Author

Jin Wang

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Preprint Sep 2026

RoboAssist: Interactive Human-Humanoid Planning for Long-Horizon Surgical Assistance

Long-horizon surgical assistance requires humanoid robots to coordinate with evolving human activities while maintaining safety across planning and execution. We present RoboAssist, an agent-based framework for interactive human-humanoid planning that integrates workflow reasoning, task coordination, and cross-layer sa...

Jing-Wei Jia, Ke-Yu Zhou, Jie-Wei Wang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Staircase Policy: Streaming Inference for World-Action Models with Large Action Chunks

STAIRCASE POLICY is introduced, a streaming inference and training framework that turns a flow-matching VLA into a JEPA-style WAM and partitions a large action chunk into sub-chunks at staggered denoising stages, enabling long-horizon execution without repeated full policy inference.

Guoheng Sun, Chen Chen, Jin Wang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Scope-WM: Scoped Computation for Efficient Visual World Models

Visual world models enable robotic planning by predicting future observations, but dense latent-state propagation and sample-intensive trajectory optimization incur high inference latency and peak memory usage, limiting real-time deployment on resource-constrained platforms. Existing sparse world-model acceleration met...

Chun-Zheng Li, Ze-Sheng Jia, Hong-Da Zhang et al. · 0 citations