VoxProg: 3D Spatial Reasoning through Voxel Programming

Zhichao Zhai, Menglei Zhao, Guikun Chen, Zihao Yan, Kanzhi Wu, Wenguan Wang, Jun Xiao · 2026 · arXiv

DOI: 10.48550/arXiv.2610.30127 · open-access PDF

Abstract

Language models' abilities to interpret tasks and generate programs offer a promising basis for 3D spatial reasoning. Yet following spatial instructions in 3D scenes requires programs to construct geometric references that language leaves implicit. In this work, we introduce VoxProg, which formulates 3D object placement through voxel programming: a language model translates task interpretations into executable programs over local voxel views of scene surfaces. Because these views index surface geometry on regular grids with explicit coordinates and neighborhood relations, an evidence program c

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