5 papers
UniWAM Technical Report: Unified Mobile Manipulation via Mixed-Stream World-Action Modeling and Manipulation Anchor Pose Supervision
Wei Xue, Keliang Liu, Mingzhang Cui +14
Mobile manipulation requires precise navigation to a manipulation-ready pose followed by reliable object interaction. These two stages differ in action spaces and visual requiremen…
OmniFysics-Nano-V2 Technical Report: Understanding the Physical World Across Modalities
Yizhou Liu, Jinghang Han, Kaixiang Qiu +8
Omni-modal models have expanded multimodal interaction across vision, audio, speech, and language. However, their training is predominantly organized around semantic descriptions a…
OmniFysics-Captioner Technical Report: Grounding Omni-Modal Understanding in the Physical World for Better Captioning
Kaixiang Qiu, Minghao Han, Keliang Liu +7
Building omni-modal models with physical intelligence requires fine-grained supervision that captures physical evidence such as contact, support, deformation, and state transitions…
FysicsWorld: A Unified Full-Modality Benchmark for Any-to-Any Understanding, Generation, and Reasoning
Yue Jiang, Dingkang Yang, Minghao Han +6
Despite rapid progress in multimodal large language models (MLLMs) and emerging omni-modal architectures, current benchmarks remain limited in scope and integration, suffering from…
COPO: Consistency-Aware Policy Optimization
Jinghang Han, Jiawei Chen, Hang Shao +7
Reinforcement learning has significantly enhanced the reasoning capabilities of Large Language Models (LLMs) in complex problem-solving tasks. Recently, the introduction of DeepSee…