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[Submitted on 2 Sep 2026] Title:Learning Manipulation-Sufficient Representations via Outcome Bottlenecks View a PDF of the paper titled Learning Manipulation-Sufficient Representations via Outcome Bottlenecks, by Md Selim Sarowar and Sungho Kim View PDF HTML (experimental) Abstract: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 log-loss supplies distortion and a KL term regularizes rate. The construction is motivated by the minimal statistic that preserves the outcome distribution of every admissible action, while the implemented finite model is evaluated as a rate-regularized mixture predictor. The same encoder and outcome head support grasp selection, singleton conformal filtering, active viewpoint selection, and latent test-time adaptation. A finite-probe theorem identifies the local level-set tangent space with the null space of an outcome Jacobian. The synthetic oracle verifies this result; on scanned objects, an analytic surrogate agrees with measured simulator invariances within \(0.56^\circ\). Across 11,979 simulated grasps on 13 objects, a reconstructed-geometry wrench score attains 0.542 AUC against lift success and falls below chance on curved objects, while our representation attains 0.876. At 25\% commitment, executed-grasp success is 0.503 versus 0.984. The 512-byte interface is \(288\times\) smaller than one RGB-D frame and runs at 16\,ms per CPU decision. Independent synthetic points track the tested conformal levels; scanned-object all-pair coverage is reported as a clustered empirical diagnostic. On unseen objects, within-scene AUC falls to 0.569, and a full-feedback update raises empirical mean pairwise coverage from 0.728 to 0.883. Comments: Project Page : this https URL Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2609.13235 [cs.RO] (or arXiv:2609.13235v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.13235 arXiv-issued DOI via DataCite (pending registration) Submission history From: Md Selim Sarowar [view email] [v1] Wed, 2 Sep 2026 13:22:35 UTC (280 KB) Full-text links: Access Paper: View a PDF of the paper titled Learning Manipulation-Sufficient Representations via Outcome Bottlenecks, by Md Selim Sarowar and Sungho Kim View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)