CoV: Chain-of-View Prompting for Spatial Reasoning

摘要

Embodied question answering (EQA) in 3D environments often requires collecting context that is distributed across multiple viewpoints and partially occluded. However, most recent vision–language models (VLMs) are constrained to a fixed and finite set of input views, which limits their ability to acquire question-relevant context at inference time and hinders complex spatial reasoning. We propose Chain-of-View (CoV) prompting, a training-free, test-time reasoning framework that transforms a VLM into an active viewpoint reasoner through a coarse-to-fine exploration process. CoV first employs a View Selection agent to filter redundant frames and identify question-aligned anchor views. It then performs fine-grained view adjustment by interleaving iterative reasoning with discrete camera actions, obtaining new observations from the underlying 3D scene representation until sufficient context is gathered or a step budget is reached. We evaluate CoV on OpenEQA across four mainstream VLMs and obtain an average 11.98% improvement in LLM-Match, with a maximum gain of 13.62% on Qwen3-VL-Flash. CoV further exhibits test-time scaling: increasing the minimum action budget yields an additional 2.54% average improvement, peaking at 3.73% on Gemini-2.5-Flash. On ScanQA and SQA3D, CoV delivers strong performance (e.g., 116 CIDEr 31.9 EM@1 on ScanQA and 51.1 EM@1 on SQA3D). Overall, these results suggest that question-aligned view selection coupled with open-view search is an effective, model-agnostic strategy for improving spatial reasoning in 3D EQA without additional training.