Author

Di Huang

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#artificial intelligence Preprint Oct 2026

What Matters in Quality-Aware VLA Pretraining: A Benchmark and Empirical Study

How should demonstration quality be used during vision-language-action (VLA) pretraining to improve performance after target-task fine-tuning? We compare weighting, filtering, and conditioning across reward definitions and label granularities using 5,000 naturally suboptimal human demonstrations and 24 target tasks. Wi...

Ming-Xuan Yan, Li-Tian Gong, Di Huang et al. · 0 citations

Preprint Aug 2026

WorldToken: Time-First Sequence Modeling for Robotic Imitation Learning

WorldToken, a time-first policy instantiation that fuses multiview images, proprioception, and task conditioning within each policy timestep into one world token is introduced and its data-scaling and temporal-context behavior under the tested recipes are characterized.

Chunkai Yang, An-Dong Yang, Di Huang et al. · 0 citations