9 papers
PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoning
Haoyang Li, Yang You, Hao Su +1
Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction an…
Mull-Tokens: Modality-Agnostic Latent Thinking
Arijit Ray, Ahmed Abdelkader, Chengzhi Mao +5
Reasoning goes beyond language; the real world requires reasoning about space, time, affordances, and much more that words alone cannot convey. Existing multimodal models exploring…
Rodrigues Network for Learning Robot Actions
Jialiang Zhang, Haoran Geng, Yang You +4
Understanding and predicting articulated actions is important in robot learning. However, common architectures such as MLPs and Transformers lack inductive biases that reflect the…
ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
Jiankai Sun, Aidan Curtis, Yang You +8
Generalizable long-horizon robotic assembly requires reasoning at multiple levels of abstraction. While end-to-end imitation learning (IL) is a promising approach, it typically req…
Denoising Hamiltonian Network for Physical Reasoning
Congyue Deng, Brandon Y. Feng, Cecilia Garraffo +5
Machine learning frameworks for physical problems must capture and enforce physical constraints that preserve the structure of dynamical systems. Many existing approaches achieve t…
Multiview Equivariance Improves 3D Correspondence Understanding with Minimal Feature Finetuning
Yang You, Yixin Li, Congyue Deng +2
Vision foundation models, particularly the ViT family, have revolutionized image understanding by providing rich semantic features. However, despite their success in 2D comprehensi…