# How Well Do Vision--Language Models Understand Cities? A Comparative Study on Spatial Reasoning from Street-View Images

arXiv: https://arxiv.org/abs/2508.21565 · HTML: https://mlsanity.com/paper/2508.21565/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 28 of its 52 references that are in the map.
- First posted on arXiv 29 Aug 2025.

## Placed in

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

## Builds on (most cited first, 28 of 28)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Self-Consistency Improves Chain of Thought Reasoning in Language Models](https://mlsanity.com/paper/2203.11171/) (2022)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context](https://mlsanity.com/paper/2403.05530/) (2024)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [CLEVR: A Diagnostic Dataset for Compositional Language and Elementary Visual Reasoning](https://mlsanity.com/paper/1612.06890/) (2016)
- [SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities](https://mlsanity.com/paper/2401.12168/) (2024)
- [Visual CoT: Advancing Multi-Modal Language Models with a Comprehensive Dataset and Benchmark for Chain-of-Thought Reasoning](https://mlsanity.com/paper/2403.16999/) (2024)
- [Counterfactual VQA: A Cause-Effect Look at Language Bias](https://mlsanity.com/paper/2006.04315/) (2020)
- [Negated and Misprimed Probes for Pretrained Language Models: Birds Can Talk, But Cannot Fly](https://mlsanity.com/paper/1911.03343/) (2019)
- [OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoning](https://mlsanity.com/paper/2504.04348/) (2025)
- [Improve Vision Language Model Chain-of-thought Reasoning](https://mlsanity.com/paper/2410.16198/) (2024)
- [Deep Learning the City : Quantifying Urban Perception At A Global Scale](https://mlsanity.com/paper/1608.01769/) (2016)
- [VQA-LOL: Visual Question Answering under the Lens of Logic](https://mlsanity.com/paper/2002.08325/) (2020)
- [Is Synthetic Data all We Need? Benchmarking the Robustness of Models Trained with Synthetic Images](https://mlsanity.com/paper/2405.20469/) (2024)
- [Efficacy of Synthetic Data as a Benchmark](https://mlsanity.com/paper/2409.11968/) (2024)
- [NegVQA: Can Vision Language Models Understand Negation?](https://mlsanity.com/paper/2505.22946/) (2025)
- [A New Benchmark: On the Utility of Synthetic Data with Blender for Bare Supervised Learning and Downstream Domain Adaptation](https://mlsanity.com/paper/2303.09165/) (2023)
- [Negation: A Pink Elephant in the Large Language Models' Room?](https://mlsanity.com/paper/2503.22395/) (2025)
- [Generalizing vision-language models to novel domains: A comprehensive survey](https://mlsanity.com/paper/2506.18504/) (2025)

## Built on by (most cited first, 2 of 2)

- [Spatial-SSRL: Enhancing Spatial Understanding via Self-Supervised Reinforcement Learning](https://mlsanity.com/paper/2510.27606/) (2025)
- [SpatialASM: Internalizing Active Mentalization for Spatial Reasoning](https://mlsanity.com/paper/2610.13832/) (2026)

## Abstract (arXiv)

Effectively understanding urban scenes requires fine-grained spatial reasoning about objects, layouts, and depth cues. However, how well current vision-language models (VLMs), pretrained on general scenes, transfer these abilities to urban domain remains underexplored. To address this gap, we conduct a comparative study of three off-the-shelf VLMs-BLIP-2, InstructBLIP, and LLaVA-1.5-evaluating both zero-shot performance and the effects of fine-tuning with a synthetic VQA dataset specific to urban scenes. We construct such dataset from segmentation, depth, and object detection predictions of street-view images, pairing each question with LLM-generated Chain-of-Thought (CoT) answers for step-by-step reasoning supervision. Results show that while VLMs perform reasonably well in zero-shot settings, fine-tuning with our synthetic CoT-supervised dataset substantially boosts performance, especially for challenging question types such as negation and counterfactuals. This study introduces urban spatial reasoning as a new challenge for VLMs and demonstrates synthetic dataset construction as a practical path for adapting general-purpose models to specialized domains.