Publications
A collection of my research work.
Guided Streaming Stochastic Interpolant Policy
Puming Jiang†, Meiyi Wang†, Lin Kelvin, Ce Hao, Harold Soh
Proceedings of Robotics: Science and Systems (RSS) 2026
GSSIP enables inference-time steering for streaming robot policies, where action generation is aligned with execution rather than planned as a fixed open-loop chunk. The framework derives guidance mechanisms from a stochastic interpolant formulation, allowing robots to adapt online to changing values (e.g. obstacle) while maintaining low control latency.