Author

Yiren Zhao

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Preprint Aug 2026

How Should Vision-Language-Action Models Use Proprioceptive State?

Five representative interfaces are implemented -- discrete state prompt, VLM prefix, action prefix, state expert, and feature modulation -- under matched implementation details, and evaluated on 45 atomic tasks spanning three task families plus 20 composite tasks.

Yiren Zhao, Ziyang Chen, Ziyang Rao et al. · 0 citations

Preprint Aug 2026

OasisKV: Scaling In-Decode KV Cache Beyond HBM with Lookahead Sparse Prefetching

OasisKV is presented, a memory-centric LLM inference system design that alleviates HBM capacity pressure by decoupling full KV-cache storage from HBM during LLM decoding and observes that future important tokens can be predicted accurately in advance using lookahead tokens drafted by speculative decoding (SD).

Can Xiao, Sukmin Cho, Junbong We et al. · 0 citations