EgoSIS: From Factorized Visual Ego-Transitions to Motion-Canonical Spatial Evidence for UAV Reasoning
TL;DR
EgoSIS is presented, a pose-free adapter that converts RGB-derived bidirectional flow into motion-canonical visual evidence in three stages and provides an interpretable interface between optical flow and spatial reasoning.
Abstract
UAV video question answering requires separating camera motion from changes in the scene, but RGB-only multimodal models receive no explicit, stable reference for that separation. We present EgoSIS, a pose-free adapter that converts RGB-derived bidirectional flow into motion-canonical visual evidence in three stages. Factorized Visual Ego-Transitions (FVET) fits a robust image-plane transition and exposes motion, residual-support, and reliability factors. Reliability-Gated Ego-Transition Memory (ReTEM) uses reliability-weighted updates for a bounded history and re-anchors it at cuts or sustained uncertainty. Ego-Aligned Spatial Evidence (EASE) warps supported visual features into each segment's local anchor and injects four spatial evidence tokens per visual slice through zero-initialized residuals, without changing Qwen's visual-token count. On SIS-Bench, EgoSIS-8B obtains 89.9\% perception, 82.5\% perception-plus-memory, and 76.2\% overall accuracy, with the largest gains concentrated in self-awareness perception and memory. The adapter thus provides an interpretable interface between optical flow and spatial reasoning.