Author

Run-Qi Chai

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Preprint Oct 2026

ACG-WAM: World-Action Modeling via Action-Conditioned Geometric Latent Prediction

World action models jointly learn visual predictionand robot actions, providing a way to use observations ofscene evolution for policy learning. Their video and actionlosses, however, provide no explicit target for the geometricconsequences of a demonstrated action sequence. Moreover,visual features taken after tempora...

Jiang-Tao Liu, Zi-Shang Xiang, Ya-Ge He et al. · 0 citations

Sep 2026

Constrained multiple shooting parameterized differential dynamic programming: Algorithm development and convergence analysis

Differential dynamic programming (DDP) is widely used for trajectory optimization due to its fast local convergence. Its parameterized extension, parameterized differential dynamic programming (PDDP), further enables the simultaneous optimization of unknown parameters and trajectory costs. However, in time-critical spa...

Fei Xia, Run-Qi Chai, Hyo-Sang Shin et al. · Proceedings of the Instituti... · 0 citations