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GraFT: A Training-Free Framework for Spatial Reasoning in Multimodal Large Language Models via 3D Scene Graphs

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

3D spatial reasoning underpins understanding and acting in the physical world, yet it remains unreliable in current multimodal large language models (MLLMs). These models falter at precise geometric measurement, at transforming between egocentric and allocentric viewpoints, and at grounding fine-grained appearance. The most common remedies fine-tune the model on large-scale curated spatial-reasoning datasets or attach dedicated encoders for 3D geometry, which typically couples the solution to costly supervision and a specific backbone. We instead introduce GraFT, a training-free framework that

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