Author

Siao Liu

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Preprint Sep 2026

Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies

Learning chunk-based visuomotor policies for long-horizon robot manipulation remains challenging. Recent action-chunking methods have shown promising performance by predicting temporally extended action sequences. However, their failures are often dominated by prediction errors at a small number of critical timesteps r...

Chen-Yang Wang, Yun-Tian Wang, Xiao-Xiong Yang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Scope-WM: Scoped Computation for Efficient Visual World Models

Visual world models enable robotic planning by predicting future observations, but dense latent-state propagation and sample-intensive trajectory optimization incur high inference latency and peak memory usage, limiting real-time deployment on resource-constrained platforms. Existing sparse world-model acceleration met...

Chun-Zheng Li, Ze-Sheng Jia, Hong-Da Zhang et al. · 0 citations