cs.CVAug 19, 2026
SaveDynCur-Geo: Dynamic Curiosity Reward Shaping for Multimodal Active Geo-Localization
Organizations: School of Automation, Southeast University, Nanjing 210096, China
Abstract
Active geo-localization enables low-altitude UAVs to search for specified targets from limited local aerial observations, supporting time-sensitive applications such as search and rescue and emergency inspection. However, multimodal target cues, restricted views, and sparse feedback make it difficult to balance exploration with target convergence. Existing curiosity-driven methods assign a fixed intrinsic-reward weight throughout search, which can continue rewarding novelty after the agent nears the target and induce detours. We propose DynCur-Geo, a dynamic curiosity framework that adjusts prediction-error intrinsic reward according to remaining target distance. A distance-aware gate encourages early exploration and shifts the policy toward goal-directed behavior near the target, while potential-based reward shaping supplies dense progress guidance. Experiments across multimodal, cross-scene, disaster-affected, and long-range settings show consistent gains over active geo-localization baselines.
Figures & tables
Figure 1: Motivation for distance-gated curiosity. GeoExplorer uses a fixed curiosity weight that can weaken late-stage convergence by rewarding novelty throughout search (orange). Our dynamic gate weights intrinsic reward more strongly far from the target and less near it, promoting exploration followed by goal-directed convergence (blue–green).
Figure 2: Training pipeline and reward construction. Target cues and local aerial observations form a trajectory history processed by a frozen GeoExplorer dynamics model. Prediction error provides intrinsic reward, whose weight is reduced near the target and combined with external progress and PBRS rewards for PPO training.
Figure 3: Qualitative visualization of multimodal active geo-localization and test-time policy trajectories. In (a), blue, orange, and green target borders and their corresponding paths denote aerial-image, ground-view-image, and text cues, respectively. In (b), path colors identify DynCur-Geo (blue), GOMAA-Geo (orange), and GeoExplorer (green). Blue squares and yellow circles mark the start and goal cells.
Figure 4: Qualitative xBD cross-disaster visualization. Yellow boxes indicate pre-disaster target regions and red boxes indicate the corresponding post-disaster regions. The lower panels show the pre-disaster target cue and the post-disaster search scene with a test-time policy trajectory; blue squares and yellow circles mark the start and goal cells.
| Method | MASA | MM-GAG | xBD-pre | xBD-dis. | Avg. |
|---|---|---|---|---|---|
| Random | 0.1000 | 0.0868 | 0.0925 | 0.0925 | 0.0929 |
| PPO | 0.2280 | 0.1991 | 0.1712 | 0.1676 | 0.1915 |
| DiT | 0.2280 | 0.2255 | 0.2409 | 0.2365 | 0.2327 |
| GOMAA-Geo | 0.5800 | 0.5464 | 0.5612 | 0.5534 | 0.5602 |
| GeoExplorer | 0.5640 | 0.5421 | 0.5233 | 0.5372 | 0.5417 |
| DynCur-Geo | 0.6200 | 0.6357 | 0.5973 | 0.5984 | 0.6129 |
Table 5: Unified SR on MASA/A, MM-GAG/A, xBD-pre/A, and xBD-disaster/A; Avg. denotes their macro-average.
| Ext. | Int. | Gate | PBRS | |||||
|---|---|---|---|---|---|---|---|---|
| 0.3617 | 0.4326 | 0.5801 | 0.7305 | 0.7773 | ||||
| 0.3248 | 0.3546 | 0.6085 | 0.8014 | 0.8823 | ||||
| 1 | 0.1518 | 0.1064 | 0.0794 | 0.0752 | 0.0468 | |||
| 1 | 0.2525 | 0.3418 | 0.5816 | 0.8184 | 0.8369 | |||
| Const | 0.3787 | 0.3972 | 0.5220 | 0.5929 | 0.5787 | |||
| Const | 0.3050 | 0.4099 | 0.5986 | 0.7816 | 0.8426 |
Table 7: Reward ablation on MM-GAG/A/G/T ( , ); each column averages A/G/T.
Figure S1: Distance-stratified route gallery for DynCur-Geo. Each row contains two successes followed by two failures at the same initial distance. Every side cue rail shows the target photograph; failed panels also show the final-cell photograph. denotes success/failure, is path length for a success, and the pair on a failure is minimum/final distance.
Figure S2: Successful-route atlas for DynCur-Geo: four efficient successes, four detour successes, and four late-convergence successes. is initial distance, marks success, and is path length. Each panel pairs the route image with its target-cell photograph in a compact side cue rail.
Figure S3: Aggregate route-shape descriptors on all 735 shared diagnostic tasks per policy. DynCur-Geo denotes the proposed method, matching the main-paper terminology. The method has slightly higher path efficiency and progress-step ratio, and slightly lower revisit and regress ratios, than the two baselines.
Figure S4: Failure atlas for DynCur-Geo. Rows show four examples each of post-entry drift, revisit/ping-pong, approach-then-regress, non-convergence, and partial progress. Each compact side cue rail compares target and final-cell photographs, while a yellow cross marks the final cell in the full route view. marks failure; the numeric pair is minimum/final target distance.
| Successful methods | Total | |||
|---|---|---|---|---|
| None | 155 | 29 | 0 | 184 |
| GeoExplorer only | 57 | 15 | 1 | 73 |
| GOMAA-Geo only | 44 | 41 | 2 | 87 |
| GOMAA-Geo + GeoExplorer | 25 | 33 | 6 | 64 |
| DynCur-Geo only | 40 | 39 | 10 | 89 |
| DynCur-Geo + GeoExplorer | 29 | 40 | 8 | 77 |
Table S2: Success-combination counts on shared diagnostic tasks. Each row lists the methods that hit the target within ; omitted methods failed on the same task.
Figure S5: Four same-task cases in which DynCur-Geo succeeds and both baselines fail, shown as matched task columns and method rows. The columns cover while giving each route panel sufficient space. Start, target, and budget are identical within a column; the route panels omit target-photo insets so that the paths remain unobstructed. gives success and path length; gives failure and terminal distance.
Figure S6: Four matched cases in which DynCur-Geo fails and at least one baseline succeeds, again shown as matched task columns and method rows without target-photo insets. The layout and annotations match Fig. S5 .
Figure S7: Matched-distance stepwise diagnostics. Each row compares a success (left) with a failure (right) at the same . Route panels include the exact target cue. Curves show remaining distance, the distance gate, and realized reward components. Successful routes contract the gate toward 0.405; failures show that regress actions reactivate the gate.
Figure S8: Step-level reward distribution on the seven recorded full-reward diagnostic routes used for the mechanism plots. The summary covers 58 transitions and groups them by whether the executed action reduces target distance, increases target distance, or reaches the terminal target cell. The plot decomposes each transition into external reward, gated intrinsic contribution, PBRS shaping, and total reward; it is a diagnostic decomposition rather than a full-route-bank estimate.
Figure S9: Controlled route comparison on one fixed task. The complete-reward policy reaches the target; the separately trained policies without the distance gate or without PBRS both finish at SG . Only one training factor changes in each comparison.
Figure S10: Population dynamics over all 2,205 recorded routes. Bands and error bars are 95% percentile intervals from 2,000 deterministic bootstrap resamples clustered by aerial image. Top: mean remaining distance by initial distance. Bottom: cumulative exact-hit rate, progress probability conditioned on current remaining distance, and outcomes after first reaching distance one. Curves summarize the full trajectory bank.
Figure S11: Target/search protocol illustrations for aerial, MM-GAG, SwissView, and xBD inputs. The target cue is fixed before rollout, and the policy searches the corresponding observation stream.
Figure S12: Recorded xBD routes on four exactly matched tasks. Panels (a)–(d) show pre-only success, post-only success, success under both domains, and failure under both, respectively. Each panel pair fixes pair, start, pre-disaster target, , repeat, and budget; only the search image changes from pre-disaster (left route) to post-disaster (right route). Target-cue thumbnails are omitted so the route panels remain large and unobstructed.
Figure S13: Recorded cross-modal routes. Each row pairs an MM-GAG aerial target and route (left) with a SwissViewMonuments ground-photo target and aerial route (right). Cases cover long- and short-distance successes, near misses, and larger terminal errors. Swiss targets span castle, waterfront, civic-building, and dam/mountain scenes. The MM-GAG evaluator uses all 47 indexed samples; the Swiss rows use the controlled ground-to-aerial route set described in this supplement.
| Recorded evaluator | Episodes | SR | SG | Succ. eff. | Revisit | Progress | Hit after | Exit after |
|---|---|---|---|---|---|---|---|---|
| xBD pre, aerial target | 20,000 | 0.5973 | 1.3018 | 0.9304 | 0.1882 | 0.7585 | 0.7316 | 0.3465 |
| xBD disaster, pre-disaster target | 20,000 | 0.5984 | 1.2813 | 0.9322 | 0.1888 | 0.7599 | 0.7332 | 0.3475 |
| MM-GAG, aerial target | 1,175 | 0.6357 | 1.1319 | 0.9278 | 0.1732 | 0.7720 | 0.7477 | 0.3624 |
| SwissMon ground, max80 | 1,380 | 0.5420 | 1.4457 | 0.8714 | 0.2176 | 0.7124 | 0.6997 | 0.4640 |
Table S3: Route-level descriptors recomputed from every saved trajectory in four evaluators. Succ. eff. is shortest distance divided by path length on successful episodes. The last two columns condition on first reaching distance one. The rows have different dataset scopes and are diagnostic rather than a controlled modality ablation.
Figure S14: Formal MASA enlarged-grid results. Panels (a)–(b) report per-distance SR for ( , ) and ( , ); panel (c) reports aggregate SR for , , and , where uses and .
| Training pool | Images | Avg. SR | Avg. SG |
|---|---|---|---|
| MASA+MM-GAG | 184 | 0.6033 | 1.2543 |
| MASA+SwissView100 | 237 | 0.5684 | 1.4191 |
| MM-GAG+SwissView100 | 147 | 0.5497 | 1.7869 |
| MASA+MM-GAG+SwissView100 | 284 | 0.5232 | 1.7952 |
| SwissView100 | 100 | 0.5103 | 2.0490 |
| MASA | 137 | 0.4443 | 2.1380 |
Table S4: Training-pool selection under the unified evaluator. The final pool uses MASA+MM-GAG: 137 MASA images and 47 MM-GAG images. The comparison uses dynamically sampled navigation episodes from each image pool.
| Scenario | Avg. | |||||
|---|---|---|---|---|---|---|
| MASA/A | 0.6200 | 0.2400 | 0.4000 | 0.6400 | 0.8800 | 0.9400 |
| MM-GAG/A | 0.6357 | 0.2979 | 0.3915 | 0.6894 | 0.8766 | 0.9234 |
| xBD-pre/A | 0.5973 | 0.3033 | 0.4065 | 0.6230 | 0.8115 | 0.8423 |
| xBD-dis./A | 0.5984 | 0.2923 | 0.4085 | 0.6290 | 0.8180 | 0.8443 |
Table S5: Distance-stratified DynCur-Geo results for the unified , , evaluator. Panel (a) reports SR and panel (b) reports SG. The same fixed task-bank protocol is used as in the unified main comparison.