Author

Zhongliang Jiang

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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

Scanning While Imagining: A Scene-Graph World Model for Robotic Ultrasound Navigation

Ultrasound (US) acquisition depends on the operator's ability to interpret anatomy and anticipate how the view will change with probe motion. Many robotic US navigation methods select actions without explicitly predicting these anatomical changes. We propose SonoGraph-WM, an action- and goal-conditioned world model for...

Xue-Song Li, Shuai Chen, Feng Li 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