SenseNova-SI: Scaling Spatial Intelligence with Multimodal Foundation Models

Overview

Despite remarkable progress, multimodal foundation models still exhibit surprising deficiencies in spatial intelligence. In this work, we explore scaling up multimodal foundation models to cultivate spatial intelligence within the SenseNova-SI family, built upon established multimodal foundations including visual understanding models (i.e., Qwen3-VL and InternVL3) and unified understanding and generation models (i.e., Bagel). We take a principled approach to constructing high-performing and robust spatial intelligence by systematically curating SenseNova-SI-8M: eight million diverse data samples under a rigorous taxonomy of spatial capabilities. SenseNova-SI demonstrates unprecedented performance across a broad range of spatial intelligence benchmarks, while maintaining strong general multimodal understanding. More importantly, we analyze the impact of data scaling, discuss early signs of emergent generalization capabilities enabled by diverse data training, analyze the risk of overfitting and language shortcuts, present a preliminary study on spatial chain-of-thought reasoning, and validate the potential downstream application. SenseNova-SI is an ongoing project, and this report will be updated continuously. All newly trained multimodal foundation models are publicly released to facilitate further research in this direction. In the future, SenseNova-SI will be integrated with larger-scale in-house models.

News

[2026-04-01] We have released SenseNova-SI-1.5-InternVL3-8B, which significantly improves solid geometric question-answering and analyzing capabilities, achieving an accuracy of 63.5 on SolidGeo MCQ.
[2026-03-27] We have released SenseNova-SI-1.4-InternVL3-8B, which significantly improves grounding and depth estimation capabilities, achieving 89.21 on RefCOCO avg and 78.64 on CountBench.
[2026-02-21] Our work got accepted to CVPR 2026! A paper is just a step. what truly matters is continuing to push the boundaries of spatial intelligence models and sharing our work with the community.
[2026-01-09] We have released SenseNova-SI-1.3-InternVL3-8B, which improves open-ended spatial question-answering capabilities.
[2025-12-06] As a first step, we have released a highly effective data subset, SenseNova-SI-800K, as well as SenseNova-SI-1.1-InternVL3-8B-800K, a model trained exclusively on the SenseNova-SI-800K subset.
[2025-12-06] We present models starting from more base models, namelySenseNova-SI-1.2-InternVL3-8B, SenseNova-SI-1.1-Qwen2.5-VL-3B, SenseNova-SI-1.1-Qwen2.5-VL-7B, and SenseNova-SI-1.1-Qwen3-VL-8B. SenseNova-SI-1.2-InternVL3-8B achieve SOTA across eight recent spatial intelligence benchmarks.
[2025-11-15] We have released SenseNova-SI-1.1-InternVL3-2B and SenseNova-SI-1.1-InternVL3-8B, which achieve state-of-the-art(SOTA) performance among open-source models of comparable size across five recent spatial intelligence benchmarks: VSI, MMSI, MindCube, ViewSpatial and SITE.

Models Zoo

Model	Base Architecture	SI Dataset Scale	EASI-8	Other Remarks
SenseNova-SI-1.5-InternVL3-8B	SenseNova-SI-1.4-InternVL3-8B	1.5M	64.4	Enhanced capability in solid geometry
SenseNova-SI-1.4-InternVL3-8B	InternVL3	29M	63.7	Enhanced capability in grounding and depth estimation
SenseNova-SI-1.3-InternVL3-8B	InternVL3	14M	65.2	Best in spatial intelligence, with enhanced capabilities for open-ended short QA
SenseNova-SI-1.2-InternVL3-8B	InternVL3	10M	64.5	-
SenseNova-SI-1.1-InternVL3-8B	InternVL3	8M	61.5	-
SenseNova-SI-1.1-InternVL3-2B	InternVL3	8M	49.4	-
SenseNova-SI-1.1-Qwen3-VL-8B	Qwen3-VL	8M	58.1	-
SenseNova-SI-1.1-Qwen2.5-VL-7B	Qwen2.5-VL	8M	51.0	-
SenseNova-SI-1.1-Qwen2.5-VL-3B	Qwen2.5-VL	8M	45.7	-
SenseNova-SI-1.1-BAGEL-7B-MoT	BAGEL	8M	48.6	Unified understanding and generation model

Release Information

Models

Currently, we build SenseNova-SI upon popular open-source foundation models to maximize compatibility with existing research pipelines. In this release, we present SenseNova-SI-1.5-InternVL3-8B, SenseNova-SI-1.4-InternVL3-8B, SenseNova-SI-1.3-InternVL3-8B, SenseNova-SI-1.2-InternVL3-8B, SenseNova-SI-1.1-InternVL3-8B, SenseNova-SI-1.1-Qwen3-VL-8B, SenseNova-SI-1.1-Qwen2.5-VL-7B, SenseNova-SI-1.1-Qwen2.5-VL-3B, and SenseNova-SI-1.1-InternVL3-2B. SenseNova-SI-1.4-InternVL3-8B demonstrates strong spatial intelligence across a wide range of benchmarks, with improved grounding performance, achieving an average score of 89.21 across all RefCOCO splits and 78.64 on CountBench. On our depth estimation task constructed from the Ibims dataset, it reaches 95.56 in relative depth and 80.31 in absolute depth. SenseNova-SI-1.5-InternVL3-8B exhibits strong spatial intelligence as well as notable improvements in analyzing and solving solid geometric problems, achieving an accuracy of 63.5 on SolidGeo MCQ. On our internal benchmarks constructed from K12 question banks, SolidMath and Math3D, it reaches an accuracy of 72.7 and 68.9 respectively.

Model	VSI	MMSI	MindCube-Tiny	ViewSpatial	SITE	BLINK	3DSRBench	EmbSpatial-Bench
Open-source Models (~2B)
InternVL3-2B	32.9	26.5	37.5	32.5	30.0	50.8	47.7	60.1
Qwen3-VL-2B-Instruct	50.3	28.9	34.5	36.9	35.6	53.2	47.5	70.1
MindCube-3B-RawQA-SFT	17.2	1.7	51.7	24.1	6.3	35.1	2.8	37.0
SpatialLadder-3B	44.8	27.4	43.4	39.8	27.9	43.0	42.8	58.2
SpatialMLLM-4B	46.3	26.1	33.4	34.6	18.0	40.5	36.2	50.0
VST-3B-SFT	57.9	30.2	35.9	52.8	35.8	58.8	54.1	69.0
Cambrian-S-3B	57.3	25.2	32.5	39.0	28.3	37.7	50.9	63.5
Open-source Models (~8B)
InternVL3-8B	42.1	28.0	41.5	38.6	41.1	53.5	44.3	76.4
Qwen3-VL-8B-Instruct	57.9	31.1	29.4	42.2	45.8	66.7	53.9	77.7
BAGEL-7B-MoT	31.4	31.0	34.7	41.3	37.0	63.7	50.2	73.1
SpaceR-7B	41.5	27.4	37.9	35.8	34.2	49.6	40.5	66.9
ViLaSR-7B	44.6	30.2	35.1	35.7	38.7	51.4	46.6	67.3
VST-7B-SFT	60.6	32.0	39.7	50.5	39.6	61.9	54.6	73.7
Cambrian-S-7B	67.5	25.8	39.6	40.9	33.0	37.9	54.8	72.8
SenseNova-SI-1.3-InternVL3-8B	68.6	42.5	89.9	61.3	47.5	68.0	62.4	81.0
SenseNova-SI-1.4-InternVL3-8B	66.6	40.1	88.8	55.7	47.9	68.1	60.4	81.7
SenseNova-SI-1.5-InternVL3-8B	67.3	38.3	92.1	59.0	47.5	69.5	61.3	80.3
Proprietary Models
Gemini-2.5-pro-2025-06	53.5	38.0	57.6	46.0	57.0	73.5	59.3	78.9
Grok-4-2025-07-09	47.9	37.8	63.5	43.2	47.0	56.4	54.9	75.7
GPT-5-2025-08-07	55.0	41.8	56.3	45.5	61.8	68.0	60.3	81.6

For grounding and depth estimation benchmarks, we report the following results. RefCOCO and CountBench are reproduced using lmms-eval, while the depth estimation results are evaluated on our internally constructed test set.

Model	RefCOCO avg	CountBench	Ibims Relative Depth	Ibims Absolute Depth
InternVL3-8B	89.01	81.31	52.22	13.45
SenseNova-SI-1.3-InternVL3-8B	83.85	73.92	68.60	59.23
SenseNova-SI-1.4-InternVL3-8B	89.21	78.64	95.56	80.31

For solid geometry benchmarks, we report the following results. SolidGeo MCQ contains multiple choice questions extracted from SolidGeo. SolidMath and Math3D are internally benchmarks constructed from K12 question banks, containing multiple-choice problems in Chinese on solid geometry. SolidMath is built from in-domain data and Math3D is derived from out-of-domain data.

Model	SolidGeo MCQ	SpatialViz-Bench	SolidMath	Math3D
InternVL3-8B	36.4	32.0	42.5	43.7
SenseNova-SI-1.3-InternVL3-8B	36.5	29.6	39.6	40.3
SenseNova-SI-1.5-InternVL3-8B	63.5	33.0	72.7	68.9

Datasets

To further facilitate the research in spatial intelligence, we have released a highly effective subset, SenseNova-SI-800K. Since SenseNova-SI is designed to study scaling laws, we observe that this initial release captures a substantial portion of the gains.

Model	SI Dataset	VSI	MMSI	MindCube-Tiny	ViewSpatial	SITE
InternVL3-8B	-	42.1	28.0	41.5	38.6	41.1
VST-7B-SFT	VST-P-4.1M	60.6	32.0	39.7	50.5	39.6
Cambrian-S-7B	VSI-590K	67.5	25.8	39.6	40.9	33.0
*SenseNova-SI-1.1-InternVL3-8B-800K	SenseNova-SI-800K	60.9	36.4	56.9	52.5	47.7
SenseNova-SI-1.1-InternVL3-8B	SenseNova-SI-8M	68.7	43.3	85.6	54.6	47.7

Note that *SenseNova-SI-1.1-InternVL3-8B-800K is trained on the SenseNova-SI-800K subset to provide a reference for researchers working with the 800K-scale dataset. It is released exclusively for scaling-law analysis and research validation, and is not intended to serve as a primary recommended model of the SenseNova-SI series.

Data Format

Our data is stored in the SenseNova-SI-800K.jsonl file using the JSONL (JSON Lines) format, where each line represents an independent data entry. Each entry is a dictionary organized in the following format,containing three main fields: id, conversations, and image.

The id serves as a unique identifier for each data sample.
The image field is a list of strings specifying image paths, all given as paths relative to the root data directory.
The conversations field is a list of dialogue turns, where each turn is a dictionary with two key-value pairs: from, indicating the speaker identity (e.g., human or gpt), and value, indicating the textual content. Within value, the <image> placeholder marks where images are inserted, and the number of <image> placeholders match the number of images listed in the image field.

{
  "id": 0,
  "conversations": [
    {"from": "human", "value": "<image>\nuser input <image>\nuser input"},
    {"from": "gpt", "value": "assistant output"},
    {"from": "human", "value": "<image>\nuser input"},
    {"from": "gpt", "value": "assistant output"}
  ],
  "image": ["path/to/image1.jpg", "path/to/image2.jpg", "path/to/image3.jpg"],
}

🛠️ QuickStart

Installation

We recommend using uv to manage the environment.

uv installation guide: https://docs.astral.sh/uv/getting-started/installation/#installing-uv

git clone git@github.com:OpenSenseNova/SenseNova-SI.git
cd SenseNova-SI/
uv sync --extra cu124 # or one of [cu118|cu121|cu124|cu126|cu128|cu129], depending on your CUDA version
source .venv/bin/activate

Hello World

A simple image-free test to verify environment setup and download the model.

python example.py \
  --question "Hello" \
  --model_path sensenova/SenseNova-SI-1.4-InternVL3-8B

Switching Between Supported Models

We fully support multiple model architectures. To use a different model, simply change the value of the --model_path argument, no other code changes are required.

To use BAGEL-MoT:

--model_path sensenova/SenseNova-SI-1.1-BAGEL-7B-MoT

To use Qwen3-VL:

--model_path sensenova/SenseNova-SI-1.1-Qwen3-VL-8B

Examples

For more examples, see example.

Example for BAGEL generation

To run the image generation example specifically for the BAGEL-7B-MoT structure, use the following command:

python example_bagel.py \
  --model_path sensenova/SenseNova-SI-1.1-BAGEL-7B-MoT \
  --prompt "A chubby cat made of 3D point clouds, stretching its body, translucent with a soft glow." \
  --mode generate

Use --mode think_generate to activate the thinking before generation. Below is a comparison of two modes for the same prompt：

mode=generate	mode=think_generate

Example 1

This example is from SITE-Bench:

python example.py \
  --image_paths examples/Q1_1.png \
  --question "Question: Consider the real-world 3D locations of the objects. Which is closer to the sink, the toilet paper or the towel?\nOptions: \nA. toilet paper\nB. towel\nGive me the answer letter directly. The best answer is:" \
  --model_path sensenova/SenseNova-SI-1.5-InternVL3-8B
# --model_path sensenova/SenseNova-SI-1.1-Qwen3-VL-8B

Details of Example 1

Q: Question: Consider the real-world 3D locations of the objects. Which is closer to the sink, the toilet paper or the towel?\nOptions: \nA. toilet paper\nB. towel\nGive me the answer letter directly. The best answer is:

GT: A

Example 2

This example is from MMSI-Bench:

python example.py \
  --image_paths examples/Q2_1.png examples/Q2_2.png \
  --question "If the landscape painting is on the east side of the bedroom, where is the window located in the bedroom?\nOptions: A. North side, B. South side, C. West side, D. East side\nAnswer with the option's letter from the given choices directly. Enclose the option's letter within ``." \
  --model_path sensenova/SenseNova-SI-1.5-InternVL3-8B
# --model_path sensenova/SenseNova-SI-1.1-Qwen3-VL-8B

Details of Example 2

Q: If the landscape painting is on the east side of the bedroom, where is the window located in the bedroom?\nOptions: A. North side, B. South side, C. West side, D. East side\nAnswer with the option's letter from the given choices directly. Enclose the option's letter within ``.

GT: C

Example 3

This example is from MMSI-Bench and test the model's capability in open-ended short-answer questions:

python example.py \
  --image_paths examples/Q3_1.png examples/Q3_2.png examples/Q3_3.png \
  --question "The robot is making tea. What is the order in which the pictures were taken?" \
  --model_path sensenova/SenseNova-SI-1.3-InternVL3-8B

Details of Example 3

Q: The robot is making tea. What is the order in which the pictures were taken?

GT: Second, first, third

Example 4

This example demonstrates the model's grounding capability, from RefCOCO:

python example.py \
  --image_paths examples/Q4.png \
  --question "Please provide the bounding box coordinate of the region this sentence describes: <ref>blue shirt lady</ref>" \
  --model_path sensenova/SenseNova-SI-1.4-InternVL3-8B

Details of Example 4

Q: Please provide the bounding box coordinate of the region this sentence describes: <ref>blue shirt lady</ref>

GT: [0.096234, 0.161229, 0.436516, 1.000000]

Example 5

This example demonstrates the model's depth estimation capability:

python example.py \
  --image_paths examples/Q5.png \
  --question "Identify the minimal distance between the point and the camera, in meters." \
  --model_path sensenova/SenseNova-SI-1.4-InternVL3-8B

Details of Example 5

Q: Identify the minimal distance between the point and the camera, in meters.

GT: 4.4

Example 6

This example demonstrates the model's capability in solid geometry(Three views):

python example.py \
  --image_paths examples/Q6.png \
  --question "Enclose your thinking process in <think> </think> tags and your final answer in <answer> </answer>" \
  --model_path sensenova/SenseNova-SI-1.5-InternVL3-8B

Details of Example 6

Q: Enclose your thinking process in <think> </think> tags and your final answer in <answer> </answer>

GT: D

Example 7

This example demonstrates the model's capability in solid geometry(Nets of 3D Shapes):

python example.py \
  --image_paths examples/Q7.png \
  --question "请将你的思考过程放在<think></think>标签内，并将你的最终答案放在<answer></answer>标签内。" \
  --model_path sensenova/SenseNova-SI-1.5-InternVL3-8B

Details of Example 7

Q: Enclose your thinking process in <think> </think> tags and your final answer in <answer> </answer>

GT: D

Test Multiple Questions in a Single Run

Prepare a file similar to examples/examples.jsonl, where each line represents a single question.

The model is loaded once and processes questions sequentially. The questions remain independent of each other.

For more details on the jsonl format, refer to the documentation for Single-Image Data and Multi-Image Data.

python example.py \
  --jsonl_path examples/examples.jsonl \
  --model_path sensenova/SenseNova-SI-1.3-InternVL3-8B

Evaluation

To reproduce the benchmark results above, please refer to EASI to evaluate SenseNova-SI on mainstream spatial intelligence benchmarks.

EASI supports over 20 spatial intelligence models and more than 20 spatial benchmarks, offering Docker for one-click spatial intelligence evaluation.

🖊️ Citation

@article{sensenova-si,
  title = {Scaling Spatial Intelligence with Multimodal Foundation Models},
  author = {Cai, Zhongang and Wang, Ruisi and Gu, Chenyang and Pu, Fanyi and Xu, Junxiang and Wang, Yubo and Yin, Wanqi and Yang, Zhitao and Wei, Chen and Sun, Qingping and Zhou, Tongxi and Li, Jiaqi and Pang, Hui En and Qian, Oscar and Wei, Yukun and Lin, Zhiqian and Shi, Xuanke and Deng, Kewang and Han, Xiaoyang and Chen, Zukai and Fan, Xiangyu and Deng, Hanming and Lu, Lewei and Pan, Liang and Li, Bo and Liu, Ziwei and Wang, Quan and Lin, Dahua and Yang, Lei},
  journal = {arXiv preprint arXiv:2511.13719},
  year = {2025}
}

Name		Name	Last commit message	Last commit date
Latest commit History 49 Commits
.github/workflows		.github/workflows
config		config
docs		docs
examples		examples
sensenova_si		sensenova_si
.gitignore		.gitignore
.pre-commit-config.yaml		.pre-commit-config.yaml
.python-version		.python-version
LICENSE		LICENSE
README.md		README.md
README_CN.md		README_CN.md
example.py		example.py
example_bagel.py		example_bagel.py
pyproject.toml		pyproject.toml
uv.lock		uv.lock

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SenseNova-SI: Scaling Spatial Intelligence with Multimodal Foundation Models

Overview

News

Models Zoo

Release Information

Models

Datasets

Data Format

🛠️ QuickStart

Installation

Hello World

Switching Between Supported Models

Examples

Example for BAGEL generation

Example 1

Example 2

Example 3

Example 4

Example 5

Example 6

Example 7

Test Multiple Questions in a Single Run

Evaluation

🖊️ Citation

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SenseNova-SI: Scaling Spatial Intelligence with Multimodal Foundation Models

Overview

News

Models Zoo

Release Information

Models

Datasets

Data Format

🛠️ QuickStart

Installation

Hello World

Switching Between Supported Models

Examples

Example for BAGEL generation

Example 1

Example 2

Example 3

Example 4

Example 5

Example 6

Example 7

Test Multiple Questions in a Single Run

Evaluation

🖊️ Citation

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