# Multimodal Mathematical Reasoning Embedded in Aerial Vehicle Imagery: Benchmarking, Analysis, and Exploration

arXiv: https://arxiv.org/abs/2509.10059 · HTML: https://mlsanity.com/paper/2509.10059/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 22 of its 53 references that are in the map.
- First posted on arXiv 12 Sep 2025.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)
- Multimodal LLMs / vision-language models / [Embodied and 3D vision-language models](https://mlsanity.com/mllm/embodied-and-3d-vision-language-models/)

## Builds on (most cited first, 22 of 22)

- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Qwen-VL: A Versatile Vision-Language Model for Understanding, Localization, Text Reading, and Beyond](https://mlsanity.com/paper/2308.12966/) (2023)
- [Retrieval-Augmented Generation for Large Language Models: A Survey](https://mlsanity.com/paper/2312.10997/) (2023)
- [Decoupled Weight Decay Regularization](https://mlsanity.com/paper/1711.05101/) (2017)
- [InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models](https://mlsanity.com/paper/2504.10479/) (2025)
- [A Survey on Multimodal Large Language Models](https://mlsanity.com/paper/2306.13549/) (2023)
- [DeepSeek-VL: Towards Real-World Vision-Language Understanding](https://mlsanity.com/paper/2403.05525/) (2024)
- [MiniCPM: Unveiling the Potential of Small Language Models with Scalable Training Strategies](https://mlsanity.com/paper/2404.06395/) (2024)
- [Beyond the 80/20 Rule: High-Entropy Minority Tokens Drive Effective Reinforcement Learning for LLM Reasoning](https://mlsanity.com/paper/2506.01939/) (2025)
- [Plan-and-Solve Prompting: Improving Zero-Shot Chain-of-Thought Reasoning by Large Language Models](https://mlsanity.com/paper/2305.04091/) (2023)
- [VLM-R1: A Stable and Generalizable R1-style Large Vision-Language Model](https://mlsanity.com/paper/2504.07615/) (2025)
- [Measuring Multimodal Mathematical Reasoning with MATH-Vision Dataset](https://mlsanity.com/paper/2402.14804/) (2024)
- [Kimi-VL Technical Report](https://mlsanity.com/paper/2504.07491/) (2025)
- [InternLM-XComposer: A Vision-Language Large Model for Advanced Text-image Comprehension and Composition](https://mlsanity.com/paper/2309.15112/) (2023)
- [RSGPT: A Remote Sensing Vision Language Model and Benchmark](https://mlsanity.com/paper/2307.15266/) (2023)
- [M3CoT: A Novel Benchmark for Multi-Domain Multi-step Multi-modal Chain-of-Thought](https://mlsanity.com/paper/2405.16473/) (2024)
- [VRSBench: A Versatile Vision-Language Benchmark Dataset for Remote Sensing Image Understanding](https://mlsanity.com/paper/2406.12384/) (2024)
- [NovelQA: Benchmarking Question Answering on Documents Exceeding 200K Tokens](https://mlsanity.com/paper/2403.12766/) (2024)
- [CMM-Math: A Chinese Multimodal Math Dataset To Evaluate and Enhance the Mathematics Reasoning of Large Multimodal Models](https://mlsanity.com/paper/2409.02834/) (2024)
- [RS-GPT4V: A Unified Multimodal Instruction-Following Dataset for Remote Sensing Image Understanding](https://mlsanity.com/paper/2406.12479/) (2024)
- [TRR360D: A dataset for 360 degree rotated rectangular box table detection](https://mlsanity.com/paper/2303.01894/) (2023)
- [Opening the Black-Box: A Systematic Review on Explainable AI in Remote Sensing](https://mlsanity.com/paper/2402.13791/) (2024)

## Built on by (most cited first, 1 of 1)

- [CosFly-VLA: A Spatially Aware Vision-Language-Action Model for UAV Tracking](https://mlsanity.com/paper/2607.15004/) (2026)

## Abstract (arXiv)

Mathematical reasoning is critical for tasks such as precise distance and area computations, trajectory estimations, and spatial analysis in unmanned aerial vehicle (UAV) based remote sensing, yet current vision-language models (VLMs) have not been adequately tested in this domain. To address this gap, we introduce AVI-Math, the first benchmark to rigorously evaluate multimodal mathematical reasoning in aerial vehicle imagery, moving beyond simple counting tasks to include domain-specific knowledge in areas such as geometry, logic, and algebra. The dataset comprises 3,773 high-quality vehicle-related questions captured from UAV views, covering 6 mathematical subjects and 20 topics. The data, collected at varying altitudes and from multiple UAV angles, reflects real-world UAV scenarios, ensuring the diversity and complexity of the constructed mathematical problems. In this paper, we benchmark 14 prominent VLMs through a comprehensive evaluation and demonstrate that, despite their success on previous multimodal benchmarks, these models struggle with the reasoning tasks in AVI-Math. Our detailed analysis highlights significant limitations in the mathematical reasoning capabilities of current VLMs and suggests avenues for future research. Furthermore, we explore the use of Chain-of-Thought prompting and fine-tuning techniques, which show promise in addressing the reasoning challenges in AVI-Math. Our findings not only expose the limitations of VLMs in mathematical reasoning but also offer valuable insights for advancing UAV-based trustworthy VLMs in real-world applications. The code, and datasets will be released at https://github.com/VisionXLab/avi-math