In this paper, we introduce Predicate-State Video Reasoning Segmentation (PS-VRS), where a query defines a dynamic predicate P(o,t) over objects and time rather than a fixed object identity. Existing methods typically treat the target as permanently active once identified, leading to over-emission of masks during vacant intervals and failure to handle target switching. To address this, we construct PS-Bench, a large-scale benchmark with 2,077 videos and 16,250 queries annotated with explicit active/vacant predicate states, temporal intervals, and pixel masks. We further propose Predicate-State Grounding (PSG), a State-Bind-Emit pipeline that: (1) predicts [ACTIVE]/[VACANT] state tokens; (2) aligns them to video frames via dense cross-modal similarity; and (3) emits masks via SAM2 only for active states. Experiments show that PSG outperforms existing baselines by +9.32 𝒥 ℱ on PS-Bench and significantly reduces false-positive mask emissions. Our results demonstrate the effectiveness of explicit predicate-state modeling for video reasoning segmentation with dynamic visual witnesses.

Vision-language-action (VLA) models for autonomous driving typically express intermediate reasoning entirely in text, which may discard decision-relevant visual information. We propose Latent Dreaming (LatDM), a latent–text reasoning framework that complements textual chain-of-thought with continuous latent states. LatDM uses latent blocks to preserve visually grounded spatial and temporal information, while text handles semantic abstraction and decision communication. A pretrained visual encoder provides latent supervision during training, and the model autonomously interleaves latent and textual reasoning at inference. Experiments on VLADBench, CODA-LM, and NuInstruct show consistent improvements over the underlying VLA backbone, while ablations confirm that the latent channel contributes beyond standard textual fine-tuning.