Author

Yue Yu

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Preprint Oct 2026

ReTrace: Cross-Stage Failure Attribution for Self-Improving Robotic Manipulation

General-purpose multimodal foundation models are increasingly capable of directly controlling robots, yet improving their manipulation capabilities through autonomous interaction remains challenging. A key challenge to such self-improvement is learning from failures in complex manipulation tasks involving cross-stage d...

Yue Yu, Bin Zhu, Jun-Hui Li et al. · 0 citations

Lightweight Diffusion‑GAN for Low‑Resource Image Inpainting

The method employs a lightweight UNet architecture based on depthwise separable convolutions, substantially reducing the parameter count while decreasing inference steps from 1000 to 20 through a fast sampling strategy, exhibiting excellent quality-efficiency trade-offs.

Yue Yu · 0 citations

Preprint Sep 2026

MoWAM: Explicit Future Motion Prediction for Efficient World Action Models

Experiments demonstrate that MoWAM achieves strong in-distribution performance, improved out-of-distribution robustness, and higher average real-world success than representative WAM baselines, demonstrating that explicit future motion provides an effective and efficient basis for inference-time scaling.

Jia-Yu Wang, Bin Zhu, Yue Yu et al. · 2 citations