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cs.RO2025
On the Dual-Use Dilemma in Physical Reasoning and Force
William Xie, Enora Rice, Nikolaus Correll
Humans learn how and when to apply forces in the world via a complex physiological and psychological learning process. Attempting to replicate this in vision-language models (VLMs)…
cs.RO2025
Unfettered Forceful Skill Acquisition with Physical Reasoning and Coordinate Frame Labeling
William Xie, Max Conway, Yutong Zhang +1
Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs…
cs.RO2025
Towards Forceful Robotic Foundation Models: a Literature Survey
William Xie, Nikolaus Correll
This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative…