Geometry-Aware Motion Latents for Learning Robust Manipulation Policies

Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-dimensional geometric transformations. Here, we introduce GeoMoLa (Geometry-Aware Motion Latents), which learns discrete motion latent codes by predicting how point clouds evolve during manipulation rather than reconstructing visual observations. This four-dimensional objective -- spatial geometry changing through time -- forces latent representations to encode actual physical motion rather than appearance patterns. GeoMoLa achieves state-of-the-art performance using only single-view RGB-D input, while existing methods require multi-view reconstruction, succeeding across diverse manipulation benchmarks. Our ablations reveal that geometric prediction is the key to driving performance, quantitatively validating that manipulation depends on spatial understanding. Furthermore, the learned codes exhibit effective motion abstraction: applying them to novel scenes produces physically consistent transformations regardless of visual context. Our real-world experiments also confirm this robustness capability, achieving robust manipulation with minimal demonstrations in cluttered environments where geometric reasoning determines success. Thus, we demonstrate that effective motion latents for robot control can better emerge from understanding motion through its three-dimensional effects rather than pixel-level patterns.

RoboLineage: Agent-Native Data Lifecycle Governance Across Robot Policy Iterations

We present RoboLineage, an agent-native data lifecycle governance system for robot policy iteration. Modern robot policies improve through repeated data collection, review, retraining, evaluation, and release decisions, but the evidence connecting these steps is often scattered across local tools, scripts, and expert memory. RoboLineage makes this lifecycle explicit by representing rollouts, reviews, dataset decisions, training runs, policy metadata, evaluations, deployment recommendations, and next-collection plans as typed lineage artifacts. Agents interpret embodied rollout evidence, adapt accepted data to existing training stacks, maintain data health, and summarize cross-iteration state under explicit artifact boundaries. In real-robot manipulation workflows, RoboLineage makes routine policy iteration faster and more auditable while maintaining downstream policy performance. We open source RoboLineage as a lightweight lifecycle layer for different robot embodiments and training families. Project page: https://robolineage.github.io/

Geometric Entropy: When Trajectory Diversity Helps and Hurts in Imitation Learning

We study how trajectory-shape diversity in demonstrations affects imitation learning (IL) performance across models, tasks, and data scales. We introduce Geometric Entropy (H_G), a task-agnostic metric that quantifies the intrinsic diversity of transit trajectories after normalizing away extrinsic variation, such as goal pose and workspace scale, via target-frame alignment. Across multiple IL architectures and both simulated and real-robot contact-rich manipulation tasks, we observe a consistent inverted-U relationship between success and H_G: increasing geometric diversity improves robustness in low-diversity regimes but degrades performance once diversity induces strategy ambiguity. Moreover, the optimal entropy shifts toward lower values as task mastery increases through more data, easier tasks, or stronger priors, and for a pretrained vision-language-action model the trend becomes effectively monotonic decreasing. Practically, H_G enables fast pre-training auditing of demonstration datasets and offers a simple guideline for calibrating demonstrations toward the learnable regime.

Tri-Info: Generalizable, Interpretable Failure Prediction for VLA Models via Information Theory

Vision-Language-Action (VLA) models are increasingly deployed across diverse tasks, yet they remain black boxes whose physical interactions can cause irreversible harm, making generalizable and interpretable failure detection essential. We observe that successful and failed rollouts carry systematically different information-theoretic signatures. Building on this, we formalize VLA control as a closed-loop information pipeline and derive the Triple Information-theoretic (Tri-Info) signals that capture whether actions remain diverse, temporally consistent, and coupled to state transitions. Across six VLA models and three benchmark environments, Tri-Info matches the strongest baselines in-domain. Moreover, Tri-Info transfers across architectures, environments, and the sim-to-real gap without retraining, reaching 83\% accuracy on real-world tasks where prior detectors collapse to chance. This establishes Tri-Info as a simple yet powerful method that not only detects failures with strong cross-domain generalization, but also delivers interpretable diagnostics of the underlying failure modes.

InfoAtlas: A Foundation Model for Zero-Shot Statistical Dependence Estimate

Measuring statistical dependency between high-dimensional random variables is a fundamental task in data science and machine learning. Neural mutual information (MI) estimators offer a promising avenue, but they typically require costly iterative optimization for each new dataset, making them impractical for real-time applications. We present InfoAtlas, a foundation model-like architecture that eliminates this bottleneck by directly inferring MI in a single forward pass. Pretrained on large-scale synthetic data with rich dependence patterns, InfoAtlas learns to identify diverse dependence structures and predict MI directly from the dataset. Comprehensive experiments demonstrate that InfoAtlas matches state-of-the-art neural estimators in accuracy while achieving $100\times$ speedup, can flexibly handle varying dimensions and sample sizes through a single unified model, and generalizes effectively to complex, real-world scenarios. By reformulating MI estimation as an inference task, InfoAtlas establishes a foundation for real-time dependency analysis.

Distributed Image Compression with Multimodal Side Information at Extremely Low Bitrates

Distributed Image Compression (DIC) is crucial for multi-view transmission, especially when operating at extremely low bitrates (< 0.1 bpp). Its core challenge is effectively utilizing side information to achieve high-quality reconstruction under strict bitrate budgets. However, existing DIC approaches struggle to exploit global context and object-level details from side information, leading to local blurring and the loss of fine details in the reconstruction. To address these limitations, we propose a Multimodal DIC framework (MDIC), which, for the first time, leverages side information in a multimodal manner into the DIC paradigm, effectively preserving fine-grained local details and enhancing global perceptual quality in reconstructed images. Specifically, we introduce a text-to-image diffusion-based decoder conditioned on textual side information extracted from correlated images to capture shared global semantics. Moreover, we design a feature-mask generator, supervised by a multimodal fine-grained alignment task, to strengthen the exploitation of visual side information. The generated mask serves two purposes: first, it guides the extraction of fine-grained details from losslessly transmitted side information to preserve the semantic consistency of reconstructed details; second, it regulates the extraction of clustered feature representations from the quantized VQ-VAE embeddings, compensating for category information lost under the extreme compression of the primary image. Extensive experiments on the widely used KITTI Stereo and Cityscapes datasets demonstrate that MDIC achieves state-of-the-art perceptual quality at extremely low bitrates.

DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation

Language-conditioned manipulation policies typically process instructions and observations through shared network parameters. This task-state entanglement provides a pathway for observation leakage -- networks learn scene-to-action shortcuts that bypass language grounding entirely. DISC eliminates this failure structurally. Rather than conditioning a universal policy on language, DISC uses a hypernetwork to generate the entire parameter set of a task-specific visuomotor policy from the instruction alone. The generated policy never directly accesses language; therefore, its task-awareness must come from the language. Consequently, observation leakage has no pathway to emerge. On the other hand, generating coherent high-dimensional policy weights is itself a challenging problem. We address it with a two-stage hypernetwork whose refinement stage embeds the structure of gradient-based optimization as a feed-forward inductive bias, producing globally consistent parameters without actual gradient computation. Trained entirely from scratch on standard data budgets, DISC outperforms all entangled baselines on LIBERO-90 and Meta-World, with advantages that widen on complex, long-horizon tasks -- and surpasses the large-scale pretrained $π_0$ despite using no external pretraining data. On a real-world benchmark where all tasks share identical visual context, DISC substantially outperforms entangled alternatives, directly confirming that language-generated policy parameters, not visual shortcuts, drive behavior. The hypernetwork further learns a semantically structured parameter manifold that enables few-shot adaptation from minimal demonstrations and robust generalization across paraphrased instructions. Our code is available at: {https://github.com/ReNginx/DISC}.

DexHoldem: Playing Texas Hold'em with Dexterous Embodied System

Evaluating embodied systems on real dexterous hardware requires more than isolated primitive skills: an agent must perceive a changing tabletop scene, choose a context-appropriate action, execute it with a dexterous hand, and leave the scene usable for later decisions. We introduce DexHoldem, a real-world system-level benchmark built around Texas Hold'em dexterous manipulation with a ShadowHand. DexHoldem provides 1,470 teleoperated demonstrations across 14 Texas Hold'em manipulation primitives, a standardized physical policy benchmark, and an agentic perception benchmark that tests whether agents can recover the structured game state needed for embodied decision making. On primitive execution, $π_{0.5}$ obtains the highest task completion rate ($61.2\%$), while $π_{0.5}$ and $π_0$ tie on scene-preserving success rate ($47.5\%$). On agentic perception, Opus 4.7 obtains the best strict problem-level accuracy ($34.3\%$), while GPT 5.5 obtains the best average field-wise accuracy ($66.8\%$), exposing a gap between isolated visual sub-capabilities and complete routing-relevant state recovery. Finally, we instantiate the full embodied-agent loop in three case studies, where waiting, recovery dispatches, human-help requests, and repeated primitive execution reveal how perception and policy errors accumulate during closed-loop deployment. DexHoldem therefore evaluates dexterous tabletop execution, agentic perception, and embodied decision routing in a shared physical setting. Project page: https://dexholdem.github.io/Dexholdem/.

Gaze-Regularized Vision-Language-Action Models for Robotic Manipulation

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning, and execution patterns -- offering a powerful supervisory signal for guiding robot perception. We introduce a gaze-regularized training framework that aligns VLA models' internal attention with human visual patterns without architectural modifications or inference-time overhead. Our method transforms temporally aggregated gaze heatmaps into patch-level distributions and regularizes the transformer's attention through KL divergence, creating an inductive bias toward task-relevant features while preserving deployment efficiency. When integrated into existing VLA architectures, our approach yields 4-12% improvements across manipulation benchmarks. The gaze-regularized models reach equivalent performance with fewer training steps and maintain robustness under lighting variations and sensor noise. Beyond performance metrics, the learned attention patterns produce interpretable visualizations that mirror human strategies, enhancing trust in robotic systems. Moreover, our framework requires no eye-tracking equipment and applies directly to existing datasets. These results demonstrate that human perceptual priors can significantly accelerate robot learning while improving both task performance and system interpretability.

Gaze-Regularized VLMs for Ego-Centric Behavior Understanding

Eye gaze, encompassing fixations and saccades, provides critical insights into human intentions and future actions. This study introduces a gaze-regularized framework that enhances Vision Language Models (VLMs) for egocentric behavior understanding. Unlike existing methods that rely solely on visual data and overlook gaze information, our approach directly incorporates gaze information into the VLM architecture during training. By generating gaze-based queries, the model dynamically focuses on gaze-highlighted regions, while a gaze-regularization mechanism ensures the alignment of model attention with human attention patterns. To better understand how gaze can be effectively integrated into VLMs, we conducted extensive experiments exploring various strategies for incorporating gaze data. These innovations enable the prediction of future events with detailed action descriptions. Experimental results demonstrate a nearly 13 % improvement in semantic scores compared to baseline models not leveraging gaze data, highlighting the effectiveness of our approach. This work establishes a foundation for leveraging the human gaze in VLMs, significantly boosting their predictive capabilities in applications requiring accurate and robust future event prediction.