# Active Exploring like a Pigeon: Reinforcing Spatial Reasoning via Agentic Vision-Language Models

arXiv: https://arxiv.org/abs/2606.02459 · HTML: https://mlsanity.com/paper/2606.02459/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 37 of its 45 references that are in the map.
- First posted on arXiv 1 Jun 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/)
- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 30 of 37)

- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [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)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Direct Preference Optimization: Your Language Model is Secretly a Reward Model](https://mlsanity.com/paper/2305.18290/) (2023)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [HybridFlow: A Flexible and Efficient RLHF Framework](https://mlsanity.com/paper/2409.19256/) (2024)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [LlamaFactory: Unified Efficient Fine-Tuning of 100+ Language Models](https://mlsanity.com/paper/2403.13372/) (2024)
- [A Survey on LLM-as-a-Judge](https://mlsanity.com/paper/2411.15594/) (2024)
- [Does Reinforcement Learning Really Incentivize Reasoning Capacity in LLMs Beyond the Base Model?](https://mlsanity.com/paper/2504.13837/) (2025)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [Multimodal Chain-of-Thought Reasoning in Language Models](https://mlsanity.com/paper/2302.00923/) (2023)
- [SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities](https://mlsanity.com/paper/2401.12168/) (2024)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [R1-Onevision: Advancing Generalized Multimodal Reasoning through Cross-Modal Formalization](https://mlsanity.com/paper/2503.10615/) (2025)
- [EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents](https://mlsanity.com/paper/2502.09560/) (2025)
- [Spatial-MLLM: Boosting MLLM Capabilities in Visual-based Spatial Intelligence](https://mlsanity.com/paper/2505.23747/) (2025)
- [LLaVA-3D: A Simple yet Effective Pathway to Empowering LMMs with 3D-awareness](https://mlsanity.com/paper/2409.18125/) (2024)
- [SpaceR: Reinforcing MLLMs in Video Spatial Reasoning](https://mlsanity.com/paper/2504.01805/) (2025)
- [EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AI](https://mlsanity.com/paper/2312.16170/) (2023)
- [Reinforcing Spatial Reasoning in Vision-Language Models with Interwoven Thinking and Visual Drawing](https://mlsanity.com/paper/2506.09965/) (2025)
- [Reason-RFT: Reinforcement Fine-Tuning for Visual Reasoning of Vision Language Models](https://mlsanity.com/paper/2503.20752/) (2025)
- [Skywork R1V: Pioneering Multimodal Reasoning with Chain-of-Thought](https://mlsanity.com/paper/2504.05599/) (2025)
- [Think with 3D: Geometric Imagination Grounded Spatial Reasoning from Limited Views](https://mlsanity.com/paper/2510.18632/) (2025)
- [T2SG: Traffic Topology Scene Graph for Topology Reasoning in Autonomous Driving](https://mlsanity.com/paper/2411.18894/) (2024)
- [Global-Local Tree Search in VLMs for 3D Indoor Scene Generation](https://mlsanity.com/paper/2503.18476/) (2025)

## Built on by (most cited first, 3 of 3)

- [CritiqueDriveVLM: From Verifier-Guided Reinforcement Learning to Latent Thought Distillation for Autonomous Driving](https://mlsanity.com/paper/2607.04179/) (2026)
- [Boosting Robustness for All-Weather Self-Supervised Depth Estimation in Autonomous Driving](https://mlsanity.com/paper/2607.21526/) (2026)
- [Uruqi: Learning Spatial Cognition from Visual Experience](https://mlsanity.com/paper/2609.39195/) (2026)

## Abstract (arXiv)

Enabling Vision-Language Models (VLMs) to perform spatial reasoning remains challenging. Existing approaches treat VLMs as passive observers, which is difficult for real-world applications. Moreover, reinforcement learning methods rely on sparse rewards, limiting their effectiveness for complex reasoning tasks. Inspired by pigeons' building and exploiting cognitive maps for navigation, we propose a novel agentic pipeline for spatial reasoning. First, we introduce a new dynamic cognitive map parameterizing scene layout as object positions and orientations, serving as persistent memory for new observations. Second, we propose a novel Spatial Assertion Codes (SAC), Python expressions programmatically describing spatial relationships. By collaborating with the dynamic cognitive map, SAC enables verification of intermediate reasoning steps, providing dense reward signals. We optimize the model via supervised and reinforcement finetuning. Experiments on the MindCube benchmark demonstrate state-of-the-art performance with 80.5% overall accuracy, outperforming the best current method by 29.5 accuracy points (a relative improvement of 53.2%) on the challenging textscRotation subset. Our code and data are open-sourced at https://github.com/dw-dengwei/active-spatial-reasoning.git.