Long-video embedding requires capturing sparse query-relevant evidence under a limited visual-token budget. Uniform sampling can miss brief events in videos spanning minutes or hours, whereas encoding more frames in a single context increases memory and computation. We introduce \textbf{Query-Aware Streaming Latent Rea …
On-policy self-distillation (OPSD) uses reference solutions as privileged hindsight to supervise student-generated reasoning trajectories. However, reference-based guidance may explain a correct solution without addressing why the student's own reasoning fails. This reasoning mismatch between the guidance provided and …
World-action models (WAMs) have emerged as a promising paradigm for robot manipulation by jointly modeling future visual dynamics and robot actions. However, existing WAMs are trained predominantly on successful trajectories, making them prone to failure when real-world execution diverges from the learned dynamics. Thi …