Author

Dian-Ye Huang

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Preprint Sep 2026

Remember What You Did: Action-History Memory with Dual-Expert Denoising for Long-Horizon Vision-Language-Action Policies

Vision-language-action (VLA) models have driven rapid progress in robotic manipulation, demonstrating strong fine-grained control and promising performance on long-horizon tasks. However, many existing VLAs lack explicit access to interaction history, making them vulnerable to perceptual aliasing: similar current obser...

Ya-Xin Zhao, Dian-Ye Huang, Chen-Wei Wang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

ReWeight: Leveraging Human Data for VLA Post-Training via Demonstration Retrieval and Sample Weighting

Post-training vision-language-action (VLA) models for specific robots and tasks requires in-domain demonstrations, yet collecting diverse robot data is costly. Egocentric human demonstrations provide a scalable alternative, but directly mixing human and robot data can introduce cross-embodiment discrepancies and degrad...

Chen-Wei Wang, Dian-Ye Huang, Match W. L. Ko et al. · 0 citations