# Thinking Without Images: Internalizing Visual Manipulation with On-Policy Self-Distillation

arXiv: https://arxiv.org/abs/2606.08719 · HTML: https://mlsanity.com/paper/2606.08719/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Placed in Multimodal reasoning, one of 17 directions in LLM reasoning.
- Builds on 21 of its 34 references that are in the map.
- First posted on arXiv 7 Jun 2026.

## Placed in

- LLM reasoning / [Multimodal reasoning](https://mlsanity.com/lr/multimodal-reasoning/)
- Knowledge distillation / [Multimodal distillation](https://mlsanity.com/distill/multimodal-distillation/)

## Builds on (most cited first, 21 of 21)

- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models](https://mlsanity.com/paper/2504.10479/) (2025)
- [On-Policy Distillation of Language Models: Learning from Self-Generated Mistakes](https://mlsanity.com/paper/2306.13649/) (2023)
- [V*: Guided Visual Search as a Core Mechanism in Multimodal LLMs](https://mlsanity.com/paper/2312.14135/) (2023)
- [MME-RealWorld: Could Your Multimodal LLM Challenge High-Resolution Real-World Scenarios that are Difficult for Humans?](https://mlsanity.com/paper/2408.13257/) (2024)
- [Pixel Reasoner: Incentivizing Pixel-Space Reasoning with Curiosity-Driven Reinforcement Learning](https://mlsanity.com/paper/2505.15966/) (2025)
- [Visual Sketchpad: Sketching as a Visual Chain of Thought for Multimodal Language Models](https://mlsanity.com/paper/2406.09403/) (2024)
- [Imagine while Reasoning in Space: Multimodal Visualization-of-Thought](https://mlsanity.com/paper/2501.07542/) (2025)
- [Thinking with Images for Multimodal Reasoning: Foundations, Methods, and Future Frontiers](https://mlsanity.com/paper/2506.23918/) (2025)
- [MLLMs Know Where to Look: Training-free Perception of Small Visual Details with Multimodal LLMs](https://mlsanity.com/paper/2502.17422/) (2025)
- [Divide, Conquer and Combine: A Training-Free Framework for High-Resolution Image Perception in Multimodal Large Language Models](https://mlsanity.com/paper/2408.15556/) (2024)
- [Revisiting On-Policy Distillation: Empirical Failure Modes and Simple Fixes](https://mlsanity.com/paper/2603.25562/) (2026)
- [Machine Mental Imagery: Empower Multimodal Reasoning with Latent Visual Tokens](https://mlsanity.com/paper/2506.17218/) (2025)
- [VTool-R1: VLMs Learn to Think with Images via Reinforcement Learning on Multimodal Tool Use](https://mlsanity.com/paper/2505.19255/) (2025)
- [ReFocus: Visual Editing as a Chain of Thought for Structured Image Understanding](https://mlsanity.com/paper/2501.05452/) (2025)
- [Monet: Reasoning in Latent Visual Space Beyond Images and Language](https://mlsanity.com/paper/2511.21395/) (2025)
- [Vision-OPD: Learning to See Fine Details for Multimodal LLMs via On-Policy Self-Distillation](https://mlsanity.com/paper/2605.18740/) (2026)
- [Traceable Evidence Enhanced Visual Grounded Reasoning: Evaluation and Methodology](https://mlsanity.com/paper/2507.07999/) (2025)
- [Fast and Effective On-policy Distillation from Reasoning Prefixes](https://mlsanity.com/paper/2602.15260/) (2026)
- [On the Faithfulness of Visual Thinking: Measurement and Enhancement](https://mlsanity.com/paper/2510.23482/) (2025)
- [Revisiting the Necessity of Lengthy Chain-of-Thought in Vision-centric Reasoning Generalization](https://mlsanity.com/paper/2511.22586/) (2025)

## Built on by (most cited first, 9 of 9)

- [SkillLens: Visual Skill Cards for Retrieval-Augmented GUI Action Prediction and On-Policy Distillation](https://mlsanity.com/paper/2608.10775/) (2026)
- [ArmorOCR: Grounded Adversarial Visual Perception via Observation-Transferred Self-Distillation](https://mlsanity.com/paper/2608.20122/) (2026)
- [Look Before You Select: Rethinking Vocabulary Sparsification in On-Policy Distillation](https://mlsanity.com/paper/2609.34386/) (2026)
- [On-Policy Visual Evidence Distillation](https://mlsanity.com/paper/2609.36838/) (2026)
- [VISTA: Internalizing Collective Visual Experience via On-Policy Distillation for Active Multimodal Agents](https://mlsanity.com/paper/2609.38086/) (2026)
- [Learning to Reason with Compressed Context: Ground-Truth-Free Adaptation of OmniLLMs via Self-Distillation](https://mlsanity.com/paper/2609.39953/) (2026)
- [Where-OPD: Spatially Guided On-Policy Self-Distillation of MLLMs with Synthetic Scenes](https://mlsanity.com/paper/2610.02117/) (2026)
- [SpatialOPSD: Self-Distilling Spatial Intelligence from Verified Coding Agent Traces](https://mlsanity.com/paper/2610.11366/) (2026)
- [Distilling Routed 3D Privilege for Spatial Reasoning in Vision-Language Models](https://mlsanity.com/paper/2610.12355/) (2026)

## Abstract (arXiv)

''Thinking with Images'' has emerged as an effective paradigm for fine-grained visual reasoning: by explicitly zooming into relevant regions and reasoning over crops, models can access local evidence that is difficult to recover from a single global image. However, this benefit comes with redundant tool invocations and longer inference traces. Moreover, when such behaviors are learned mainly from outcome reward, the resulting intermediate crops or visual cues can be noisy or fail to faithfully capture task-relevant visual evidence. In this work, we ask whether the reasoning benefits of ''Thinking with Images'' can be internalized through Thinking with Imagination: an internal process that decides where to look and imagines what visual cues closer inspection would reveal without actually invoking tools. We propose Imagine-OPD, an on-policy self-distillation framework in which a teacher plays the role of a ''Thinking with Images'' reasoner during training: it receives privileged zoomed evidence views derived from annotated regions, and supervises the model's own imagination reasoning trajectories. Imagine-OPD does not require an external teacher or high-quality imagination demonstrations. Experiments on vision-centric benchmarks show that Imagine-OPD achieves the best average performance among compared models while significantly reducing inference overhead compared with ''Thinking with Images'' methods.