3 papers
cs.RO2026
Learning Keypoint Constraints from Visual Demonstrations for Safe Motion Planning
Zheng Qiu, Zhouyu Zhang, Ninghan Zhong +1
We present Keypoint Constraint Learning (KCL), a framework for learning task-relevant motion constraints from visual demonstrations and for planning safely with the extracted const…
cs.RO2026
GT-VLA: Target-Conditioned Trace Guidance for Generalizable Robotic Manipulation
Ninghan Zhong, Jing-Chen Peng, Sriram Vishwanath
Vision-Language-Action (VLA) models have shown strong performance on robotic manipulation, but they often struggle to generalize to unseen tasks, configurations, and long-horizon s…
cs.AI2026
VeryTrace: Verifying Reasoning Traces through Compilable Formalism and Structured Verification
Ninghan Zhong, Ahmet Ege Tanriverdi, Kaan Kale +1
Multi-step reasoning with Chain-of-Thought (CoT) prompting remains fragile: logical errors or hallucinations in early steps silently propagate, producing confident but incorrect co…