Author

Chenghao Gu

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Preprint Sep 2026

ChunkTrust: Adapting Execution Horizons for Robot Policies with Action-Expert Evidence

Robot foundation policies predict action chunks, but how many actions to execute before replanning depends on the current task phase. We introduce ChunkTrust, which treats the execution horizon as a latent variable inferred from action-expert evidence rather than a fixed hyperparameter. Its training-free Action-aware H...

Fan-Ding Huang, Jing-Yan Jiang, Shi-Feng Bao et al. · 0 citations

Preprint Aug 2026

GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions

GeniWorld is presented, an interactive world model for robots that generalizes robustly across unseen scenarios by explicitly decoupling embodiment kinematics from environmental dynamics, and generates diverse manipulation trajectories within the world model, improving downstream policy performance and robustness in co...

Cheng-Hao Gu, Hanyang Yu, Jingbo Zhang et al. · 2 citations · ⚡2