S3Mem: Structured Spatiotemporal Scene-Event Memory for Long-Horizon Interactive Question Answering

ArXi:2605.28831v1 Announce Type: cross Long-horizon interactive agents often accumulate large trajectory histories yet still fail to answer questions about earlier events reliably. We argue that the main bottleneck is not context length alone, but the trajectory-to-answer interface of long-term memory. When histories are d as plain-text chunks and queried with standard retrieval-augmented generation (RAG), systems often retrieve locally relevant but chain-incomplete evidence, especially for spatial, temporal, repeated-event, and multi-hop state questions.