Author

Run-Wei Guan

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Preprint Sep 2026

RCVLA: 4D Radar-Grounded Semantic Reasoning and Trajectory Arbitration for Autonomous Driving

4D radar provides geometric and motion cues that complement visual semantics, but integrating it into vision-language-action (VLA) models requires both radar--language alignment for semantic reasoning and explicit use of radar measurements for trajectory refinement and selection. To support these capabilities, we const...

Lian-Qing Zheng, Xiao-Kai Bai, Yi-Xuan Luo et al. · 0 citations

Jul 2026

4DR360: State Reasoning for Joint 3D Detection and Occupancy Prediction in 4D Radar-Camera Full-Scene Perception

A 4D radar-camera framework for 360 full-scene perception, which models semantic occupancy as a persistent scene state rather than a terminal output, and follows a cross-modal state reasoning paradigm.

Xiao-Kai Bai, Lian-Qing Zheng, Run-Wei Guan et al. · arXiv.org · 3 citations

2026

Memory-Augmented Multimodal Large Language Models for Small Object Understanding in Streaming Aerial Videos

This work proposes SkyAnchor, an MLLM with two designs to the above challenges: a Semantics-Aware Token Router that preserves small-target under a reduced visual-token budget, and a Hierarchical Memory Bank that keeps the target consistently understood on streams.

Penglei Sun, Yehua Huang, Zhuoli Tao et al. · arXiv.org · 0 citations