Distill What RGB Can Recover: Privileged 3D Evidence for RGB-Only Vision-Language Models
3D scene understanding requires reasoning about entity existence, spatial layout, and object relations, yet RGB images alone often provide insufficient 3D cues. Existing 3D-VLMs commonly rely on depth or 3D-position-aware inputs at inference time, introducing additional acquisition, reconstruction, or annotation costs that limit RGB-only deployment. We therefore study how training-time 3D evidence can be converted into spatial reasoning capabilities retained under RGB-only inference. We propose a privileged-evidence distillation framework that constructs a distillable teacher through a unified evidence interface and controlled residual injection, and transfers its knowledge to a deployabl...
| Authors | Yanbin Hu, Jin Cui, Jun Ye et al. |
|---|---|
| Primary category | cs.CV |
| Published | 31 July 2026 |
| Last updated at source | 31 July 2026 |
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