Long-document understanding requires locating sparse and heterogeneous evidence across hundreds of pages, yet existing systems remain limited by static retrieval and fragile cross-round memory. Mainstream single-round methods commit to a fixed top-$k$ page set at the outset and struggle to recover from early retrieval errors; recent iterative approaches allow multi-round evidence acquisition, but they do not investigate the propagation mechanism of cross-round states, making it difficult to track the dynamic changes in page relevance. To address these limitations, we propose DocMemo, a memory-guided framework that formulates long-document reasoning as dynamic evidence exploration. DocMemo maintains a tri-level retrieval state consisting of Document Schema Memory, Page Belief Memory, and Question Episodic Memory, which respectively capture structural priors, dynamic relevance estimation, and query-specific reasoning trajectories. During reasoning, DocMemo continuously refines cross-round page selection through Bayesian page belief updating with Thompson sampling, spatial proximity propagation, and structure-aware adaptive-granularity evidence access, while supplementing page-level evidence with fine-grained visual regions. Experiments on 3 benchmarks show that DocMemo achieves state-of-the-art performance and validate the efficacy of structured memory and dynamic page belief updating. Code is available at https://github.com/Harrygof/DocMemo.
Hanshu Yao, Janfeng Zhong, Niu Lian et al.· 0 citations
World models enable agents to perform forward rollout and planning without real-world interaction. However, their application in open-world embodied intelligence remains limited by the high cost of action annotations and the heterogeneity of action spaces across platforms. Recently, latent action models (LAMs) have alleviated this bottleneck by learning action representations directly from unlabeled human videos in a self-supervised manner. Nevertheless, most existing LAMs rely on single-view inputs and operate primarily in 2D pixel space, raising a fundamental question: can simply incorporating multi-view videos into LAM training endow the learned latent actions with 3D-aware perception? Our study shows that the answer is negative. The primary reasons lie in future-frame appearance leakage as well as inter-camera appearance discrepancies and viewpoint variations. To address these issues, we propose LAWM-3D, which introduces three tightly coupled key designs: (1) a multi-view invariant unified action tokenization scheme for learning 3D-aware latent actions; (2) a geometric alignment constraint that anchors intermediate encoder features to a pretrained 3D foundation model, thereby explicitly providing cross-view geometric correspondences; and (3) a non-injective RGB-D joint reconstruction objective that prevents shortcut learning from future-frame appearance information, forcing the LAM to focus supervision on motion cues with geometric significance. Importantly, these components are not simply stacked but are tightly coupled through a unified motivation. Built upon a two-stage paradigm of large-scale human video pretraining followed by robot fine-tuning, extensive experiments demonstrate that the proposed 3D-aware latent actions significantly improve world model performance, achieving SOTA results in generation quality, physical consistency, and generalization ability.
Jiaru Yang, Jiale Zhange, Jiawei Li et al.· 0 citations
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