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cs.RO2026
Steering Robustness into World Action Models via Mechanistic Interpretability and Optimal Control
Jihoon Hong, Julian Skifstad, Qiyue Dai +2
World Action Models (WAMs) enable semantically- and physically-informed control but are brittle under distribution shift. In this work, we use mechanistic interpretability to study…
cs.RO2026
PolyMerge: Compressing 3D Gaussian Splats with Polytope Coverings for Provably Safe Resource-Constrained Navigation
Jihoon Hong, Chih-Yuan Chiu, Sara Fridovich-Keil +1
Obstacle avoidance is essential for safe navigation and motion planning. Recent radiance field reconstruction methods enable object detection and modeling with high fidelity, but r…