Yes, just touch the screen in order to walk around in VR or 360° mode when using CoSpaces. As long as you touch the screen, you will move into the direction that you are looking.
You might want to ask: How can I touch the screen if the phone is inside a headset?
One possibility: Your headset has a little hole (usually at the bottom or side) that allows you to put your finger through and touch the screen.
Other headsets – for example, the View-Master – have a button. This button triggers a mechanism that touches the screen for you. Therefore, you will move as long as you press the button.