InternLM/Spatial-SSRL — Gitpedia

<div align="center"> <h1 align="center"> <div style="display: flex; align-items: center; justify-content: center;"> <div style="text-align: left; line-height: 1.3;"> (CVPR 2026)Spatial-SSRL: Enhancing Spatial Understanding via Self-Supervised Reinforcement Learning </div> </div> </h1> <a href="https://scholar.google.com/citations?hl=en&user=yQ8U3tUAAAAJ">Yuhong Liu</a > · <a href="https://beichenzbc.github.io/">Beichen Zhang</a > · <a href="https://yuhangzang.github.io/">Yuhang Zang&dagger;</a > · <a href="https://scholar.google.com/citations?user=sJkqsqkAAAAJ">Yuhang Cao</a > · <a href="https://github.com/Cooperx521">Long Xing</a > <a href="https://lightdxy.github.io/">Xiaoyi Dong</a > · <a href="https://github.com/kennymckormick">Haodong Duan</a > · <a href="http://dahua.site/">Dahua Lin</a > · <a href="https://myownskyw7.github.io/">Jiaqi Wang&dagger;</a > &dagger;Corresponding authors. 📖<a href="https://arxiv.org/abs/2510.27606">Paper</a> | 🏠<a href="https://github.com/InternLM/Spatial-SSRL">Homepage</a > | 🤗<a href="https://huggingface.co/internlm/Spatial-SSRL-7B">Spatial-SSRL-7B Model</a > | 🤗<a href="https://huggingface.co/internlm/Spatial-SSRL-3B">Spatial-SSRL-3B Model</a > | 🤗<a href="https://huggingface.co/internlm/Spatial-SSRL-Qwen3VL-4B">Spatial-SSRL-Qwen3VL-4B Model</a > | 🤗<a href="https://huggingface.co/datasets/internlm/Spatial-SSRL-81k">Spatial-SSRL-81k Dataset</a > | 📰<a href="https://huggingface.co/papers/2510.27606">Daily Paper</a > </div>

📢 News

🚀 [2026/04/05] We have released the training code of Spatial-SSRL.
🚀 [2026/02/25] We have released the 🤗Spatial-SSRL-3B Model, initialized from Qwen2.5-VL-3B-Instruct.
🚀 [2026/02/21] Our work has been accepted by CVPR 2026.
🚀 [2025/11/24] We have released the 🤗Spatial-SSRL-Qwen3VL-4B Model, initialized from Qwen3-VL-4B-Instruct.
🚀 [2025/11/03] Now you can try out Spatial-SSRL-7B on 🤗Spatial-SSRL Space.
🚀 [2025/11/03] We have released the Spatial-SSRL-7B Model, and Spatial-SSRL-81k Dataset.
🚀 [2025/11/02] We have released the Spatial-SSRL repository.

🌈 Overview

We are thrilled to introduce Spatial-SSRL, a novel self-supervised RL paradigm aimed at enhancing LVLM spatial understanding.
By optimizing Qwen2.5-VL-7B with Spatial-SSRL, the model exhibits stronger spatial intelligence across seven spatial understanding benchmarks in both image and video settings.

<img src="assets/teaser_1029final.png" alt="Teaser" width="100%"> Spatial-SSRL is a lightweight tool-free framework that is natually compatible with the RLVR training paradigm and easy to extend to a multitude of pretext tasks. Five tasks are currently formulated in the framework, requiring only ordinary RGB and RGB-D images. And we welcome you to join Spatial-SSRL with effective pretext tasks to further strengthen the capabilities of LVLMs! <img src="assets/pipeline_1029final.png" alt="Pipeline" width="100%">

💡 Highlights

🔥 Highly Scalable: Spatial-SSRL uses ordinary raw RGB and RGB-D images instead of richly-annotated public datasets or manual labels for data curation, making it highly scalable.
🔥 Cost-effective: Avoiding the need for human labels or API calls for general LVLMs throughout the entire pipeline endows Spatial-SSRL with cost-effectiveness.
🔥 Lightweight: Prior approaches for spatial understanding heavily rely on annotation of external tools, incurring inherent errors in training data and additional cost. In constrast, Spatial-SSRL is completely tool-free and can easily be extended to more self-supervised tasks.
🔥 Naturally Verifiable: Intrinsic supervisory signals determined by pretext objectives are naturally verifiable, aligning Spatial-SSRL well with the RLVR paradigm.

📊 Results

We train Qwen2.5-VL-3B and Qwen2.5-VL-7B with our Spatial-SSRL paradigm and the experimental results across seven spatial understanding benchmarks are shown below.

⭐️ Quick Start

To directly experience Spatial-SSRL-7B, you can try it out on 🤗Spatial-SSRL Space!

Here we provide a code snippet for you to start a simple trial of Spatial-SSRL-7B on your own device. You can download the model from 🤗<a href="https://huggingface.co/internlm/Spatial-SSRL-7B">Spatial-SSRL-7B Model</a > before your trial!

python
from transformers import Qwen2_5_VLForConditionalGeneration, AutoTokenizer, AutoProcessor
from qwen_vl_utils import process_vision_info

model_path = "internlm/Spatial-SSRL-7B" #You can change it to your own local path if deployed already
img_path = "examples/eg1.jpg"
question = "Consider the real-world 3D locations of the objects. Which object has a higher location? A. yellow bear kite B. building"
#We recommend using the format prompt to make the inference consistent with training
format_prompt = "\n You FIRST think about the reasoning process as an internal monologue and then provide the final answer. The reasoning process MUST BE enclosed within <think> </think> tags. The final answer MUST BE put in \\boxed{}."

model = Qwen2_5_VLForConditionalGeneration.from_pretrained(
    model_path, torch_dtype="auto", device_map="auto"
)
processor = AutoProcessor.from_pretrained(model_path)
messages = [
    {
        "role": "user",
        "content": [
            {
                "type": "image",
                "image": img_path,
            },
            {"type": "text", "text": question + format_prompt},
        ],
    }
]

text = processor.apply_chat_template(
    messages, tokenize=False, add_generation_prompt=True
)
image_inputs, video_inputs = process_vision_info(messages)
inputs = processor(
    text=[text],
    images=image_inputs,
    videos=video_inputs,
    padding=True,
    return_tensors="pt",
)
inputs = inputs.to("cuda")

generated_ids = model.generate(**inputs, max_new_tokens=4096, do_sample=False)
generated_ids_trimmed = [
    out_ids[len(in_ids) :] for in_ids, out_ids in zip(inputs.input_ids, generated_ids)
]
output_text = processor.batch_decode(
    generated_ids_trimmed, skip_special_tokens=True, clean_up_tokenization_spaces=False
)
print("Model Response:", output_text)

Here we provide a code snippet for you to start a simple trial of Spatial-SSRL-Qwen3VL-4B on your own device. You can download the model from 🤗<a href="https://huggingface.co/internlm/Spatial-SSRL-Qwen3VL-4B">Spatial-SSRL-Qwen3VL-4B Model</a > before your trial!

python
from transformers import AutoProcessor, AutoModelForImageTextToText #transformers==4.57.1
from qwen_vl_utils import process_vision_info #0.0.14
import torch

model_path = "internlm/Spatial-SSRL-Qwen3VL-4B" #You can change it to your own local path if deployed already

#Change the path of the input image
img_path = "examples/eg_qwen3vl.jpg"

#Change your question here
question = "Question: Consider the real-world 3D locations and orientations of the objects. If I stand at the man's position facing where it is facing, is the menu on the left or right of me?\nOptions:\nA. on the left\nB. on the right\n"

question += "Please select the correct answer from the options above. \n"
#We recommend using the format prompt to make the inference consistent with training
format_prompt = "You FIRST think about the reasoning process as an internal monologue and then provide the final answer. The reasoning process MUST BE enclosed within <think> </think> tags. The final answer MUST BE put in \\boxed{}."

model = AutoModelForImageTextToText.from_pretrained(
    model_path, torch_dtype=torch.float16, device_map='auto', attn_implementation='flash_attention_2'
    )
processor = AutoProcessor.from_pretrained(model_path)

messages = [
    {
        "role": "user",
        "content": [
            {
                "type": "image",
                "image": img_path,
            },
            {"type": "text", "text": question + format_prompt},
        ],
    }
]

text = processor.apply_chat_template(
    messages, tokenize=False, add_generation_prompt=True
)
image_inputs, video_inputs = process_vision_info(messages)
inputs = processor(
    text=[text],
    images=image_inputs,
    videos=video_inputs,
    padding=True,
    return_tensors="pt",
)
inputs = inputs.to("cuda")

generated_ids = model.generate(**inputs, max_new_tokens=4096, do_sample=False)
generated_ids_trimmed = [
    out_ids[len(in_ids) :] for in_ids, out_ids in zip(inputs.input_ids, generated_ids)
]
output_text = processor.batch_decode(
    generated_ids_trimmed, skip_special_tokens=True, clean_up_tokenization_spaces=False
)
print("Model Response:", output_text[0])

🛠️ Training

See <a href="https://github.com/InternLM/Spatial-SSRL/blob/main/training/training.md">training.md</a >

🛠️ Evaluation

Prepare your environment:

bash
git clone https://github.com/InternLM/Spatial-SSRL.git
conda create -n spatialssrl python==3.10
conda activate spatialssrl
cd Spatial-SSRL/evaluation
pip install -r requirements.txt

# Recommended
pip install flash-attn --no-build-isolation

Start your evaluation by referring to the tutorials in <a href="https://github.com/InternLM/Spatial-SSRL/blob/main/evaluation/Eval.md">Eval.md</a >

Cases

✒️Citation

If you find this project useful, please kindly cite:

@article{liu2025spatial,
  title={Spatial-SSRL: Enhancing Spatial Understanding via Self-Supervised Reinforcement Learning},
  author={Liu, Yuhong and Zhang, Beichen and Zang, Yuhang and Cao, Yuhang and Xing, Long and Dong, Xiaoyi and Duan, Haodong and Lin, Dahua and Wang, Jiaqi},
  journal={arXiv preprint arXiv:2510.27606},
  year={2025}
}

📄 License

Usage and License Notices: The data and code are intended and licensed for research use only.

❤️ Acknowledgement

We extend our sincere gratitude to <a href="https://github.com/open-compass/VLMEvalKit">VLMEvalkit</a >, the powerful toolkit to evaluate a vast range of LMMs!

The work is built upon <a href="https://github.com/hiyouga/EasyR1">EasyR1</a > and <a href="https://github.com/hiyouga/LLaMAFactory">LlaMaFactory</a >, two excellent codebase for LLM training!