Author

Ya-Min Mao

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Preprint Aug 2026

R4DSG: Relative 4D Scene Graph Memory for Object-Centric Question Answering in Long Egocentric Video

Long-horizon egocentric video is a rich substrate for wearable AI assistants, but object-centric questions such as where an item was moved, when it last changed state, or why it was relocated remain difficult because caption- and transcript-based memories rarely preserve persistent object identity or structured spatial...

Ke Ma, Ya-Min Mao, Weiming Li et al. · 0 citations

Preprint Sep 2026

H-VLA: Hierarchical Vision-Language-Action Model with Key-Action Reasoning and Motion Planning in a Unified Action Space

Vision-Language-Action (VLA) models have shown strong potential for robotic manipulation, but many existing methods still rely on direct mappings from language and visual observations to dense actions. This formulation can weaken the semantic reasoning capability inherited from pre-trained Vision-Language Models (VLMs)...

Xiong-Feng Peng, Lu Xu, Yan-Dong Wang et al. · 0 citations