# Pseudocode-Guided Structured Reasoning for Automating Reliable Inference in Vision-Language Models

arXiv: https://arxiv.org/abs/2605.19663 · HTML: https://mlsanity.com/paper/2605.19663/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 38 of its 43 references that are in the map.
- First posted on arXiv 19 May 2026.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)
- 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, 30 of 38)

- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [Learn to Explain: Multimodal Reasoning via Thought Chains for Science Question Answering](https://mlsanity.com/paper/2209.09513/) (2022)
- [Evaluating Object Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2305.10355/) (2023)
- [MathVista: Evaluating Mathematical Reasoning of Foundation Models in Visual Contexts](https://mlsanity.com/paper/2310.02255/) (2023)
- [Expanding Performance Boundaries of Open-Source Multimodal Models with Model, Data, and Test-Time Scaling](https://mlsanity.com/paper/2412.05271/) (2024)
- [OK-VQA: A Visual Question Answering Benchmark Requiring External Knowledge](https://mlsanity.com/paper/1906.00067/) (2019)
- [Are We on the Right Way for Evaluating Large Vision-Language Models?](https://mlsanity.com/paper/2403.20330/) (2024)
- [Multimodal Chain-of-Thought Reasoning in Language Models](https://mlsanity.com/paper/2302.00923/) (2023)
- [CogVLM: Visual Expert for Pretrained Language Models](https://mlsanity.com/paper/2311.03079/) (2023)
- [The Dawn of LMMs: Preliminary Explorations with GPT-4V(ision)](https://mlsanity.com/paper/2309.17421/) (2023)
- [HallusionBench: An Advanced Diagnostic Suite for Entangled Language Hallucination and Visual Illusion in Large Vision-Language Models](https://mlsanity.com/paper/2310.14566/) (2023)
- [Measuring Multimodal Mathematical Reasoning with MATH-Vision Dataset](https://mlsanity.com/paper/2402.14804/) (2024)
- [OPERA: Alleviating Hallucination in Multi-Modal Large Language Models via Over-Trust Penalty and Retrospection-Allocation](https://mlsanity.com/paper/2311.17911/) (2023)
- [Stop Overthinking: A Survey on Efficient Reasoning for Large Language Models](https://mlsanity.com/paper/2503.16419/) (2025)
- [VLMEvalKit: An Open-Source Toolkit for Evaluating Large Multi-Modality Models](https://mlsanity.com/paper/2407.11691/) (2024)
- [LLaVA-CoT: Let Vision Language Models Reason Step-by-Step](https://mlsanity.com/paper/2411.10440/) (2024)
- [RLHF-V: Towards Trustworthy MLLMs via Behavior Alignment from Fine-grained Correctional Human Feedback](https://mlsanity.com/paper/2312.00849/) (2023)
- [Contrastive Preference Optimization: Pushing the Boundaries of LLM Performance in Machine Translation](https://mlsanity.com/paper/2401.08417/) (2024)
- [Hallucination of Multimodal Large Language Models: A Survey](https://mlsanity.com/paper/2404.18930/) (2024)
- [SWIFT:A Scalable lightWeight Infrastructure for Fine-Tuning](https://mlsanity.com/paper/2408.05517/) (2024)
- [Woodpecker: Hallucination Correction for Multimodal Large Language Models](https://mlsanity.com/paper/2310.16045/) (2023)
- [Mulberry: Empowering MLLM with o1-like Reasoning and Reflection via Collective Monte Carlo Tree Search](https://mlsanity.com/paper/2412.18319/) (2024)
- [Thoughts Are All Over the Place: On the Underthinking of o1-Like LLMs](https://mlsanity.com/paper/2501.18585/) (2025)
- [LlamaV-o1: Rethinking Step-by-step Visual Reasoning in LLMs](https://mlsanity.com/paper/2501.06186/) (2025)
- [RLAIF-V: Open-Source AI Feedback Leads to Super GPT-4V Trustworthiness](https://mlsanity.com/paper/2405.17220/) (2024)
- [Detecting and Mitigating Hallucination in Large Vision Language Models via Fine-Grained AI Feedback](https://mlsanity.com/paper/2404.14233/) (2024)
- [KAM-CoT: Knowledge Augmented Multimodal Chain-of-Thoughts Reasoning](https://mlsanity.com/paper/2401.12863/) (2024)
- [CodeI/O: Condensing Reasoning Patterns via Code Input-Output Prediction](https://mlsanity.com/paper/2502.07316/) (2025)

## Abstract (arXiv)

Vision-Language Models (VLMs) are becoming the cornerstone of high-level reasoning for robotic automation, enabling robots to parse natural language commands and perceive their environments. However, their susceptibility to hallucinations introduces critical failures in decision-making, posing significant safety and reliability risks in physical deployments. This challenge is exacerbated by the open-ended nature of real-world tasks, where questions vary vastly in difficulty and modality, demanding robust and adaptable reasoning strategies. To tackle this, we propose the Pseudocode-guided Structured Reasoning framework (PStar), which adaptively selects structured pseudocode reasoning paths to help VLMs perform flexible and step-by-step reasoning. We first design a set of abstract reasoning functions and formulate a structured pseudocode library to represent modular reasoning strategies. Crucially, we design a Difficulty Feature Vector (DFV) that allows the model to assess question complexity and adaptively choose appropriate reasoning strategies-enhancing robustness and interpretability. Extensive experiments demonstrate that PStar significantly reduces hallucination rates, achieving state-of-the-art scores of 87.1% on POPE and 68.0% on MMStar, outperforming even GPT-4V. By providing a validated mechanism to reduce visual-language errors, PStar offers a critical step toward deploying more trustworthy and deterministic VLMs for real-world automated systems, where such errors can lead to catastrophic outcomes.