Author

Junjie Yang

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Preprint Oct 2026

Commit While Futures Agree: Consequence-Aware Adaptive Action Chunking for Robot Manipulation

Action-chunking policies predict multi-step control sequences, but a fundamental question remains: how much of a predicted action chunk should be committed before replanning? Existing systems typically execute a fixed-length prefix, implicitly assuming that the same execution horizon remains trustworthy across states....

Yu-Yan Li, Yu-Jian Wang, Yu-Song Huang et al. · 0 citations

Preprint Sep 2026

EditWM: Event-Decomposed World Modeling with Incremental Correction for End-to-End Autonomous Driving

World models support autonomous driving by predicting the scene evolution associated with candidate trajectories. Driving dynamics differ in predictability, motivating a distinction between regular evolution and event-induced deviations that call for selective correction. We propose EditWM, a world model that decompose...

Junjie Yang, Qi Zeng, You-You Li et al. · 0 citations