Author

Hong-Jin Chen

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Preprint Oct 2026

StreamingWAM: Streaming World Action Modeling via Chunk-Wise Staircase Flow Matching

World Action Models (WAMs), often built upon pretrained video-generation world models, have emerged as a promising framework for general-purpose and open-ended robot control. However, their real-world deployment often suffers from discontinuous and jerky execution. Existing methods typically address this issue by eithe...

Shao-Jie Ren, Jing-Wen Sun, Ze-Zhi Liu et al. · 0 citations

Preprint Sep 2026

CAP: Continuously Adaptive Perception-Blind Humanoid Locomotion via Learned Denoising

CAP is proposed, a single-stage humanoid locomotion policy that recovers this signal with a perceptive world-model encoder trained as a learned denoiser to reconstruct clean depth from a corrupted input, together with a co-active proprioceptive variational encoder that supplies depth-free body-state information.

Hong-Jin Chen, Zi-Jun Xu, Shi-Hao Ma et al. · 0 citations