Warps are preset areas that you can teleport to using the /warp command. To use a warp you simply type in /warp warpname. Warps are case sensitive and should not have spaces in them. This means that /warp my_house is not the same as /warp My_House or /warp MYHOUSE.
To view the warps that you have set, use the command /warp assets
As ships begin to travel around the worlds, there will be warps listed in the hold of each ship that point to previous spawn points for that world.