3 papers
cs.RO2026
Geometry-Aware Motion Latents for Learning Robust Manipulation Policies
Yunchao Zhang, Yijia Weng, Ruizhe Liu +3
Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-d…
cs.RO2026
Tri-Info: Generalizable, Interpretable Failure Prediction for VLA Models via Information Theory
Jinghan Yang, Yunchao Zhang, Wang Yuan +4
Vision-Language-Action (VLA) models are increasingly deployed across diverse tasks, yet they remain black boxes whose physical interactions can cause irreversible harm, making gene…
cs.CV2024
InfoGaussian: Structure-Aware Dynamic Gaussians through Lightweight Information Shaping
Yunchao Zhang, Guandao Yang, Leonidas Guibas +1
3D Gaussians, as a low-level scene representation, typically involve thousands to millions of Gaussians. This makes it difficult to control the scene in ways that reflect the under…