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arXiv · 2610.40801

Drone-PUR: From Visual Clue Discovery to Understanding and Reasoning in UAV Scenes

Jiahe Wu·Bing Cao·Xingyue Guo·Ruipu Zhao·Beiming Yu·Jiekang Feng·Qinghua Hu·Pengfei Zhu
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Abstract

The reasoning capabilities of vision-language models (VLMs) can be limited by incomplete or inaccurate visual observations in the general domain. In unmanned aerial vehicle (UAV) scenes, small targets, subtle attributes, and changing viewpoints further complicate perception and understanding. Therefore, we introduce Drone-PUR, a dataset and benchmark organized around visual clue discovery, interpretation, and integration, corresponding to the three capability dimensions of perception, understanding, and reasoning. Reasoning samples are designed to require models to combine multiple visual clues to derive visually grounded conclusions. Its 11 tasks provide 175k training and 20k test samples spanning single images, image sequences, cross-modal images, and multiple viewpoints. All test samples undergo human review. Evaluating 22 general-purpose VLMs reveals persistent limitations in spatial judgment and cross-modal and cross-view reasoning. Across models, stronger perception is associated with better reasoning, while single-task fine-tuning further reveals selective bidirectional transfer between these capabilities. To examine domain adaptation, we develop UAV-PUR from Qwen3-VL through staged fine-tuning with auxiliary supervision. Its 4B and 8B variants improve overall multiple-choice accuracy by 18.33 and 17.52 percentage points over their pretrained counterparts, respectively. The dataset and project resources are available at https://drone-pur.github.io.

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Jiahe Wu, Bing Cao, Xingyue Guo, Ruipu Zhao, Beiming Yu, Jiekang Feng, Qinghua Hu, Pengfei Zhu. 2026-10-29. Drone-PUR: From Visual Clue Discovery to Understanding and Reasoning in UAV Scenes. https://arxiv.org/abs/2610.40801

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