# EvoSpatial: Experience-Driven Skill and Tool Evolution for Spatial Reasoning Agents

arXiv: https://arxiv.org/abs/2610.16679 · HTML: https://mlsanity.com/paper/2610.16679/

## 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 34 of its 48 references that are in the map.
- First posted on arXiv 12 Oct 2026.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)

## Builds on (most cited first, 30 of 34)

- [SAM 3: Segment Anything with Concepts](https://mlsanity.com/paper/2511.16719/) (2025)
- [Depth Anything 3: Recovering the Visual Space from Any Views](https://mlsanity.com/paper/2511.10647/) (2025)
- [BLINK: Multimodal Large Language Models Can See but Not Perceive](https://mlsanity.com/paper/2404.12390/) (2024)
- [Agentic Context Engineering: Evolving Contexts for Self-Improving Language Models](https://mlsanity.com/paper/2510.04618/) (2025)
- [MapAnything: Universal Feed-Forward Metric 3D Reconstruction](https://mlsanity.com/paper/2509.13414/) (2025)
- [SkillRL: Evolving Agents via Recursive Skill-Augmented Reinforcement Learning](https://mlsanity.com/paper/2602.08234/) (2026)
- [SkillWeaver: Web Agents can Self-Improve by Discovering and Honing Skills](https://mlsanity.com/paper/2504.07079/) (2025)
- [MMSI-Bench: A Benchmark for Multi-Image Spatial Intelligence](https://mlsanity.com/paper/2505.23764/) (2025)
- [From Flatland to Space: Teaching Vision-Language Models to Perceive and Reason in 3D](https://mlsanity.com/paper/2503.22976/) (2025)
- [CoEvoSkills: Self-Evolving Agent Skills via Co-Evolutionary Verification](https://mlsanity.com/paper/2604.01687/) (2026)
- [OmniSpatial: Towards Comprehensive Spatial Reasoning Benchmark for Vision Language Models](https://mlsanity.com/paper/2506.03135/) (2025)
- [Reinforcement Learning for Self-Improving Agent with Skill Library](https://mlsanity.com/paper/2512.17102/) (2025)
- [SKILL0: In-Context Agentic Reinforcement Learning for Skill Internalization](https://mlsanity.com/paper/2604.02268/) (2026)
- [Scaling Spatial Intelligence with Multimodal Foundation Models](https://mlsanity.com/paper/2511.13719/) (2025)
- [Organizing, Orchestrating, and Benchmarking Agent Skills at Ecosystem Scale](https://mlsanity.com/paper/2603.02176/) (2026)
- [Video-MME-v2: Towards the Next Stage in Benchmarks for Comprehensive Video Understanding](https://mlsanity.com/paper/2604.05015/) (2026)
- [Visual Agentic AI for Spatial Reasoning with a Dynamic API](https://mlsanity.com/paper/2502.06787/) (2025)
- [MMSI-Video-Bench: A Holistic Benchmark for Video-Based Spatial Intelligence](https://mlsanity.com/paper/2512.10863/) (2025)
- [PAI-Bench: A Comprehensive Benchmark For Physical AI](https://mlsanity.com/paper/2512.01989/) (2025)
- [Benchmark Designers Should "Train on the Test Set" to Expose Exploitable Non-Visual Shortcuts](https://mlsanity.com/paper/2511.04655/) (2025)
- [DSI-Bench: A Benchmark for Dynamic Spatial Intelligence](https://mlsanity.com/paper/2510.18873/) (2025)
- [SpaceTools: Tool-Augmented Spatial Reasoning via Double Interactive RL](https://mlsanity.com/paper/2512.04069/) (2025)
- [pySpatial: Generating 3D Visual Programs for Zero-Shot Spatial Reasoning](https://mlsanity.com/paper/2603.00905/) (2026)
- [Euclid's Gift: Enhancing Spatial Perception and Reasoning in Vision-Language Models via Geometric Surrogate Tasks](https://mlsanity.com/paper/2509.24473/) (2025)
- [From Indoor to Open World: Revealing the Spatial Reasoning Gap in MLLMs](https://mlsanity.com/paper/2512.19683/) (2025)
- [SpatialTree: How Spatial Abilities Branch Out in MLLMs](https://mlsanity.com/paper/2512.20617/) (2025)
- [CODESKILL: Learning Self-Evolving Skills for Coding Agents](https://mlsanity.com/paper/2605.25430/) (2026)
- [Yunjue Agent Tech Report: A Fully Reproducible, Zero-Start In-Situ Self-Evolving Agent System for Open-Ended Tasks](https://mlsanity.com/paper/2601.18226/) (2026)
- [Demystifying Agent Skills: Why They Work-Until They Don't](https://mlsanity.com/paper/2608.14036/) (2026)
- [PerceptionComp: A Video Benchmark for Complex Perception-Centric Reasoning](https://mlsanity.com/paper/2603.26653/) (2026)

## Abstract (arXiv)

Spatial reasoning agents can inspect tool outputs and repair errors, but reusing these lessons requires preserving both the computation and the conditions that make it valid. We introduce EvoSpatial, a framework that learns from execution experience by updating a library of linked skills and tools. Skills describe procedures, geometric assumptions, and verification steps; tools implement the operations those procedures require. When solving a task, the agent retrieves relevant skills and synthesizes reusable computational functions if existing tools are insufficient. After each task, execution feedback and evidence checks guide skill revision and tool consolidation, without ground-truth answers or benchmark scores. Across 20 benchmarks, EvoSpatial averages 63.9, 4.0 percentage points above the average reported by SpatialClaw. The evolved library also improves held-out and cross-benchmark performance when updates are disabled, and trajectories generated with evolved skills improve supervised fine-tuning, even without external skills at evaluation. Keeping checked procedures on record, together with the tools that support them, lets an agent carry spatial reasoning experience from one task to the next.