# Towards Active Cross-View Object Geo-Localization

arXiv: https://arxiv.org/abs/2609.19662 · HTML: https://mlsanity.com/paper/2609.19662/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 19 references that are in the map.
- First posted on arXiv 17 Sep 2026.

## Builds on (most cited first, 8 of 8)

- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [University-1652: A Multi-view Multi-source Benchmark for Drone-based Geo-localization](https://mlsanity.com/paper/2002.12186/) (2020)
- [AgentGym-RL: Training LLM Agents for Long-Horizon Decision Making through Multi-Turn Reinforcement Learning](https://mlsanity.com/paper/2509.08755/) (2025)
- [A Survey on Socially Aware Robot Navigation: Taxonomy and Future Challenges](https://mlsanity.com/paper/2311.06922/) (2023)
- [DriveAgent-R1: Advancing VLM-based Autonomous Driving with Active Perception and Hybrid Thinking](https://mlsanity.com/paper/2507.20879/) (2025)
- [VAGeo: View-specific Attention for Cross-View Object Geo-Localization](https://mlsanity.com/paper/2501.07194/) (2025)
- [Recurrent Cross-View Object Geo-Localization](https://mlsanity.com/paper/2509.12757/) (2025)

## Abstract (arXiv)

Cross-view object geo-localization (CVOGL) typically assumes a fixed query image, overlooking the ability of mobile agents to actively acquire more informative observations. To address this limitation, we introduce Active Cross-View Object Geo-Localization (ActiveGeo), where an agent sequentially selects new viewpoints and determines when to stop, aiming to improve localization with minimal observations. We further propose ActiveMoPT, an ActiveGeo framework with three-stage training. First, Multi-View Prompt-Preserving Adaptation enables the model to aggregate multiple query views while reusing the initial prompt. Second, Trajectory-Guided Policy Initialization uses supervised agent trajectories to learn viewpoint selection and initial stopping behavior. Third, Cost-Aware Policy Refinement employs GRPO with a gain-cost reward to jointly optimize localization accuracy and observation efficiency. We also construct ActiveGeo-858, a zero-shot test set containing 858 scenes and 1,716 target annotations. Experiments show that ActiveMoPT achieves state-of-the-art performance on MoP-UAV using only 1.45 query views on average, and substantially outperforms previous CVOGL approaches under zero-shot evaluation on ActiveGeo-858.