publications

2026

1. arXiv 2026

   

   DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors

   Pengcheng Wang, Kaiwen Hong, Chensheng Peng, and 4 more authors

   arXiv preprint

   arXiv Website Bib

   @article{wang2026discretertc,
     title = {DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors},
     author = {Wang, Pengcheng and Hong, Kaiwen and Peng, Chensheng and Driggs-Campbell, Katherine and Tomizuka, Masayoshi and Xu, Chenfeng and Tang, Chen},
     journal = {arXiv preprint},
     year = {2026},
   }

2. ICML 2026

   

   DADP: Domain Adaptive Diffusion Policy

   Pengcheng Wang, Qinghang Liu, Haotian Lin, and 4 more authors

   ICML 2026

   arXiv Website Bib

   @article{wang2026dadp,
     title = {DADP: Domain Adaptive Diffusion Policy},
     author = {Wang, Pengcheng and Liu, Qinghang and Lin, Haotian and Li, Yiheng and Zhan, Guojian and Tomizuka, Masayoshi and Wang, Yixiao},
     journal = {ICML 2026},
     year = {2026},
   }

3. L4DC 2026

   

   TD-M(PC)²: Improving Temporal Difference MPC Through Policy Constraint

   Haotian Lin, Pengcheng Wang, Jeff Schneider, and 1 more author

   L4DC 2026

   arXiv Website Bib

   @article{lin2025td,
     title = {TD-M(PC)²: Improving Temporal Difference MPC Through Policy Constraint},
     author = {Lin, Haotian and Wang, Pengcheng and Schneider, Jeff and Shi, Guanya},
     journal = {L4DC 2026},
     year = {2026},
   }

4. ICML 2026

   

   REAR: Scalable Test-time Preference Realignment through Reward Decomposition

   Fuxiang Zhang, Pengcheng Wang, Chenran Li, and 6 more authors

   ICML 2026

   OpenReview Bib

   @article{zhangrear,
     title = {REAR: Scalable Test-time Preference Realignment through Reward Decomposition},
     author = {Zhang, Fuxiang and Wang, Pengcheng and Li, Chenran and Li, Yi-Chen and Chen, Yuxin and Feng, Lang and Xu, Chenfeng and Tomizuka, Masayoshi and An, Bo},
     journal = {ICML 2026},
     year = {2026},
     openreview = {https://openreview.net/pdf?id=z6pXpXufuO},
   }

5. ICML 2026

   

   Mind Your Entropy: From Maximum Entropy to Trajectory Entropy-Constrained RL

   Guojian Zhan, Likun Wang, Pengcheng Wang, and 4 more authors

   ICML 2026

   arXiv Bib

   @article{zhan2026mind,
     title = {Mind Your Entropy: From Maximum Entropy to Trajectory Entropy-Constrained RL},
     author = {Zhan, Guojian and Wang, Likun and Wang, Pengcheng and Zhang, Feihong and Duan, Jingliang and Tomizuka, Masayoshi and Li, Shengbo Eben},
     journal = {ICML 2026},
     year = {2026},
   }

6. ICLR 2026

   

   Mean Flow Policy with Instantaneous Velocity Constraint for One-step Action Generation

   Guojian Zhan, Letian Tao, Pengcheng Wang, and 5 more authors

   ICLR 2026 (Oral)

   Oral arXiv Bib

   Oral Presentation

   @article{zhan2026mean,
     title = {Mean Flow Policy with Instantaneous Velocity Constraint for One-step Action Generation},
     author = {Zhan, Guojian and Tao, Letian and Wang, Pengcheng and Wang, Yixiao and Li, Yiheng and Chen, Yuxin and Tomizuka, Masayoshi and Li, Shengbo Eben},
     journal = {ICLR 2026 (Oral)},
     year = {2026},
   }

2025

1. ICLR 2025

   

   Residual-mppi: Online policy customization for continuous control

   Pengcheng Wang, Chenran Li, Catherine Weaver, and 4 more authors

   ICLR 2025

   arXiv Website Bib

   @article{wang2024residual,
     title = {Residual-mppi: Online policy customization for continuous control},
     author = {Wang, Pengcheng and Li, Chenran and Weaver, Catherine and Kawamoto, Kenta and Tomizuka, Masayoshi and Tang, Chen and Zhan, Wei},
     journal = {ICLR 2025},
     year = {2025},
   }

2. ICRA 2025

   

   Residual Policy Gradient: A Reward View of KL-regularized Objective

   Pengcheng Wang, Xinghao Zhu, Yuxin Chen, and 3 more authors

   ICRA Safe-VLM Workshop (Spotlight)

   Spotlight arXiv Bib

   Spotlight Presentation

   @article{wang2025residual,
     title = {Residual Policy Gradient: A Reward View of KL-regularized Objective},
     author = {Wang, Pengcheng and Zhu, Xinghao and Chen, Yuxin and Xu, Chenfeng and Tomizuka, Masayoshi and Li, Chenran},
     journal = {ICRA Safe-VLM Workshop (Spotlight)},
     year = {2025},
   }

3. Under Review

   

   HDC-X: Efficient Medical Data Classification for Embedded Devices

   Jianglan Wei, Zhenyu Zhang, Pengcheng Wang, and 2 more authors

   Under Review

   arXiv Bib

   @article{wei2025hdc,
     title = {HDC-X: Efficient Medical Data Classification for Embedded Devices},
     author = {Wei, Jianglan and Zhang, Zhenyu and Wang, Pengcheng and Zeng, Mingjie and Zeng, Zhigang},
     journal = {Under Review},
     year = {2025},
   }