Author

Tian-Le Zhang

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Preprint Aug 2026

CometVLA: Co-Training on an Embodied Data Pyramid towards Physical Understanding

Vision-language-action (VLA) models remain brittle in manipulation tasks that require physical commonsense. Current physical VQA data is typically disembodied and misaligned with robot action domains. Egocentric videos are used only as auxiliary pre-training. It remains unclear whether improved VLM physical understandi...

Hanwen Wan, Dafeng Chi, Lin-Bo Zhai et al. · 0 citations

Preprint Aug 2026

WorldSimProbe: Diagnosing Simulator Faithfulness in Action-Conditioned World Models for Embodied Manipulation

This work formalizes Observable Simulator Contract, a minimal contract that any action-conditioned physical simulator should satisfy: supplied actions must induce corresponding agent motion, and environment responses must be grounded in that realized motion.

P. Co, Sichen Hu, Chun-Xuan Jiao et al. · 1 citation