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.
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