Author

Ya-Fen Zhang

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Preprint Sep 2026

PhasePlan: Ordered Future-Phase Planning for Robot Brain Models

Robot brain models integrate vision, language, and robot state to generate actions for complex manipulation tasks. Most predict fixed-length action chunks that may span multiple task phases. This can obscure phase transitions and favor frequent action patterns, compromising action timing in dynamic environments. We pro...

Xiao-Yu Yang, Ya-Fen Zhang, Wen-Sheng Li et al. · 0 citations

#artificial intelligence Preprint Aug 2026

AcrossWAM1.0:A Modular Latent World-Action Stack for Compact Robot Policies

AcrossWAM1.0 contributes an auditable software and evaluation boundary for compact latent world-action policies, distinct from LaWAM's original latent-subgoal contribution.

Ya-Fen Zhang, Nan Wu · 1 citation