# Towards Embodied Cognition in Robots via Spatially Grounded Synthetic Worlds

arXiv: https://arxiv.org/abs/2505.14366 · HTML: https://mlsanity.com/paper/2505.14366/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 4 of its 21 references that are in the map.
- First posted on arXiv 20 May 2025.

## Placed in

- Multimodal LLMs / vision-language models / [Embodied and 3D vision-language models](https://mlsanity.com/mllm/embodied-and-3d-vision-language-models/)

## Builds on (most cited first, 4 of 4)

- [RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics](https://mlsanity.com/paper/2411.16537/) (2024)
- [Seeing Through Their Eyes: Evaluating Visual Perspective Taking in Vision Language Models](https://mlsanity.com/paper/2409.12969/) (2024)
- [Vision Language Models See What You Want but not What You See](https://mlsanity.com/paper/2410.00324/) (2024)
- [The Philosophical Foundations of Growing AI Like A Child](https://mlsanity.com/paper/2502.10742/) (2025)

## Abstract (arXiv)

We present a conceptual framework for training Vision-Language Models (VLMs) to perform Visual Perspective Taking (VPT), a core capability for embodied cognition essential for Human-Robot Interaction (HRI). As a first step toward this goal, we introduce a synthetic dataset, generated in NVIDIA Omniverse, that enables supervised learning for spatial reasoning tasks. Each instance includes an RGB image, a natural language description, and a ground-truth 4X4 transformation matrix representing object pose. We focus on inferring Z-axis distance as a foundational skill, with future extensions targeting full 6 Degrees Of Freedom (DOFs) reasoning. The dataset is publicly available to support further research. This work serves as a foundational step toward embodied AI systems capable of spatial understanding in interactive human-robot scenarios.