Author

Rui-Yu Wang

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Preprint Oct 2026

Dual-Stream Memory for Vision-Language-Action Policies

Memory-dependent manipulation requires a policy to track execution state and recover visual evidence that is no longer observable. We propose dual-stream memory for vision-language-action policies, assigning these requirements to complementary representations. A task-agnostic Gated DeltaNet compresses history into one...

Yang Wang, Ping Liu, Rui-Yu Wang et al. · 0 citations

Preprint Sep 2026

Localized Visual Feature Aggregation via Focus Pooling for Visuomotor Policies

Focusing on spatially localized, control-relevant visual cues has been shown to improve data efficiency in visuomotor policies by reducing the need to model task-irrelevant visual variation. Existing methods often impose this focus through input preprocessing, such as cropping control- or object-centric regions in RGB...

Rui-Yu Wang, Zhe-Yu Zhuang, Danica Kragic et al. · 0 citations