# Visual Planning: Let's Think Only with Images

arXiv: https://arxiv.org/abs/2505.11409 · HTML: https://mlsanity.com/paper/2505.11409/

## Key facts

- Cited by 85 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 51 of its 71 references that are in the map.
- First posted on arXiv 16 May 2025.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)

## Builds on (most cited first, 30 of 51)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [Finetuned Language Models Are Zero-Shot Learners](https://mlsanity.com/paper/2109.01652/) (2021)
- [Taming Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2012.09841/) (2020)
- [Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context](https://mlsanity.com/paper/2403.05530/) (2024)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [Making the V in VQA Matter: Elevating the Role of Image Understanding in Visual Question Answering](https://mlsanity.com/paper/1612.00837/) (2016)
- [MMMU: A Massive Multi-discipline Multimodal Understanding and Reasoning Benchmark for Expert AGI](https://mlsanity.com/paper/2311.16502/) (2023)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [Learning Latent Dynamics for Planning from Pixels](https://mlsanity.com/paper/1811.04551/) (2018)
- [Kimi k1.5: Scaling Reinforcement Learning with LLMs](https://mlsanity.com/paper/2501.12599/) (2025)
- [PaLM 2 Technical Report](https://mlsanity.com/paper/2305.10403/) (2023)
- [Kosmos-2: Grounding Multimodal Large Language Models to the World](https://mlsanity.com/paper/2306.14824/) (2023)
- [VizWiz Grand Challenge: Answering Visual Questions from Blind People](https://mlsanity.com/paper/1802.08218/) (2018)
- [Vision-Language Models for Vision Tasks: A Survey](https://mlsanity.com/paper/2304.00685/) (2023)
- [Multimodal Chain-of-Thought Reasoning in Language Models](https://mlsanity.com/paper/2302.00923/) (2023)
- [SFT Memorizes, RL Generalizes: A Comparative Study of Foundation Model Post-training](https://mlsanity.com/paper/2501.17161/) (2025)
- [VLM-R1: A Stable and Generalizable R1-style Large Vision-Language Model](https://mlsanity.com/paper/2504.07615/) (2025)
- [Visual-RFT: Visual Reinforcement Fine-Tuning](https://mlsanity.com/paper/2503.01785/) (2025)
- [DS-1000: A Natural and Reliable Benchmark for Data Science Code Generation](https://mlsanity.com/paper/2211.11501/) (2022)
- [R1-VL: Learning to Reason with Multimodal Large Language Models via Step-wise Group Relative Policy Optimization](https://mlsanity.com/paper/2503.12937/) (2025)
- [Visual Spatial Reasoning](https://mlsanity.com/paper/2205.00363/) (2022)
- [Visual Sketchpad: Sketching as a Visual Chain of Thought for Multimodal Language Models](https://mlsanity.com/paper/2406.09403/) (2024)
- [Sequential Modeling Enables Scalable Learning for Large Vision Models](https://mlsanity.com/paper/2312.00785/) (2023)

## Built on by (most cited first, 30 of 85)

- [The Landscape of Agentic Reinforcement Learning for LLMs: A Survey](https://mlsanity.com/paper/2509.02547/) (2025)
- [Thinking with Images for Multimodal Reasoning: Foundations, Methods, and Future Frontiers](https://mlsanity.com/paper/2506.23918/) (2025)
- [A Survey of Reinforcement Learning for Large Reasoning Models](https://mlsanity.com/paper/2509.08827/) (2025)
- [Latent Visual Reasoning](https://mlsanity.com/paper/2509.24251/) (2025)
- [Zebra-CoT: A Dataset for Interleaved Vision Language Reasoning](https://mlsanity.com/paper/2507.16746/) (2025)
- [Monet: Reasoning in Latent Visual Space Beyond Images and Language](https://mlsanity.com/paper/2511.21395/) (2025)
- [Look-Back: Implicit Visual Re-focusing in MLLM Reasoning](https://mlsanity.com/paper/2507.03019/) (2025)
- [Ground-R1: Incentivizing Grounded Visual Reasoning via Reinforcement Learning](https://mlsanity.com/paper/2505.20272/) (2025)
- [Latent Sketchpad: Sketching Visual Thoughts to Elicit Multimodal Reasoning in MLLMs](https://mlsanity.com/paper/2510.24514/) (2025)
- [MM-BrowseComp: A Comprehensive Benchmark for Multimodal Browsing Agents](https://mlsanity.com/paper/2508.13186/) (2025)
- [VisMem: Latent Vision Memory Unlocks Potential of Vision-Language Models](https://mlsanity.com/paper/2511.11007/) (2025)
- [Reinforcement Learning Meets Large Language Models: A Survey of Advancements and Applications Across the LLM Lifecycle](https://mlsanity.com/paper/2509.16679/) (2025)
- [JarvisEvo: Towards a Self-Evolving Photo Editing Agent with Synergistic Editor-Evaluator Optimization](https://mlsanity.com/paper/2511.23002/) (2025)
- [From Perception to Cognition: A Survey of Vision-Language Interactive Reasoning in Multimodal Large Language Models](https://mlsanity.com/paper/2509.25373/) (2025)
- [Sketch-in-Latents: Eliciting Unified Reasoning in MLLMs](https://mlsanity.com/paper/2512.16584/) (2025)
- [A Survey on Agentic Multimodal Large Language Models](https://mlsanity.com/paper/2510.10991/) (2025)
- [Reasoning in the Dark: Interleaved Vision-Text Reasoning in Latent Space](https://mlsanity.com/paper/2510.12603/) (2025)
- [Reasoning via Video: The First Evaluation of Video Models' Reasoning Abilities through Maze-Solving Tasks](https://mlsanity.com/paper/2511.15065/) (2025)
- [DiffThinker: Towards Generative Multimodal Reasoning with Diffusion Models](https://mlsanity.com/paper/2512.24165/) (2025)
- [Visual Generation Unlocks Human-Like Reasoning through Multimodal World Models](https://mlsanity.com/paper/2601.19834/) (2026)
- [On the Faithfulness of Visual Thinking: Measurement and Enhancement](https://mlsanity.com/paper/2510.23482/) (2025)
- [LensWalk: Agentic Video Understanding by Planning How You See in Videos](https://mlsanity.com/paper/2603.24558/) (2026)
- [Demystifying Video Reasoning](https://mlsanity.com/paper/2603.16870/) (2026)
- [ROVER: Benchmarking Reciprocal Cross-Modal Reasoning for Omnimodal Generation](https://mlsanity.com/paper/2511.01163/) (2025)
- [ARM-Thinker: Reinforcing Multimodal Generative Reward Models with Agentic Tool Use and Visual Reasoning](https://mlsanity.com/paper/2512.05111/) (2025)
- [DraCo: Draft as CoT for Text-to-Image Preview and Rare Concept Generation](https://mlsanity.com/paper/2512.05112/) (2025)
- [VR-Thinker: Boosting Video Reward Models through Thinking-with-Image Reasoning](https://mlsanity.com/paper/2510.10518/) (2025)
- [GUI-Eyes: Tool-Augmented Perception for Visual Grounding in GUI Agents](https://mlsanity.com/paper/2601.09770/) (2026)
- [Thinking in Frames: How Visual Context and Test-Time Scaling Empower Video Reasoning](https://mlsanity.com/paper/2601.21037/) (2026)
- [Reinforcement Learning for Large Model: A Survey](https://mlsanity.com/paper/2508.08189/) (2025)

## Abstract (arXiv)

Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both expressing and structuring reasoning, even when visual information is present. In this work, we argue that language may not always be the most natural or effective modality for reasoning, particularly in tasks involving spatial and geometrical information. Motivated by this, we propose a new paradigm, Visual Planning, which enables planning through purely visual representations for these "vision-first" tasks, as a supplementary channel to language-based reasoning. In this paradigm, planning is executed via sequences of images that encode step-by-step inference in the visual domain, akin to how humans sketch or visualize future actions. We introduce a novel reinforcement learning framework, Visual Planning via Reinforcement Learning (VPRL), empowered by GRPO for post-training large vision models, leading to substantial improvements in planning in a selection of representative visual navigation tasks, FrozenLake, Maze, and MiniBehavior. Our visual planning paradigm outperforms all other planning variants that conduct reasoning in the text-only space. Our results establish Visual Planning as a viable and promising supplement to language-based reasoning, opening new avenues for tasks that benefit from intuitive, image-based inference.