Author

Wei Huang

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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

Autoregressive video diffusion enables scalable long-video generation by producing chunks from a bounded recent context. While recency-based caching preserves local continuity, it evicts historical cues needed when subjects, objects, scenes, or attributes reappear. Existing memory mechanisms expose models to nonlocal h...

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