arXiv Computer Vision October 22, 2026 By Zhichao Zhai, Menglei Zhao, Guikun Chen, Zihao Yan, Kanzhi Wu, Wenguan Wang, Jun Xiao

VoxProg: 3D Spatial Reasoning through Voxel Programming

Read the original on arXiv Computer Vision →

VoxProg introduces voxel programming for 3D spatial reasoning, enabling language models to translate task interpretations into executable programs that operate on local voxel views of scene surfaces. By indexing surface geometry on regular grids, the approach isolates task-relevant regions and boundaries, allowing downstream pose programs to compute target SE(3) poses. The method is evaluated on the 71-task VoxProg-Bench benchmark, showing consistent superiority over relation-based, keypoint-based, and mesh-based baselines.

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