839/) (2019)

## Built on by (most cited first, 11 of 11)

- [DDCoT: Duty-Distinct Chain-of-Thought Prompting for Multimodal Reasoning in Language Models](https://mlsanity.com/paper/2310.16436/) (2023)
- [Temporal Collection and Distribution for Referring Video Object Segmentation](https://mlsanity.com/paper/2309.03473/) (2023)
- [Intervene-All-Paths: Unified Mitigation of LVLM Hallucinations across Alignment Formats](https://mlsanity.com/paper/2511.17254/) (2025)
- [AD-DINO: Attention-Dynamic DINO for Distance-Aware Embodied Reference Understanding](https://mlsanity.com/paper/2411.08451/) (2024)
- [Beyond Language: Grounding Referring Expressions with Hand Pointing in Egocentric Vision](https://mlsanity.com/paper/2603.26646/) (2026)
- [Spatial-ViLT: Enhancing Visual Spatial Reasoning through Multi-Task Learning](https://mlsanity.com/paper/2510.03441/) (2025)
- [A Multimodal Depth-Aware Method For Embodied Reference Understanding](https://mlsanity.com/paper/2510.08278/) (2025)
- [Omni2Web: Benchmarking Audiovisual Website Development](https://mlsanity.com/paper/2609.23417/) (2026)
- [CAPE: A CLIP-Aware Pointing Ensemble of Complementary Heatmap Cues for Embodied Reference Understanding](https://mlsanity.com/paper/2507.21888/) (2025)
- [Referring Industrial Anomaly Segmentation](https://mlsanity.com/paper/2602.03673/) (2026)
- [VistaRef: Boosting Visual Spatial Orientation Awareness for Pointing-to-Object Detection](https://mlsanity.com/paper/2606.24498/) (2026)

## Abstract (arXiv)

Embodied Reference Understanding studies the reference understanding in an embodied fashion, where a receiver is required to locate a target object referred to by both language and gesture of the sender in a shared physical environment. Its main challenge lies in how to make the receiver with the egocentric view access spatial and visual information relative to the sender to judge how objects are oriented around and seen from the sender, i.e., spatial and visual perspective-taking. In this paper, we propose a REasoning from your Perspective (REP) method to tackle the challenge by modeling relations between the receiver and the sender and the sender and the objects via the proposed novel view rotation and relation reasoning. Specifically, view rotation first rotates the receiver to the position of the sender by constructing an embodied 3D coordinate system with the position of the sender as the origin. Then, it changes the orientation of the receiver to the orientation of the sender by encoding the body orientation and gesture of the sender. Relation reasoning models the nonverbal and verbal relations between the sender and the objects by multi-modal cooperative reasoning in gesture, language, visual content, and spatial position. Experiment results demonstrate the effectiveness of REP, which consistently surpasses all existing state-of-the-art algorithms by a large margin, i.e., +5.22% absolute accuracy in terms of Prec0.5 on YouRefIt.