SpatialCLI: Learning to Reason With Spatial Tools, Then Without Them

Vision-language models (VLMs) are increasingly used in embodied agents to interpret visual inputs, reason about spatial relationships, and make task-level decisions based on that reasoning. However, a fundamental capability mismatch remains: general VLMs can reason about the overall task but often miss the visual details that determine success, while specialist vision models can capture those details but cannot translate them into task-level decisions. In this work, we propose SpatialCLI, a framework that teaches VLMs to reason with spatial tools and progressively internalize the specialist perceptual capabilities they provide. SpatialCLI proceeds in three stages: (1) Call exposes specialist vision models as spatial tools to augment the VLM's perception; (2) Learn uses Cold-Start SFT and agentic RL to improve tool use; and (3) Internalize verbalizes successful tool-use trajectories to internalize specialist perceptual capabilities. We further introduce SpatialCLI-Bench, a 516-example benchmark for compositional perception across localization, segmentation, depth, and pose. On MindCube, SpatialCLI raises Qwen3-VL-8B-Instruct from 29.3% to 84.6% with tools, surpassing GPT-5.6 Sol with tools (72.1%), while retaining 73.8% without tools after internalization.

Few-shot NeRF by Adaptive Rendering Loss Regularization

Novel view synthesis with sparse inputs poses great challenges to Neural Radiance Field (NeRF). Recent works demonstrate that the frequency regularization of Positional Encoding (PE) can achieve promising results for few-shot NeRF. In this work, we reveal that there exists an inconsistency between the frequency regularization of PE and rendering loss. This prevents few-shot NeRF from synthesizing higher-quality novel views. To mitigate this inconsistency, we propose Adaptive Rendering loss regularization for few-shot NeRF, dubbed AR-NeRF. Specifically, we present a two-phase rendering supervision and an adaptive rendering loss weight learning strategy to align the frequency relationship between PE and 2D-pixel supervision. In this way, AR-NeRF can learn global structures better in the early training phase and adaptively learn local details throughout the training process. Extensive experiments show that our AR-NeRF achieves state-of-the-art performance on different datasets, including object-level and complex scenes.

PR-NeuS: A Prior-based Residual Learning Paradigm for Fast Multi-view Neural Surface Reconstruction

Neural surfaces learning has shown impressive performance in multi-view surface reconstruction. However, most existing methods use large multilayer perceptrons (MLPs) to train their models from scratch, resulting in hours of training for a single scene. Recently, how to accelerate the neural surfaces learning has received a lot of attention and remains an open problem. In this work, we propose a prior-based residual learning paradigm for fast multi-view neural surface reconstruction. This paradigm consists of two optimization stages. In the first stage, we propose to leverage generalization models to generate a basis signed distance function (SDF) field. This initial field can be quickly obtained by fusing multiple local SDF fields produced by generalization models. This provides a coarse global geometry prior. Based on this prior, in the second stage, a fast residual learning strategy based on hash-encoding networks is proposed to encode an offset SDF field for the basis SDF field. Moreover, we introduce a prior-guided sampling scheme to help the residual learning stage converge better, and thus recover finer structures. With our designed paradigm, experimental results show that our method only takes about 3 minutes to reconstruct the surface of a single scene, while achieving competitive surface quality. Our code will be released upon publication.