Author

Wei-Hang Guo

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Preprint Sep 2026

Zero-Shot Reactive Obstacle Avoidance for Generative Robot Policies

We propose NUDGE (Nudge Update via Differentiable GEometry), a training-free obstacle-avoidance procedure that can be incorporated in any robot policy based on diffusion or flow matching, including diffusion policies and vision-language-action models. Our work injects gradients from a signed distance field, a function...

Wei-Hang Guo, Lydia E. Kavraki · 0 citations

#artificial intelligence Preprint Sep 2026

Scaling Video Generation for Reasoning: At What Cost?

We study whether scaling video generation enables models to reason about hidden information from the past frames, and at what computational cost. Our controlled benchmark requires predicting nine prescribed moves of an initially solved 2x2x2 Rubik's Cube from a fixed view of three faces. Correct predictions require inf...

Wei-Hang Guo, Xiao-Yu Wu, Yi-Fei Wang et al. · 0 citations