# SceneActBench: Can Agents Act on the 3D Scenes They See?

arXiv: https://arxiv.org/abs/2607.22393 · HTML: https://mlsanity.com/paper/2607.22393/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 31 of its 41 references that are in the map.
- First posted on arXiv 24 Jul 2026.

## Placed in

- 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 31)

- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [LRM: Large Reconstruction Model for Single Image to 3D](https://mlsanity.com/paper/2311.04400/) (2023)
- [Structured 3D Latents for Scalable and Versatile 3D Generation](https://mlsanity.com/paper/2412.01506/) (2024)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities](https://mlsanity.com/paper/2401.12168/) (2024)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [BLINK: Multimodal Large Language Models Can See but Not Perceive](https://mlsanity.com/paper/2404.12390/) (2024)
- [FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects](https://mlsanity.com/paper/2312.08344/) (2023)
- [3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics](https://mlsanity.com/paper/2011.09127/) (2020)
- [LayoutGPT: Compositional Visual Planning and Generation with Large Language Models](https://mlsanity.com/paper/2305.15393/) (2023)
- [ScanQA: 3D Question Answering for Spatial Scene Understanding](https://mlsanity.com/paper/2112.10482/) (2021)
- [SQA3D: Situated Question Answering in 3D Scenes](https://mlsanity.com/paper/2210.07474/) (2022)
- [Holodeck: Language Guided Generation of 3D Embodied AI Environments](https://mlsanity.com/paper/2312.09067/) (2023)
- [What Do Single-view 3D Reconstruction Networks Learn?](https://mlsanity.com/paper/1905.03678/) (2019)
- [EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents](https://mlsanity.com/paper/2502.09560/) (2025)
- [ATISS: Autoregressive Transformers for Indoor Scene Synthesis](https://mlsanity.com/paper/2110.03675/) (2021)
- [OpenShape: Scaling Up 3D Shape Representation Towards Open-World Understanding](https://mlsanity.com/paper/2305.10764/) (2023)
- [DiffuScene: Denoising Diffusion Models for Generative Indoor Scene Synthesis](https://mlsanity.com/paper/2303.14207/) (2023)
- [Cosmos 3: Omnimodal World Models for Physical AI](https://mlsanity.com/paper/2606.02800/) (2026)
- [SceneCraft: An LLM Agent for Synthesizing 3D Scene as Blender Code](https://mlsanity.com/paper/2403.01248/) (2024)
- [3D-GPT: Procedural 3D Modeling with Large Language Models](https://mlsanity.com/paper/2310.12945/) (2023)
- [Seed2.0 Model Card: Towards Intelligence Frontier for Real-World Complexity](https://mlsanity.com/paper/2607.00248/) (2026)
- [CAD-Coder: An Open-Source Vision-Language Model for Computer-Aided Design Code Generation](https://mlsanity.com/paper/2505.14646/) (2025)
- [Spatial457: A Diagnostic Benchmark for 6D Spatial Reasoning of Large Multimodal Models](https://mlsanity.com/paper/2502.08636/) (2025)
- [BlenderGym: Benchmarking Foundational Model Systems for Graphics Editing](https://mlsanity.com/paper/2504.01786/) (2025)
- [GameDevBench: Evaluating Agentic Capabilities Through Game Development](https://mlsanity.com/paper/2602.11103/) (2026)
- [S2O: Static to Openable Enhancement for Articulated 3D Objects](https://mlsanity.com/paper/2409.18896/) (2024)
- [3DCodeBench: Benchmarking Agentic Procedural 3D Modeling Via Code](https://mlsanity.com/paper/2606.01057/) (2026)

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

- [BVB: Benchmarking Agentic Video Understanding via Programmatic Reconstruction in Blender](https://mlsanity.com/paper/2609.15478/) (2026)
- [4DCodeBench: Benchmarking Agents on Inverse Graphics of Dynamic Scenes](https://mlsanity.com/paper/2610.03715/) (2026)
- [3DHarnessBench: Probing Agentic 3D-to-Code Capabilities of Frontier Vision-Language Models](https://mlsanity.com/paper/2609.06535/) (2026)
- [Code4Scene: Benchmarking Coding Agents for Constructing and Editing 3D Scenes](https://mlsanity.com/paper/2609.36777/) (2026)
- [CineRecon: Benchmarking Frontier Models for Agentic Cinematic Reconstruction](https://mlsanity.com/paper/2610.16577/) (2026)
- [PhysCodeGym: Benchmarking Coding Agents for Physically Verifiable 4D Reconstruction](https://mlsanity.com/paper/2610.17288/) (2026)

## Abstract (arXiv)

Vision-language model (VLM) agents increasingly use tools to act on 3D scenes rather than only describe them. Existing 3D benchmarks score textual responses or single-object operations, leaving agent action on complete multi-object 3D scenes under evaluated. We present SceneActBench, a benchmark for visually conditioned action across five 3D tasks under a unified agent-environment loop. Given PNG images or sampled video frames and, where applicable, supplied 3D assets, an agent acts on a 3D environment. We evaluate each final output against hidden ground truth with task-specific geometric metrics. SceneActBench comprises five tasks built from 210 source instances, yielding 520 task cases including paired input conditions. Every task runs through one fixed agent loop to keep the comparison fair. Across eleven proprietary VLM configurations, Overall scores span 38.6-50.2, and none performs consistently well across tasks. We further analyse where and how failures manifest.