# Self in Space: Benchmarking Self-Awareness and Spatial Cognition in UAV Embodied Intelligence

arXiv: https://arxiv.org/abs/2607.12477 · HTML: https://mlsanity.com/paper/2607.12477/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 49 of its 60 references that are in the map.
- First posted on arXiv 14 Jul 2026.

## Builds on (most cited first, 30 of 49)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models](https://mlsanity.com/paper/2504.10479/) (2025)
- [Expanding Performance Boundaries of Open-Source Multimodal Models with Model, Data, and Test-Time Scaling](https://mlsanity.com/paper/2412.05271/) (2024)
- [InternVL3.5: Advancing Open-Source Multimodal Models in Versatility, Reasoning, and Efficiency](https://mlsanity.com/paper/2508.18265/) (2025)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities](https://mlsanity.com/paper/2401.12168/) (2024)
- [EgoSchema: A Diagnostic Benchmark for Very Long-form Video Language Understanding](https://mlsanity.com/paper/2308.09126/) (2023)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [GLM-4.5V and GLM-4.1V-Thinking: Towards Versatile Multimodal Reasoning with Scalable Reinforcement Learning](https://mlsanity.com/paper/2507.01006/) (2025)
- [Kimi-VL Technical Report](https://mlsanity.com/paper/2504.07491/) (2025)
- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)
- [RemoteCLIP: A Vision Language Foundation Model for Remote Sensing](https://mlsanity.com/paper/2306.11029/) (2023)
- [Speaker-Follower Models for Vision-and-Language Navigation](https://mlsanity.com/paper/1806.02724/) (2018)
- [LL3DA: Visual Interactive Instruction Tuning for Omni-3D Understanding, Reasoning, and Planning](https://mlsanity.com/paper/2311.18651/) (2023)
- [Chat-Scene: Bridging 3D Scene and Large Language Models with Object Identifiers](https://mlsanity.com/paper/2312.08168/) (2023)
- [Scene-LLM: Extending Language Model for 3D Visual Understanding and Reasoning](https://mlsanity.com/paper/2403.11401/) (2024)
- [SEA-RAFT: Simple, Efficient, Accurate RAFT for Optical Flow](https://mlsanity.com/paper/2405.14793/) (2024)
- [Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making](https://mlsanity.com/paper/2410.07166/) (2024)
- [Video-3D LLM: Learning Position-Aware Video Representation for 3D Scene Understanding](https://mlsanity.com/paper/2412.00493/) (2024)
- [Chat-3D: Data-efficiently Tuning Large Language Model for Universal Dialogue of 3D Scenes](https://mlsanity.com/paper/2308.08769/) (2023)
- [SkyScript: A Large and Semantically Diverse Vision-Language Dataset for Remote Sensing](https://mlsanity.com/paper/2312.12856/) (2023)
- [Grounded 3D-LLM with Referent Tokens](https://mlsanity.com/paper/2405.10370/) (2024)
- [MiMo-VL Technical Report](https://mlsanity.com/paper/2506.03569/) (2025)
- [GPT4Scene: Understand 3D Scenes from Videos with Vision-Language Models](https://mlsanity.com/paper/2501.01428/) (2025)
- [Ovis2.5 Technical Report](https://mlsanity.com/paper/2508.11737/) (2025)
- [Towards Realistic UAV Vision-Language Navigation: Platform, Benchmark, and Methodology](https://mlsanity.com/paper/2410.07087/) (2024)

## Built on by (most cited first, 6 of 6)

- [ObjectStream: Latent Objects as Memory Anchors for Streaming Video Understanding](https://mlsanity.com/paper/2607.28312/) (2026)
- [Knowing the Self, Understanding the World: A Dual-Cognition Benchmark for UAV Spatio-temporal Reasoning with MLLMs](https://mlsanity.com/paper/2607.16193/) (2026)
- [RSVideo: Are Your Vision-Language Models Ready for Remote Sensing Videos?](https://mlsanity.com/paper/2608.02039/) (2026)
- [The First EgoCross Challenge at EgoVis 2026: Cross-Domain Egocentric Video Question Answering](https://mlsanity.com/paper/2608.04589/) (2026)
- [EgoSIS: From Factorized Visual Ego-Transitions to Motion-Canonical Spatial Evidence for UAV Reasoning](https://mlsanity.com/paper/2609.08938/) (2026)
- [UAVs Meet Embodied Intelligence: Bridging Human Intents and Flying Dynamics Via Harnessing Physical-Digital AI Agents](https://mlsanity.com/paper/2609.18326/) (2026)

## Abstract (arXiv)

Autonomous UAV systems increasingly rely on multimodal large language models (MLLMs) to operate in complex real-world environments. Such embodied scenarios require not only understanding the surrounding space but also maintaining a coherent representation of the agent itself. However, existing UAV-oriented approaches and benchmarks remain largely environment-centric, primarily focusing on spatial understanding tasks, with the agent's self-awareness remaining implicit. To address this gap, we introduce SIS-Bench, a benchmark for evaluating embodied spatial intelligence in UAV scenarios under a unified self-in-space formulation. SIS-Bench organizes evaluation along two complementary dimensions, space and self, and a three-level hierarchy of perception, memory, and reasoning. It contains 4,856 question--answer pairs across 13 tasks derived from 1,646 real-world UAV videos through a task-conditioned construction pipeline with expert verification. Extensive evaluations reveal that current MLLMs exhibit fundamental limitations in modeling dynamic and agent-centered processes. In particular, we observe a clear imbalance between spatial cognition and self-awareness, as well as a progressive performance degradation across cognitive levels. Motivated by these findings, we further explore a motion-aware representation that incorporates self-related dynamics through optical flow and visual feature fusion. Experimental results show that modeling agent motion consistently improves perception and memory performance, not only in spatial cognition but also in self-awareness, and generalizes to downstream UAV decision-making tasks. Our results highlight the importance of self-awareness for advancing embodied spatial intelligence, and provide both a new benchmark and empirical evidence for motion-aware self-in-space modeling.