Author

Sungho Kim

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Preprint Sep 2026

Learning Manipulation-Sufficient Representations via Outcome Bottlenecks

Networked manipulation endpoints couple perception to actuation across compute- and bandwidth-limited links, yet commonly exchange dense geometric states optimized for fidelity rather than action outcomes. A stochastic representation is learned with a policy-free, action-conditioned outcome bottleneck: marginal outcome...

MD SELIM SAROWAR, Sungho Kim · 0 citations

Preprint Aug 2026

GaussVLA: Geometry-Aware Spatial Reasoning for Vision-Language-Action Model

GaussVLA is proposed, a Mamba-based VLA that incorporates two custom modules: Gaussian Spatial Tokenizer (GST) to lift frozen semantic and depth features into compact 3D Gaussian tokens, and Depth-Aware Chain-of-Thought (DA-CoT) that performs structured, non-autoregressive geometric reasoning under language and flow-ti...

MD SELIM SAROWAR, Md Tanvir Islam, Sungho Kim et al. · 1 citation