Author

Wei Huang

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Preprint Oct 2026

MemAct: Streaming Spatial Understanding with Memory and Active Exploration

Spatial understanding is essential for embodied agents navigating and interacting with the physical world. As observations arrive incrementally, agents must reason in a streaming manner. Yet streaming understanding must also be closed-loop: task-relevant evidence may require both recalling past observations and activel...

Yu-Xi Wei, Wei Huang, Qi-Rui Chen et al. · 0 citations

Preprint Sep 2026

D$^2$-VLA: Dual-Memory Dual-Frequency Vision-Language-Action Model For Long Dynamic Manipulation

D$^2$-VLA is presented, which combines dual memory and dual-frequency control at the KV-cache interface of a pretrained VLA, which uses block-wise causal KV caching to encode observations incrementally and constructs separate historical KV read views for the VLM and action expert.

Zi-Jian Ye, Chen Wei, Wei Huang et al. · 0 citations

Preprint Aug 2026

LayerRecall: A State-Conditioned Memory Router for Long-Horizon Consistency in Video Generation

This work introduces LayerRecall, a current-conditioned, layer-selective memory router that retrieves relevant historical K/V states and injects them only into backbone-specific memory-sensitive layers while preserving local attention elsewhere, and proposes Cross-Horizon Prediction Matching (CHPM), which uses a privil...

Yixuan Ding, Jia-Hao Kong, Wei Huang et al. · 2 citations · ⚡2