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#artificial intelligence Preprint Open access

A Progressive Training Strategy for Embodied Vision-Language Models to Mitigate Spatio-Temporal Hallucinations

Xiaoda Yang Shuai Yang Can Wang Jingyang Xue Menglan Tang Checheng Yu Xunzhe Zhou Sashuai Zhou Tao Jin Lixin Yang Xiangyu Yue Zhou Zhao
Sep 2026
Artificial Intelligence

Abstract

Vision-Language Models (VLMs) have made significant strides in static image understanding but continue to face critical hurdles in spatiotemporal reasoning. A major bottleneck is "multi-image reasoning hallucination", where a large performance drop between forward and reverse temporal queries reveals a dependence on superficial shortcuts instead of state-based understanding. To mitigate this, we first develop a new Chain-of-Thought (CoT) dataset that decomposes intricate reasoning into detailed spatiotemporal steps and definitive judgments. Building on this, we present a progressive training framework: it initiates with supervised pre-training on our CoT dataset to instill logical structures, followed by fine-tuning with scalable weakly-labeled data for broader generalization. Our experiments demonstrate that this approach not only improves backbone accuracy but also reduces the forward-backward performance gap from over 70% to only 6.53%. This shows that the method strengthens dynamic reasoning and reduces the inherent temporal biases of current VLMs.

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