After the warp. Ex: 7K into Chifu K. You can literally hit H and then the K(P+K) into P. You are using the H to cancel out a certain move in there that will cause it to drop. Unless you want to adapt into putting a extra button to that. It's optional and not really needed.
Yeah you can raw buffer H as well to get the button timing down. I didn't do that in the Combo challenge video..but after being in the lab, It was possible and made easier without me realizing there was a easier button to do. http://www.freestepdodge.com/media/doa5u-phase-4-combo-challenge.5885/
Basically you are inputting Guard/Free to stop you from hitting other motions. For example: Akira, after his 64T, You can do 2H+KP into 246P. However, there is a side step after 2H+KP, so you input H right after it to cancel the SS and inputting the raw 246P. Basically you can cancel stuff that may end up doing something else.