Abstract

City-scale 3D grounding is commonly formulated as candidate ranking, which requires precomputed instance proposals and becomes inefficient in large outdoor scenes. We propose Urbex, an agentic vision-language framework that instead casts grounding as active spatial search. Urbex represents a city-scale 3D scene as an interactive multi-view environment, allowing a VLM agent to query landmarks, zoom into local regions, render oblique views, and commit a grounded bounding box. We optimize this tool-use policy with reinforcement learning on CityRefer, using smooth localization rewards and lightweight shaping rewards for efficient exploration. Experiments show that Urbex achieves the best Hit@1 and IoU on CityRefer, supports candidate-free grounding without ground-truth boxes, and is substantially faster than the strongest city-scale ranking baseline. Zero-shot results on STPLS3D-Refer further indicate improved cross-scene robustness.

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Visualization