Author

Yikai Wang

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Preprint Sep 2026

KPI: A Promptable Kernel for Physical Interaction on Humanoids

Humanoids now walk, balance and reach with remarkable generality: one whole-body tracking policy follows references from a human, or from an end-to-end policy. That generality travels in the trajectory, and a trajectory alone carries limited information about the interaction it should produce: at contact, the executing...

Yi-Kai Wang, Hong-Hao Zhu, Xiao Hu et al. · 0 citations

#robotics Preprint Aug 2026

Keep the Future, Drop the Rollout: RIFT for World Action Models

World action models (WAMs) condition robot actions on predicted futures, but iterative video rollout increases deployment latency. We ask whether action generation requires the evolving rollout trajectory or only its future representation. Across four WAMs on 40 simulated robotic manipulation tasks, paired closed-loop...

Chu-Shan Zhang, Jinguang Tong, Xuesong Li et al. · 1 citation