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

3D spatial reasoning underpins understanding and acting in the physical world, yet it remains unreliable in current multimodal large language models (MLLMs).

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…