# Resolving State-Representation Mismatch: State-Space Visual Reasoning for Open-Loop VLA Planning

arXiv: https://arxiv.org/abs/2609.33412 · HTML: https://mlsanity.com/paper/2609.33412/

## 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 26 of its 38 references that are in the map.
- First posted on arXiv 27 Sep 2026.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)
- Vision-language-action models / [Reasoning and chain-of-thought in VLA](https://mlsanity.com/vla/reasoning-and-chain-of-thought-in-vla/)

## Builds on (most cited first, 26 of 26)

- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [DeepEyes: Incentivizing "Thinking with Images" via Reinforcement Learning](https://mlsanity.com/paper/2505.14362/) (2025)
- [Imagine while Reasoning in Space: Multimodal Visualization-of-Thought](https://mlsanity.com/paper/2501.07542/) (2025)
- [Look Before You Leap: Unveiling the Power of GPT-4V in Robotic Vision-Language Planning](https://mlsanity.com/paper/2311.17842/) (2023)
- [DeepEyesV2: Toward Agentic Multimodal Model](https://mlsanity.com/paper/2511.05271/) (2025)
- [Machine Mental Imagery: Empower Multimodal Reasoning with Latent Visual Tokens](https://mlsanity.com/paper/2506.17218/) (2025)
- [Latent Visual Reasoning](https://mlsanity.com/paper/2509.24251/) (2025)
- [Monet: Reasoning in Latent Visual Space Beyond Images and Language](https://mlsanity.com/paper/2511.21395/) (2025)
- [Thinking with Generated Images](https://mlsanity.com/paper/2505.22525/) (2025)
- [Perception Tokens Enhance Visual Reasoning in Multimodal Language Models](https://mlsanity.com/paper/2412.03548/) (2024)
- [Mind's Eye of LLMs: Visualization-of-Thought Elicits Spatial Reasoning in Large Language Models](https://mlsanity.com/paper/2404.03622/) (2024)
- [Zooming without Zooming: Region-to-Image Distillation for Fine-Grained Multimodal Perception](https://mlsanity.com/paper/2602.11858/) (2026)
- [VSP: Assessing the dual challenges of perception and reasoning in spatial planning tasks for VLMs](https://mlsanity.com/paper/2407.01863/) (2024)
- [The Latent Space: Foundation, Evolution, Mechanism, Ability, and Outlook](https://mlsanity.com/paper/2604.02029/) (2026)
- [A Configurable Library for Generating and Manipulating Maze Datasets](https://mlsanity.com/paper/2309.10498/) (2023)
- [Reasoning Within the Mind: Dynamic Multimodal Interleaving in Latent Space](https://mlsanity.com/paper/2512.12623/) (2025)
- [How Visual Representations Map to Language Feature Space in Multimodal LLMs](https://mlsanity.com/paper/2506.11976/) (2025)
- [Mini-BEHAVIOR: A Procedurally Generated Benchmark for Long-horizon Decision-Making in Embodied AI](https://mlsanity.com/paper/2310.01824/) (2023)
- [Thinking with Visual Abstract: Enhancing Multimodal Reasoning via Visual Abstraction](https://mlsanity.com/paper/2505.20164/) (2025)
- [PureKV: Plug-and-Play KV Cache Optimization with Spatial-Temporal Sparse Attention for Vision-Language Large Models](https://mlsanity.com/paper/2510.25600/) (2025)
- [VLA-Thinker: Boosting Vision-Language-Action Models through Thinking-with-Image Reasoning](https://mlsanity.com/paper/2603.14523/) (2026)
- [Retrieve, Integrate, and Synthesize: Spatial-Semantic Grounded Latent Visual Reasoning](https://mlsanity.com/paper/2605.07106/) (2026)
- [Simulation to Rules: A Dual-VLM Framework for Formal Visual Planning](https://mlsanity.com/paper/2510.03182/) (2025)
- [Fill the GAP: A Granular Alignment Paradigm for Visual Reasoning in Multimodal Large Language Models](https://mlsanity.com/paper/2605.12374/) (2026)
- [ASCII Art Turns LLMs into VLA Controllers](https://mlsanity.com/paper/2606.21470/) (2026)

## Abstract (arXiv)

Despite rapid progress in vision-language-action (VLA) models, existing reasoning paradigms still face a fundamental state-representation mismatch in open-loop planning. Given only an initial observation, models must internally simulate action-conditioned state transitions, whereas text-, pixel-, and latent-space reasoning can suffer from lossy spatial compression, error-accumulating visual generation, and bypass of intermediate latent tokens, respectively, undermining reliable long-horizon planning. We propose State-Space Visual Reasoning (SSVR), which decouples static visual context, language constraints, and a recurrent latent state. SSVR encodes the initial image and instruction once, then conditions each action prediction on the latent state and updates it with an action-conditioned GRU. Using Qwen2.5-VL as the backbone, SSVR achieves 99.5/99.6, 96.3/98.0, and 83.9/90.6 EM/PR on FrozenLake, Maze, and MiniBehavior, substantially outperforming prior methods. Extensive experiments support the effectiveness of recurrent state modeling for VLA open-loop planning across input transformations and transfer settings. By reusing static visual-textual context and updating a compact recurrent state, SSVR supports efficient multi-step inference, achieving up to 98.58× faster Maze decoding rollouts than the evaluated baselines with the prefix cache prebuilt.