EmbSpatial-Bench: Benchmarking Spatial Understanding for Embodied Tasks with Large Vision-Language Models

摘要

The recent rapid development of Large Vision-Language Models (LVLMs) has indicated their potential for embodied tasks. However, the critical skill of spatial understanding in embodied environments has not been thoroughly evaluated, leaving the gap between current LVLMs and qualified embodied intelligence unknown. Therefore, we construct EmbSpatial-Bench, a benchmark for evaluating embodied spatial understanding of LVLMs. The benchmark is automatically derived from embodied scenes and covers 6 spatial relationships from an egocentric perspective. Experiments expose the insufficient capacity of current LVLMs (even GPT-4V). We further present EmbSpatial-SFT, an instruction-tuning dataset designed to improve LVLMs’ embodied spatial understanding.