CityVG: Contrastive Fine-Tuning and Reward-Based Chain-of-Thought Reasoning for Zero-Shot City-Scale 3D Visual Grounding

Abstract3D Visual Grounding (3DVG) locates objects in 3D scenes based on natural language descriptions. However, existing methods are primarily confined to small-scale indoor data or rely on heavy supervision, failing to generalize to the complexity of large-scale urban environments. To address this limitation, we present CityVG, the first city-scale zero-shot 3D visual grounding framework capable of localizing urban objects without manual annotations. Our approach adopts a retrieval-and-reasoning paradigm comprising two key components. Specifically, we propose a contrastive fine-tuning strategy to align textual queries with urban scene graphs. By leveraging an LLM-driven graph clustering mechanism, we automatically construct high-quality positive and negative training pairs and fine-tune the text encoder via contrastive learning, resulting in a scene-adaptive text encoder that enables efficient alignment without grounding supervision. Complementing this, we introduce a multi-trajectory reward-based Chain-of-Thought (CoT) reasoning strategy for inference. This mechanism iteratively evaluates candidate objects by aggregating reward scores across diverse reasoning trajectories, selecting the target that is most consistent with both appearance and spatial constraints. Extensive experiments on city-scale 3D grounding benchmarks demonstrate that CityVG achieves strong zero-shot localization performance and generalizes effectively to unseen urban environments.