2 papers
cs.LG2026
Attention Sinks and Outliers in Attention Residuals
Haozheng Luo, Haoran Dai, Shaoyang Zhang +10
We propose OASIS, an outlier- and sink-aware technique built on inter-layer null signaling. As AttnResidual architectures introduce an additional depth-wise normalization channel,…
cs.RO2026
OrbiSim: World Models as Differentiable Physics Engines for Embodied Intelligence
Jiajian Li, Jingyuan Huang, Junru Gong +3
We present OrbiSim, a novel robotic simulation paradigm that redefines world models as a fully differentiable physics engine for embodied intelligence. Unlike prior world models th…