GeoThinker-$F$: Endogenous Predictive World Representations for Fast Spatial Intelligence

Abstract: Existing geometry-aware Multimodal LLMs (MLLMs) increasingly rely on external 3D encoders to provide structural priors, but executing these additional encoder paths at inference introduces substantial latency and computational overhead. We propose GeoThinker-$F$, an efficient framework that internalizes spatiotemporal perception by transforming causal MLLM hidden states into predictive latent world representations. Our key insight is that intermediate semantic representations contain sufficient information to predict useful representations of current geometry and future semantics, without requiring an exact reproduction of features from a dedicated 3D encoder. To realize this idea, GeoThinker-$F$ adopts a decoupled two-stage training strategy. In the first stage, the MLLM backbone is frozen while lightweight Latent Frame Prediction (LFP) heads learn from an offline 3D geometry expert and next-frame semantic targets. In the second stage, the external expert is removed, and the model is jointly optimized to generate and selectively integrate its self-predicted priors through a specialized Spatial-Grounded Temporal (SGT) Fusion module. Extensive evaluations show that GeoThinker-$F$ eliminates runtime dependence on external 3D geometry encoders while maintaining competitive performance across diverse spatial intelligence benchmarks. It achieves up to a $3.6\times$ inference speedup, reducing latency from $1.45\,\mathrm{s}$ to $0.40\,\mathrm{s}$ while retaining strong spatial reasoning performance.