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--> [Submitted on 16 Jul 2026] Title:RoboShape: Information-Theoretic Point Cloud Representations for Privacy-Aware Robot Perception View a PDF of the paper titled RoboShape: Information-Theoretic Point Cloud Representations for Privacy-Aware Robot Perception, by Oguzhan Baser and 4 other authors View PDF HTML (experimental) Abstract:With the increased adoption of robotic agents operating in human environments by scanning and sharing 3D representations (e.g., for fleet learning, cloud-based planning, or collaborative mapping), collected point clouds reveal not just the objects in a scene but also sensitive spatial context, such as room function or information that occupants never consented to disclose. Traditional point cloud encoders offer no principled control over this: either all is preserved, or none. Hence, we introduce RoboShape, an information theory guided compression head following the frozen {\tt Sonata} encoder. We project voxel-level embeddings using the Donsker-Varadhan formulation of mutual information (MI). Specifically, we maximize the MI between embeddings and object-level understanding while minimizing it for private attributes. RoboShape leads to 87.5\% smaller embeddings that retain 98.7\% of object classification utility while collapsing sensitive attribute predictions by 39.3\% across the three real-world indoor LiDAR datasets. Its privacy-preserving embeddings are cheaper to transmit over the network or to train a model for any downstream tasks. We release the RoboShape codebase to give the robotics community a practical, encoder-agnostic tool for building perception pipelines that are compact, privacy-aware, and deployment-ready. Comments: under review Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Computer Vision and Pattern Recognition (cs.CV); Information Theory (cs.IT) Cite as: arXiv:2608.21380 [cs.RO] (or arXiv:2608.21380v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.21380 arXiv-issued DOI via DataCite Submission history From: Oguzhan Baser [view email] [v1] Thu, 16 Jul 2026 04:35:17 UTC (6,316 KB) Full-text links: Access Paper: View a PDF of the paper titled RoboShape: Information-Theoretic Point Cloud Representations for Privacy-Aware Robot Perception, by Oguzhan Baser and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.AI cs.CV cs.IT math math.IT 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?)