Author

Shao-Yi Zheng

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Preprint Oct 2026

INTRA: Interleaved Non-contiguous Token spaRse Attention

Transformers achieve strong performance across modalities but are bottlenecked by the quadratic cost of attention. Sparse attention can reduce this cost, but effective sparsity must preserve useful long-range communication and map well to GPU hardware. We introduce INTRA--Interleaved Non-contiguous Token spaRse Attenti...

Yuxuan Xia, Wenbo Lu, Shao-Yi Zheng et al. · 0 citations

#artificial intelligence Preprint Oct 2026

De-Diffusing WAMs: Action-Sufficient Direct Prediction for Robot Control

Cascade world-action models (WAMs) use predicted visual futures to condition robot actions, but inherit costly iterative inference from diffusion-pretrained experts. We ask what a single-step predicted future must preserve to support accurate single-step action prediction. In the evaluated WAM, resampling video noise h...

Shao-Yi Zheng, Zhong-Tao Jiang, Yue Peng et al. · 0 citations