2 papers
cs.RO2026
Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them
Carlota Parés-Morlans, Nils Kuhn, Isabel Liu +2
We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich manipulation tasks that require precise physical interaction. Prior wo…
cs.LG2025
Causal-PIK: Causality-based Physical Reasoning with a Physics-Informed Kernel
Carlota Parés-Morlans, Michelle Yi, Claire Chen +4
Tasks that involve complex interactions between objects with unknown dynamics make planning before execution difficult. These tasks require agents to iteratively improve their acti…