Author

Jiaxing Fan

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#artificial intelligence Preprint Sep 2026

DRAM: Delta-rule Recurrent Associative Memory for Robot Manipulation Policies

Robotic manipulation is inherently history-dependent, yet most pretrained robotic policies condition on only the current observation or a short temporal window. Equipping such policies with long-term memory remains challenging: existing approaches either feed the backbone multi-frame observation windows, which substant...

Xin-Yu Zhao, Yixiang Shan, Tao Yang et al. · 0 citations

Preprint Aug 2026

Decoupling Policy Extraction for Offline Reinforcement Learning

This work revisits the conventional offline RL paradigm and proposes decoupling policy improvement from actor training, and trains the actor solely to model the behavior distribution and perform policy improvement at inference time by reranking multiple actor-generated proposals with a separately learned critic.

Xu-Yao Lin, Yixiang Shan, Jin-Ru Duan et al. · 2 citations