Daily Papers

Vision-language-action models have advanced rapidly, but robot trajectories alone provide limited coverage for learning broad physical understanding. PhysBrain 1.0 studies a complementary route: converting large-scale human egocentric video into structured physical commonsense supervision before robot adaptation. Our data engine extracts scene elements, spatial dynamics, action execution, and depth-aware relations, then turns them into question-answer supervision for training PhysBrain VLMs. The resulting physical priors are further transferred to VLA policies through a capability-preserving and language-sensitive adaptation design. Across multimodal QA benchmarks and embodied control benchmarks, including ERQA, PhysBench, SimplerEnv-WidowX, LIBERO, and RoboCasa, PhysBrain 1.0 achieves SOTA results and shows especially strong out-of-domain performance on SimplerEnv. These results suggest that scaling physical commonsense from human interaction video can provide an effective bridge from multimodal understanding to robot action.

To apply eyeshadow without a brush, should I use a cotton swab or a toothpick? Questions requiring this kind of physical commonsense pose a challenge to today's natural language understanding systems. While recent pretrained models (such as BERT) have made progress on question answering over more abstract domains - such as news articles and encyclopedia entries, where text is plentiful - in more physical domains, text is inherently limited due to reporting bias. Can AI systems learn to reliably answer physical common-sense questions without experiencing the physical world? In this paper, we introduce the task of physical commonsense reasoning and a corresponding benchmark dataset Physical Interaction: Question Answering or PIQA. Though humans find the dataset easy (95% accuracy), large pretrained models struggle (77%). We provide analysis about the dimensions of knowledge that existing models lack, which offers significant opportunities for future research.

In order for AI to be safely deployed in real-world scenarios such as hospitals, schools, and the workplace, it must be able to robustly reason about the physical world. Fundamental to this reasoning is physical common sense: understanding the physical properties and affordances of available objects, how they can be manipulated, and how they interact with other objects. Physical commonsense reasoning is fundamentally a multi-sensory task, since physical properties are manifested through multiple modalities - two of them being vision and acoustics. Our paper takes a step towards real-world physical commonsense reasoning by contributing PACS: the first audiovisual benchmark annotated for physical commonsense attributes. PACS contains 13,400 question-answer pairs, involving 1,377 unique physical commonsense questions and 1,526 videos. Our dataset provides new opportunities to advance the research field of physical reasoning by bringing audio as a core component of this multimodal problem. Using PACS, we evaluate multiple state-of-the-art models on our new challenging task. While some models show promising results (70% accuracy), they all fall short of human performance (95% accuracy). We conclude the paper by demonstrating the importance of multimodal reasoning and providing possible avenues for future research.

Text-to-video (T2V) models like Sora have made significant strides in visualizing complex prompts, which is increasingly viewed as a promising path towards constructing the universal world simulator. Cognitive psychologists believe that the foundation for achieving this goal is the ability to understand intuitive physics. However, the capacity of these models to accurately represent intuitive physics remains largely unexplored. To bridge this gap, we introduce PhyGenBench, a comprehensive Physics Generation Benchmark designed to evaluate physical commonsense correctness in T2V generation. PhyGenBench comprises 160 carefully crafted prompts across 27 distinct physical laws, spanning four fundamental domains, which could comprehensively assesses models' understanding of physical commonsense. Alongside PhyGenBench, we propose a novel evaluation framework called PhyGenEval. This framework employs a hierarchical evaluation structure utilizing appropriate advanced vision-language models and large language models to assess physical commonsense. Through PhyGenBench and PhyGenEval, we can conduct large-scale automated assessments of T2V models' understanding of physical commonsense, which align closely with human feedback. Our evaluation results and in-depth analysis demonstrate that current models struggle to generate videos that comply with physical commonsense. Moreover, simply scaling up models or employing prompt engineering techniques is insufficient to fully address the challenges presented by PhyGenBench (e.g., dynamic scenarios). We hope this study will inspire the community to prioritize the learning of physical commonsense in these models beyond entertainment applications. We will release the data and codes at https://github.com/OpenGVLab/PhyGenBench

Physical commonsense reasoning represents a fundamental capability of human intelligence, enabling individuals to understand their environment, predict future events, and navigate physical spaces. Recent years have witnessed growing interest in reasoning tasks within Natural Language Processing (NLP). However, no prior research has examined the performance of Large Language Models (LLMs) on non-question-answering (non-QA) physical commonsense reasoning tasks in low-resource languages such as Basque. Taking the Italian GITA as a starting point, this paper addresses this gap by presenting BasPhyCo, the first non-QA physical commonsense reasoning dataset for Basque, available in both standard and dialectal variants. We evaluate model performance across three hierarchical levels of commonsense understanding: (1) distinguishing between plausible and implausible narratives (accuracy), (2) identifying the conflicting element that renders a narrative implausible (consistency), and (3) determining the specific physical state that creates the implausibility (verifiability). These tasks were assessed using multiple multilingual LLMs as well as models pretrained specifically for Italian and Basque. Results indicate that, in terms of verifiability, LLMs exhibit limited physical commonsense capabilities in low-resource languages such as Basque, especially when processing dialectal variants.

Large-scale video generative models, capable of creating realistic videos of diverse visual concepts, are strong candidates for general-purpose physical world simulators. However, their adherence to physical commonsense across real-world actions remains unclear (e.g., playing tennis, backflip). Existing benchmarks suffer from limitations such as limited size, lack of human evaluation, sim-to-real gaps, and absence of fine-grained physical rule analysis. To address this, we introduce VideoPhy-2, an action-centric dataset for evaluating physical commonsense in generated videos. We curate 200 diverse actions and detailed prompts for video synthesis from modern generative models. We perform human evaluation that assesses semantic adherence, physical commonsense, and grounding of physical rules in the generated videos. Our findings reveal major shortcomings, with even the best model achieving only 22% joint performance (i.e., high semantic and physical commonsense adherence) on the hard subset of VideoPhy-2. We find that the models particularly struggle with conservation laws like mass and momentum. Finally, we also train VideoPhy-AutoEval, an automatic evaluator for fast, reliable assessment on our dataset. Overall, VideoPhy-2 serves as a rigorous benchmark, exposing critical gaps in video generative models and guiding future research in physically-grounded video generation. The data and code is available at https://videophy2.github.io/.

Generative video models achieve high visual fidelity but often violate basic physical principles, limiting reliability in real-world settings. Prior attempts to inject physics rely on conditioning: frame-level signals are domain-specific and short-horizon, while global text prompts are coarse and noisy, missing fine-grained dynamics. We present PhysVid, a physics-aware local conditioning scheme that operates over temporally contiguous chunks of frames. Each chunk is annotated with physics-grounded descriptions of states, interactions, and constraints, which are fused with the global prompt via chunk-aware cross-attention during training. At inference, we introduce negative physics prompts (descriptions of locally relevant law violations) to steer generation away from implausible trajectories. On VideoPhy, PhysVid improves physical commonsense scores by approx 33% over baseline video generators, and by up to approx 8% on VideoPhy2. These results show that local, physics-aware guidance substantially increases physical plausibility in generative video and marks a step toward physics-grounded video models.

Recent advancements in video-based large language models (Video LLMs) have witnessed the emergence of diverse capabilities to reason and interpret dynamic visual content. Among them, gameplay videos stand out as a distinctive data source, often containing glitches that defy physics commonsense. This characteristic renders them an effective benchmark for assessing the under-explored capability of physical commonsense understanding in video LLMs. In this paper, we propose PhysGame as a pioneering benchmark to evaluate physical commonsense violations in gameplay videos. PhysGame comprises 880 videos associated with glitches spanning four fundamental domains (i.e., mechanics, kinematics, optics, and material properties) and across 12 distinct physical commonsense. Through extensively evaluating various state-ofthe-art video LLMs, our findings reveal that the performance of current open-source video LLMs significantly lags behind that of proprietary counterparts. To bridge this gap, we curate an instruction tuning dataset PhysInstruct with 140,057 question-answering pairs to facilitate physical commonsense learning. In addition, we also propose a preference optimization dataset PhysDPO with 34,358 training pairs, where the dis-preferred responses are generated conditioned on misleading titles (i.e., meta information hacking), fewer frames (i.e., temporal hacking) and lower spatial resolutions (i.e., spatial hacking). Based on the suite of datasets, we propose PhysVLM as a physical knowledge-enhanced video LLM. Extensive experiments on both physical-oriented benchmark PhysGame and general video understanding benchmarks demonstrate the state-ofthe-art performance of PhysVLM.

It remains an open question whether incorporating external knowledge benefits commonsense reasoning while maintaining the flexibility of pretrained sequence models. To investigate this question, we develop generated knowledge prompting, which consists of generating knowledge from a language model, then providing the knowledge as additional input when answering a question. Our method does not require task-specific supervision for knowledge integration, or access to a structured knowledge base, yet it improves performance of large-scale, state-of-the-art models on four commonsense reasoning tasks, achieving state-of-the-art results on numerical commonsense (NumerSense), general commonsense (CommonsenseQA 2.0), and scientific commonsense (QASC) benchmarks. Generated knowledge prompting highlights large-scale language models as flexible sources of external knowledge for improving commonsense reasoning. Our code is available at https://github.com/liujch1998/GKP

Text-to-image generation has reached photorealistic quality, yet state-of-the-art systems remain unreliable at producing scientific diagrams, whose value depends not on appearance but on physical faithfulness: correct force directions, valid coordinate systems, consistent thermodynamic states, and equations matching the depicted scenario. Trained on web imagery with physically shallow captions, generic models produce diagrams that look plausible but are physically wrong, harmful in education and scientific communication. We present Princigram, a physics-faithful scientific-diagram generator, and its data pipeline. Our central advance is Structured Physical Chain-of-Thought (SP-CoT): a per-subdiscipline schema that decomposes a physics diagram into an explicit multi-step reasoning chain across six subdisciplines, from scene identification through force or process analysis to governing laws and synthesis. Unlike free-form chain-of-thought, SP-CoT follows a fixed schema with strict fidelity rules that separate visually grounded facts from physically inferred reasoning and type all mathematics symbolically; it serves both as dense training supervision and, at inference, as a structured "thinking" prompt. With it we curate and structurally annotate 4.3 million physics images, of which 115,037 carry expert-level annotation, and adapt a unified multimodal backbone. We further introduce VeriphyT2IBench, whose questions are derived from each held-out diagram's own structured annotation: each diagram becomes an item-specific bank of binary questions about its objects, forces, and states, so a judge model's score decomposes into named physical facts rather than one holistic number. On the physics subset of GenExam and on VeriphyT2IBench, Princigram shows that explicit physics-structured supervision improves the physical faithfulness of generated scientific diagrams.

Recent advances in internet-scale video data pretraining have led to the development of text-to-video generative models that can create high-quality videos across a broad range of visual concepts, synthesize realistic motions and render complex objects. Hence, these generative models have the potential to become general-purpose simulators of the physical world. However, it is unclear how far we are from this goal with the existing text-to-video generative models. To this end, we present VideoPhy, a benchmark designed to assess whether the generated videos follow physical commonsense for real-world activities (e.g. marbles will roll down when placed on a slanted surface). Specifically, we curate diverse prompts that involve interactions between various material types in the physical world (e.g., solid-solid, solid-fluid, fluid-fluid). We then generate videos conditioned on these captions from diverse state-of-the-art text-to-video generative models, including open models (e.g., CogVideoX) and closed models (e.g., Lumiere, Dream Machine). Our human evaluation reveals that the existing models severely lack the ability to generate videos adhering to the given text prompts, while also lack physical commonsense. Specifically, the best performing model, CogVideoX-5B, generates videos that adhere to the caption and physical laws for 39.6% of the instances. VideoPhy thus highlights that the video generative models are far from accurately simulating the physical world. Finally, we propose an auto-evaluator, VideoCon-Physics, to assess the performance reliably for the newly released models.

We have witnessed remarkable advances in LLM reasoning capabilities with the advent of DeepSeek-R1. However, much of this progress has been fueled by the abundance of internet question-answer (QA) pairs, a major bottleneck going forward, since such data is limited in scale and concentrated mainly in domains like mathematics. In contrast, other sciences such as physics lack large-scale QA datasets to effectively train reasoning-capable models. In this work, we show that physics simulators can serve as a powerful alternative source of supervision for training LLMs for physical reasoning. We generate random scenes in physics engines, create synthetic question-answer pairs from simulated interactions, and train LLMs using reinforcement learning on this synthetic data. Our models exhibit zero-shot sim-to-real transfer to real-world physics benchmarks: for example, training solely on synthetic simulated data improves performance on IPhO (International Physics Olympiad) problems by 5-10 percentage points across model sizes. These results demonstrate that physics simulators can act as scalable data generators, enabling LLMs to acquire deep physical reasoning skills beyond the limitations of internet-scale QA data. Code available at: https://sim2reason.github.io/.

Most benchmark datasets targeting commonsense reasoning focus on everyday scenarios: physical knowledge like knowing that you could fill a cup under a waterfall [Talmor et al., 2019], social knowledge like bumping into someone is awkward [Sap et al., 2019], and other generic situations. However, there is a rich space of commonsense inferences anchored to knowledge about specific entities: for example, deciding the truthfulness of a claim "Harry Potter can teach classes on how to fly on a broomstick." Can models learn to combine entity knowledge with commonsense reasoning in this fashion? We introduce CREAK, a testbed for commonsense reasoning about entity knowledge, bridging fact-checking about entities (Harry Potter is a wizard and is skilled at riding a broomstick) with commonsense inferences (if you're good at a skill you can teach others how to do it). Our dataset consists of 13k human-authored English claims about entities that are either true or false, in addition to a small contrast set. Crowdworkers can easily come up with these statements and human performance on the dataset is high (high 90s); we argue that models should be able to blend entity knowledge and commonsense reasoning to do well here. In our experiments, we focus on the closed-book setting and observe that a baseline model finetuned on existing fact verification benchmark struggles on CREAK. Training a model on CREAK improves accuracy by a substantial margin, but still falls short of human performance. Our benchmark provides a unique probe into natural language understanding models, testing both its ability to retrieve facts (e.g., who teaches at the University of Chicago?) and unstated commonsense knowledge (e.g., butlers do not yell at guests).

Video generation models nowadays are capable of generating visually realistic videos, but often fail to adhere to physical laws, limiting their ability to generate physically plausible videos and serve as ''world models''. To address this issue, we propose PhysMaster, which captures physical knowledge as a representation for guiding video generation models to enhance their physics-awareness. Specifically, PhysMaster is based on the image-to-video task where the model is expected to predict physically plausible dynamics from the input image. Since the input image provides physical priors like relative positions and potential interactions of objects in the scenario, we devise PhysEncoder to encode physical information from it as an extra condition to inject physical knowledge into the video generation process. The lack of proper supervision on the model's physical performance beyond mere appearance motivates PhysEncoder to apply reinforcement learning with human feedback to physical representation learning, which leverages feedback from generation models to optimize physical representations with Direct Preference Optimization (DPO) in an end-to-end manner. PhysMaster provides a feasible solution for improving physics-awareness of PhysEncoder and thus of video generation, proving its ability on a simple proxy task and generalizability to wide-ranging physical scenarios. This implies that our PhysMaster, which unifies solutions for various physical processes via representation learning in the reinforcement learning paradigm, can act as a generic and plug-in solution for physics-aware video generation and broader applications.

Omni-modal models have expanded multimodal interaction across vision, audio, speech, and language. However, their training is predominantly organized around semantic descriptions and general-purpose objectives, leaving physical attributes, interaction states, and causal mechanisms only partially specified. This gap is not simply a matter of modality coverage: adding more modalities does not by itself provide the supervision needed to connect observations with the physical structure of the world. We present OmniFysics-Nano-V2, a compact omni-modal model for physical-world perception and understanding. The model supports image, video, audio, speech, and text inputs within a shared reasoning framework, together with text and speech generation. To address the lack of explicit physical supervision, we construct a dual-branch physics-aware data pipeline that grounds salient objects in structured physical attributes and aligns visual changes with acoustic events, intermediate responses, and interaction outcomes. To address homogeneous training objectives, we curate reinforcement-learning prompts by reward diversity and adopt a two-stage Group Relative Policy Optimization curriculum that progresses from general task correctness to fine-grained physical perceptual reasoning. Experiments across multimodal, audio-visual, and physical reasoning benchmarks show that the proposed data and training strategy improves physical-world understanding while preserving broad omni-modal competence. The proposed model achieves leading result on 17 of 21 benchmarks against SOTA omni-modal models. By equipping AI systems with both omni-modal and physical-world perception capabilities, OmniFysics-Nano-V2 is poised to become a cornerstone of next-generation Physical AI.

Modeling semantic plausibility requires commonsense knowledge about the world and has been used as a testbed for exploring various knowledge representations. Previous work has focused specifically on modeling physical plausibility and shown that distributional methods fail when tested in a supervised setting. At the same time, distributional models, namely large pretrained language models, have led to improved results for many natural language understanding tasks. In this work, we show that these pretrained language models are in fact effective at modeling physical plausibility in the supervised setting. We therefore present the more difficult problem of learning to model physical plausibility directly from text. We create a training set by extracting attested events from a large corpus, and we provide a baseline for training on these attested events in a self-supervised manner and testing on a physical plausibility task. We believe results could be further improved by injecting explicit commonsense knowledge into a distributional model.

Video foundation models generate visually realistic and temporally coherent content, but their reliability as world simulators depends on whether they capture physical, logical, and spatial constraints. Existing metrics such as Frechet Video Distance (FVD) emphasize perceptual quality and overlook reasoning failures, including violations of causality, physics, and global consistency. We introduce MMGR (Multi-Modal Generative Reasoning Evaluation and Benchmark), a principled evaluation framework based on five reasoning abilities: Physical, Logical, 3D Spatial, 2D Spatial, and Temporal. MMGR evaluates generative reasoning across three domains: Abstract Reasoning (ARC-AGI, Sudoku), Embodied Navigation (real-world 3D navigation and localization), and Physical Commonsense (sports and compositional interactions). MMGR applies fine-grained metrics that require holistic correctness across both video and image generation. We benchmark leading video models (Veo-3, Sora-2, Wan-2.2) and image models (Nano-banana, Nano-banana Pro, GPT-4o-image, Qwen-image), revealing strong performance gaps across domains. Models show moderate success on Physical Commonsense tasks but perform poorly on Abstract Reasoning (below 10 percent accuracy on ARC-AGI) and struggle with long-horizon spatial planning in embodied settings. Our analysis highlights key limitations in current models, including overreliance on perceptual data, weak global state consistency, and objectives that reward visual plausibility over causal correctness. MMGR offers a unified diagnostic benchmark and a path toward reasoning-aware generative world models.

Existing physical commonsense reasoning benchmarks predominantly focus on Western contexts, overlooking cultural variations in physical problem-solving. To address this gap, we introduce EPiK (Everyday Physics in Korean Contexts), a novel benchmark comprising 181 binary-choice problems that test physical reasoning within Korean cultural contexts, ranging from kimchi (Korean food) to traditional fermentation. EPiK is constructed using a two-stage generation and verification pipeline to create culturally-authentic problems across 9 reasoning subtasks and 84 scenarios. Unlike approaches based on simple translation, our method generates problems organically from Korean contexts while upholding rigorous physical reasoning standards. Our evaluations show that Korean-specialized models consistently outperform general-purpose models of comparable size. This performance gap highlights the limitations of culturally-agnostic models and demonstrates the critical need for culturally-aware benchmarks to truly measure language understanding. Our EPiK is publicly available at https://huggingface.co/datasets/jjae/EPiK.

Physical AI systems need to perceive, understand, and perform complex actions in the physical world. In this paper, we present the Cosmos-Reason1 models that can understand the physical world and generate appropriate embodied decisions (e.g., next step action) in natural language through long chain-of-thought reasoning processes. We begin by defining key capabilities for Physical AI reasoning, with a focus on physical common sense and embodied reasoning. To represent physical common sense, we use a hierarchical ontology that captures fundamental knowledge about space, time, and physics. For embodied reasoning, we rely on a two-dimensional ontology that generalizes across different physical embodiments. Building on these capabilities, we develop two multimodal large language models, Cosmos-Reason1-8B and Cosmos-Reason1-56B. We curate data and train our models in four stages: vision pre-training, general supervised fine-tuning (SFT), Physical AI SFT, and Physical AI reinforcement learning (RL) as the post-training. To evaluate our models, we build comprehensive benchmarks for physical common sense and embodied reasoning according to our ontologies. Evaluation results show that Physical AI SFT and reinforcement learning bring significant improvements. To facilitate the development of Physical AI, we will make our code and pre-trained models available under the NVIDIA Open Model License at https://github.com/nvidia-cosmos/cosmos-reason1.

The burgeoning interest in Multimodal Large Language Models (MLLMs), such as OpenAI's GPT-4V(ision), has significantly impacted both academic and industrial realms. These models enhance Large Language Models (LLMs) with advanced visual understanding capabilities, facilitating their application in a variety of multimodal tasks. Recently, Google introduced Gemini, a cutting-edge MLLM designed specifically for multimodal integration. Despite its advancements, preliminary benchmarks indicate that Gemini lags behind GPT models in commonsense reasoning tasks. However, this assessment, based on a limited dataset (i.e., HellaSWAG), does not fully capture Gemini's authentic commonsense reasoning potential. To address this gap, our study undertakes a thorough evaluation of Gemini's performance in complex reasoning tasks that necessitate the integration of commonsense knowledge across modalities. We carry out a comprehensive analysis of 12 commonsense reasoning datasets, ranging from general to domain-specific tasks. This includes 11 datasets focused solely on language, as well as one that incorporates multimodal elements. Our experiments across four LLMs and two MLLMs demonstrate Gemini's competitive commonsense reasoning capabilities. Additionally, we identify common challenges faced by current LLMs and MLLMs in addressing commonsense problems, underscoring the need for further advancements in enhancing the commonsense reasoning abilities of these models.

Physical therapy (PT) is crucial for patients to restore and maintain mobility, function, and well-being. Many on-site activities and body exercises are performed under the supervision of therapists or clinicians. However, the postures of some exercises at home cannot be performed accurately due to the lack of supervision, quality assessment, and self-correction. Therefore, in this paper, we design a new framework, PhysiQ, that continuously tracks and quantitatively measures people's off-site exercise activity through passive sensory detection. In the framework, we create a novel multi-task spatio-temporal Siamese Neural Network that measures the absolute quality through classification and relative quality based on an individual's PT progress through similarity comparison. PhysiQ digitizes and evaluates exercises in three different metrics: range of motions, stability, and repetition.

Commonsense generation aims at generating plausible everyday scenario description based on a set of provided concepts. Digging the relationship of concepts from scratch is non-trivial, therefore, we retrieve prototypes from external knowledge to assist the understanding of the scenario for better description generation. We integrate two additional modules, namely position indicator and scaling module, into the pretrained encoder-decoder model for prototype modeling to enhance the knowledge injection procedure. We conduct experiment on CommonGen benchmark, and experimental results show that our method significantly improves the performance on all the metrics.

We present a novel task and benchmark for evaluating the ability of text-to-image(T2I) generation models to produce images that fit commonsense in real life, which we call Commonsense-T2I. Given two adversarial text prompts containing an identical set of action words with minor differences, such as "a lightbulb without electricity" v.s. "a lightbulb with electricity", we evaluate whether T2I models can conduct visual-commonsense reasoning, e.g. produce images that fit "the lightbulb is unlit" vs. "the lightbulb is lit" correspondingly. Commonsense-T2I presents an adversarial challenge, providing pairwise text prompts along with expected outputs. The dataset is carefully hand-curated by experts and annotated with fine-grained labels, such as commonsense type and likelihood of the expected outputs, to assist analyzing model behavior. We benchmark a variety of state-of-the-art (sota) T2I models and surprisingly find that, there is still a large gap between image synthesis and real life photos--even the DALL-E 3 model could only achieve 48.92% on Commonsense-T2I, and the stable diffusion XL model only achieves 24.92% accuracy. Our experiments show that GPT-enriched prompts cannot solve this challenge, and we include a detailed analysis about possible reasons for such deficiency. We aim for Commonsense-T2I to serve as a high-quality evaluation benchmark for T2I commonsense checking, fostering advancements in real life image generation.

AI assistance continues to help advance applications in education, from language learning to intelligent tutoring systems, yet current methods for providing students feedback are still quite limited. Most automatic feedback systems either provide binary correctness feedback, which may not help a student understand how to improve, or require hand-coding feedback templates, which may not generalize to new domains. This can be particularly challenging for physical control tasks, where the rich diversity in student behavior and specialized domains make it challenging to leverage general-purpose assistive tools for providing feedback. We design and build CORGI, a model trained to generate language corrections for physical control tasks, such as learning to ride a bike. CORGI takes in as input a pair of student and expert trajectories, and then generates natural language corrections to help the student improve. We collect and train CORGI over data from three diverse physical control tasks (drawing, steering, and joint movement). Through both automatic and human evaluations, we show that CORGI can (i) generate valid feedback for novel student trajectories, (ii) outperform baselines on domains with novel control dynamics, and (iii) improve student learning in an interactive drawing task.

Joint audio-video generation models are rapidly approaching professional production quality, raising a central question: do they understand audio-visual physics, or merely generate plausible sounds and frames that violate real-world consistency? We introduce AV-Phys Bench, a benchmark for evaluating physical commonsense in joint audio-video generation. AV-Phys Bench tests models across three scene categories: Steady State, Event Transition, and Environment Transition. It covers physics-grounded subcategories drawn from real-world scenes, plus Anti-AV-Physics prompts that deliberately request physically inconsistent audio-video behavior. Each generation is evaluated along five dimensions: visual semantic adherence, audio semantic adherence, visual physical commonsense, audio physical commonsense, and cross-modal physical commonsense. Across three proprietary and four open-source models, we find that Seedance 2.0 performs best overall, but all models remain far from robust physical understanding. Performance drops sharply on event-driven and environment-driven transitions, and even strong proprietary systems collapse on Anti-AV-Physics prompts. We further introduce AV-Phys Agent, a ReAct-style evaluator that combines a multimodal language model with deterministic acoustic measurement tools, producing rankings that closely align with human ratings. Our results identify cross-modal physical consistency and transition-driven scene dynamics as key open challenges for joint audio-video generation.

Physical commonsense reasoning datasets like PIQA are predominantly English-centric and lack cultural diversity. We introduce Ko-PIQA, a Korean physical commonsense reasoning dataset that incorporates cultural context. Starting from 3.01 million web-crawled questions, we employed a multi-stage filtering approach using three language models to identify 11,553 PIQA-style questions. Through GPT-4o refinement and human validation, we obtained 441 high-quality question-answer pairs. A key feature of Ko-PIQA is its cultural grounding: 19.7\% of questions contain culturally specific elements like traditional Korean foods (kimchi), clothing (hanbok), and specialized appliances (kimchi refrigerators) that require culturally-aware reasoning beyond direct translation. We evaluate seven language models on Ko-PIQA, with the best model achieving 83.22\% accuracy while the weakest reaches only 59.86\%, demonstrating significant room for improvement. Models particularly struggle with culturally specific scenarios, highlighting the importance of culturally diverse datasets. Ko-PIQA serves as both a benchmark for Korean language models and a foundation for more inclusive commonsense reasoning research. The dataset and code will be publicly available.

Despite serving as the foundation models for a wide range of NLP benchmarks, pre-trained language models have shown limited capabilities of acquiring implicit commonsense knowledge from self-supervision alone, compared to learning linguistic and factual knowledge that appear more explicitly in the surface patterns in text. In this work, we introduce commonsense knowledge transfer, a framework to transfer the commonsense knowledge stored in a neural commonsense knowledge model to a general-purpose pre-trained language model. It first exploits general texts to form queries for extracting commonsense knowledge from the neural commonsense knowledge model and then refines the language model with two self-supervised objectives: commonsense mask infilling and commonsense relation prediction, which align human language with the underlying commonsense knowledge. Empirical results show that our approach consistently improves the model's performance on downstream tasks that require commonsense reasoning. Moreover, we find that the improvement is more significant in the few-shot setting. This suggests that our approach helps language models better transfer to downstream tasks without extensive supervision by injecting commonsense knowledge into their parameters.

We introduce the Continuum Physical Dataset (ContPhy), a novel benchmark for assessing machine physical commonsense. ContPhy complements existing physical reasoning benchmarks by encompassing the inference of diverse physical properties, such as mass and density, across various scenarios and predicting corresponding dynamics. We evaluated a range of AI models and found that they still struggle to achieve satisfactory performance on ContPhy, which shows that the current AI models still lack physical commonsense for the continuum, especially soft-bodies, and illustrates the value of the proposed dataset. We also introduce an oracle model (ContPRO) that marries the particle-based physical dynamic models with the recent large language models, which enjoy the advantages of both models, precise dynamic predictions, and interpretable reasoning. ContPhy aims to spur progress in perception and reasoning within diverse physical settings, narrowing the divide between human and machine intelligence in understanding the physical world. Project page: https://physical-reasoning-project.github.io.

Modern video generative models produce visually impressive results, yet frequently violate basic physical principles. We propose Proprio, a training-free framework that enables a frozen video generator to assess and improve the physical plausibility of its own outputs. Inspired by proprioception, the biological sense of one's own movement, Proprio treats the model's flow residual under controlled latent perturbations as a self-scoring signal. Samples that are better explained by the generator's learned dynamics induce smaller and more stable residuals. We aggregate this signal across timesteps and perturbations, focus it on motion-relevant regions with a dynamic spatiotemporal mask, and use it for best-of-N search, gradient-based self-refinement, or both. Across text-to-video and image-to-video benchmarks, Proprio consistently improves physical plausibility, outperforming VLM-based scoring, and external world-model baselines in several settings. With TurboWan2.2, Proprio improves Physics-IQ from 32.2 to 37.5 (+16.5%) and VideoPhy2-hard physical commonsense from 45.6 to 55.0 (+20.6%). Human evaluation further shows that raters prefer Proprio-selected or refined videos for physical plausibility in roughly two-thirds of comparisons. These results suggest that frozen video generators contain actionable internal signals for evaluating and improving the physical plausibility of their own outputs.

Commonsense is defined as the knowledge that is shared by everyone. However, certain types of commonsense knowledge are correlated with culture and geographic locations and they are only shared locally. For example, the scenarios of wedding ceremonies vary across regions due to different customs influenced by historical and religious factors. Such regional characteristics, however, are generally omitted in prior work. In this paper, we construct a Geo-Diverse Visual Commonsense Reasoning dataset (GD-VCR) to test vision-and-language models' ability to understand cultural and geo-location-specific commonsense. In particular, we study two state-of-the-art Vision-and-Language models, VisualBERT and ViLBERT trained on VCR, a standard multimodal commonsense benchmark with images primarily from Western regions. We then evaluate how well the trained models can generalize to answering the questions in GD-VCR. We find that the performance of both models for non-Western regions including East Asia, South Asia, and Africa is significantly lower than that for Western region. We analyze the reasons behind the performance disparity and find that the performance gap is larger on QA pairs that: 1) are concerned with culture-related scenarios, e.g., weddings, religious activities, and festivals; 2) require high-level geo-diverse commonsense reasoning rather than low-order perception and recognition. Dataset and code are released at https://github.com/WadeYin9712/GD-VCR.

In our work, we explore the synergistic capabilities of pre-trained vision-and-language models (VLMs) and large language models (LLMs) for visual commonsense reasoning (VCR). We categorize the problem of VCR into visual commonsense understanding (VCU) and visual commonsense inference (VCI). For VCU, which involves perceiving the literal visual content, pre-trained VLMs exhibit strong cross-dataset generalization. On the other hand, in VCI, where the goal is to infer conclusions beyond image content, VLMs face difficulties. We find that a baseline where VLMs provide perception results (image captions) to LLMs leads to improved performance on VCI. However, we identify a challenge with VLMs' passive perception, which often misses crucial context information, leading to incorrect or uncertain reasoning by LLMs. To mitigate this issue, we suggest a collaborative approach where LLMs, when uncertain about their reasoning, actively direct VLMs to concentrate on and gather relevant visual elements to support potential commonsense inferences. In our method, named ViCor, pre-trained LLMs serve as problem classifiers to analyze the problem category, VLM commanders to leverage VLMs differently based on the problem classification, and visual commonsense reasoners to answer the question. VLMs will perform visual recognition and understanding. We evaluate our framework on two VCR benchmark datasets and outperform all other methods that do not require in-domain supervised fine-tuning.

Knowledge underpins reasoning. Recent research demonstrates that when relevant knowledge is provided as additional context to commonsense question answering (QA), it can substantially enhance the performance even on top of state-of-the-art. The fundamental challenge is where and how to find such knowledge that is high quality and on point with respect to the question; knowledge retrieved from knowledge bases are incomplete and knowledge generated from language models are inconsistent. We present Rainier, or Reinforced Knowledge Introspector, that learns to generate contextually relevant knowledge in response to given questions. Our approach starts by imitating knowledge generated by GPT-3, then learns to generate its own knowledge via reinforcement learning where rewards are shaped based on the increased performance on the resulting question answering. Rainier demonstrates substantial and consistent performance gains when tested over 9 different commonsense benchmarks: including 5 datasets that are seen during model training, as well as 4 datasets that are kept unseen. Our work is the first to report that knowledge generated by models that are orders of magnitude smaller than GPT-3, even without direct supervision on the knowledge itself, can exceed the quality of commonsense knowledge elicited from GPT-3.

Recent works show that pre-trained language models (PTLMs), such as BERT, possess certain commonsense and factual knowledge. They suggest that it is promising to use PTLMs as "neural knowledge bases" via predicting masked words. Surprisingly, we find that this may not work for numerical commonsense knowledge (e.g., a bird usually has two legs). In this paper, we investigate whether and to what extent we can induce numerical commonsense knowledge from PTLMs as well as the robustness of this process. To study this, we introduce a novel probing task with a diagnostic dataset, NumerSense, containing 13.6k masked-word-prediction probes (10.5k for fine-tuning and 3.1k for testing). Our analysis reveals that: (1) BERT and its stronger variant RoBERTa perform poorly on the diagnostic dataset prior to any fine-tuning; (2) fine-tuning with distant supervision brings some improvement; (3) the best supervised model still performs poorly as compared to human performance (54.06% vs 96.3% in accuracy).

We present a new probing dataset named PROST: Physical Reasoning about Objects Through Space and Time. This dataset contains 18,736 multiple-choice questions made from 14 manually curated templates, covering 10 physical reasoning concepts. All questions are designed to probe both causal and masked language models in a zero-shot setting. We conduct an extensive analysis which demonstrates that state-of-the-art pretrained models are inadequate at physical reasoning: they are influenced by the order in which answer options are presented to them, they struggle when the superlative in a question is inverted (e.g., most <-> least), and increasing the amount of pretraining data and parameters only yields minimal improvements. These results provide support for the hypothesis that current pretrained models' ability to reason about physical interactions is inherently limited by a lack of real world experience. By highlighting these limitations, we hope to motivate the development of models with a human-like understanding of the physical world.

We present PhysBrain 1.5, a unified model for understanding physical environments, generating actions, and predicting future states. Motivated by the physical loop of observation, interaction, and environmental change, we bring these capabilities into a common learning framework. Starting from a general vision--language model, we encode language responses, end-effector motion, and dense visual targets as discrete sequences and jointly optimize them with autoregressive next-token prediction. Pre-training draws its embodied supervision entirely from human interaction videos, using task-centered episodes to pair semantic and spatial context with recovered motion and subsequent observations. We then adapt the model through supervised fine-tuning on a mixture of human demonstrations, robot trajectories, and simulated experience. Across 28 embodied understanding benchmarks, our 8B model achieves an average score of 72.5, setting a new open-source state of the art and performing on par with leading proprietary models such as GPT-6-Astra and Gemini 3.6 Flash. It achieves the best open-source results on 14 benchmarks while retaining general multimodal capabilities. Beyond these understanding evaluations, qualitative examples show the model's ability to produce end-effector trajectories and predict future scenes through spatially aligned RGB, depth, and robot-mask outputs.

Recently, large-scale pre-trained language models have demonstrated impressive performance on several commonsense-reasoning benchmark datasets. However, building machines with commonsense to compose realistically plausible sentences remains challenging. In this paper, we present a constrained text generation task, CommonGen associated with a benchmark dataset, to explicitly test machines for the ability of generative commonsense reasoning. Given a set of common concepts (e.g., {dog, frisbee, catch, throw}); the task is to generate a coherent sentence describing an everyday scenario using these concepts (e.g., "a man throws a frisbee and his dog catches it"). The CommonGen task is challenging because it inherently requires 1) relational reasoning with background commonsense knowledge, and 2) compositional generalization ability to work on unseen concept combinations. Our dataset, constructed through a combination of crowdsourced and existing caption corpora, consists of 79k commonsense descriptions over 35k unique concept-sets. Experiments show that there is a large gap between state-of-the-art text generation models (e.g., T5) and human performance. Furthermore, we demonstrate that the learned generative commonsense reasoning capability can be transferred to improve downstream tasks such as CommonsenseQA by generating additional context.

Mastering commonsense understanding and reasoning is a pivotal skill essential for conducting engaging conversations. While there have been several attempts to create datasets that facilitate commonsense inferences in dialogue contexts, existing datasets tend to lack in-depth details, restate information already present in the conversation, and often fail to capture the multifaceted nature of commonsense reasoning. In response to these limitations, we compile a new synthetic dataset for commonsense reasoning in dialogue contexts using GPT, ConvoSense, that boasts greater contextual novelty, offers a higher volume of inferences per example, and substantially enriches the detail conveyed by the inferences. Our dataset contains over 500,000 inferences across 12,000 dialogues with 10 popular inference types, which empowers the training of generative commonsense models for dialogue that are superior in producing plausible inferences with high novelty when compared to models trained on the previous datasets. To the best of our knowledge, ConvoSense is the first of its kind to provide such a multitude of novel inferences at such a large scale.

In this paper, we propose to leverage the unique characteristics of dialogues sharing commonsense knowledge across participants, to resolve the difficulties in summarizing them. We present SICK, a framework that uses commonsense inferences as additional context. Compared to previous work that solely relies on the input dialogue, SICK uses an external knowledge model to generate a rich set of commonsense inferences and selects the most probable one with a similarity-based selection method. Built upon SICK, SICK++ utilizes commonsense as supervision, where the task of generating commonsense inferences is added upon summarizing the dialogue in a multi-task learning setting. Experimental results show that with injected commonsense knowledge, our framework generates more informative and consistent summaries than existing methods.

Video generation models produce visually compelling results but systematically violate physical commonsense -- on VideoPhy-2, the best model achieves only 32.6% joint accuracy. We identify a specification bottleneck: text prompts are lossy compression of the physical world, omitting the parameters that fully determine dynamics, and no amount of model scaling can recover what was never specified. From this diagnosis we derive three properties that physics conditioning must satisfy -- sufficiency, dynamism, and verifiability -- and show that no existing approach satisfies all three. We present NEWTON, in which video generation is demoted from the system output to one action inside an agent's toolbox: a learned planner orchestrates physics-aware tools (keyframe generation, scientific computation, prompt refinement) to construct rich conditioning, and a verifier closes the loop for iterative re-planning. The planner is the sole trainable component, optimized on-policy via Flow-GRPO inside the live multi-turn loop. On VideoPhy-2, NEWTON improves joint accuracy from 21.4% to 29.7% on LTX-Video and from 30.7% to 37.4% on Veo-3.1, without modifying either generator. Our project page: https://Newton026.github.io/newton{https://Newton026.github.io/newton}

Extensive work has shown that the performance and interpretability of commonsense reasoning can be improved via knowledge-augmented reasoning methods, where the knowledge that underpins the reasoning process is explicitly verbalized and utilized. However, existing implementations, including "chain-of-thought" and its variants, fall short in capturing the introspective nature of knowledge required in commonsense reasoning, and in accounting for the mutual adaptation between the generation and utilization of knowledge. We propose a novel method to develop an introspective commonsense reasoner, Crystal. To tackle commonsense problems, it first introspects for knowledge statements related to the given question, and subsequently makes an informed prediction that is grounded in the previously introspected knowledge. The knowledge introspection and knowledge-grounded reasoning modes of the model are tuned via reinforcement learning to mutually adapt, where the reward derives from the feedback given by the model itself. Experiments show that Crystal significantly outperforms both the standard supervised finetuning and chain-of-thought distilled methods, and enhances the transparency of the commonsense reasoning process. Our work ultimately validates the feasibility and potential of reinforcing a neural model with self-feedback.

The common practice for training commonsense models has gone from-human-to-corpus-to-machine: humans author commonsense knowledge graphs in order to train commonsense models. In this work, we investigate an alternative, from-machine-to-corpus-to-machine: general language models author these commonsense knowledge graphs to train commonsense models. Our study leads to a new framework, Symbolic Knowledge Distillation. As with prior art in Knowledge Distillation (Hinton et al., 2015), our approach uses larger models to teach smaller models. A key difference is that we distill knowledge symbolically-as text-in addition to the neural model. We also distill only one aspect-the commonsense of a general language model teacher, allowing the student to be a different type, a commonsense model. Altogether, we show that careful prompt engineering and a separately trained critic model allow us to selectively distill high-quality causal commonsense from GPT-3, a general language model. Empirical results demonstrate that, for the first time, a human-authored commonsense knowledge graph is surpassed by our automatically distilled variant in all three criteria: quantity, quality, and diversity. In addition, it results in a neural commonsense model that surpasses the teacher model's commonsense capabilities despite its 100x smaller size. We apply this to the ATOMIC resource, and share our new symbolic knowledge graph and commonsense models.

Constructing commonsense knowledge graphs (CKGs) has attracted wide research attention due to its significant importance in cognitive intelligence. Nevertheless, existing CKGs are typically oriented to English, limiting the research in non-English languages. Meanwhile, the emergence of foundation models like ChatGPT and GPT-4 has shown promising intelligence with the help of reinforcement learning from human feedback. Under the background, in this paper, we utilize foundation models to construct a Chinese CKG, named Snowman. Specifically, we distill different types of commonsense head items from ChatGPT, and continue to use it to collect tail items with respect to the head items and pre-defined relations. Based on the preliminary analysis, we find the negative commonsense knowledge distilled by ChatGPT achieves lower human acceptance compared to other knowledge. Therefore, we design a simple yet effective self-instruct filtering strategy to filter out invalid negative commonsense. Overall, the constructed Snowman covers more than ten million Chinese commonsense triples, making it the largest Chinese CKG. Moreover, human studies show the acceptance of Snowman achieves 90.6\%, indicating the high-quality triples distilled by the cutting-edge foundation model. We also conduct experiments on commonsense knowledge models to show the usability and effectiveness of our Snowman.

We present the first comprehensive study on automatic knowledge base construction for two prevalent commonsense knowledge graphs: ATOMIC (Sap et al., 2019) and ConceptNet (Speer et al., 2017). Contrary to many conventional KBs that store knowledge with canonical templates, commonsense KBs only store loosely structured open-text descriptions of knowledge. We posit that an important step toward automatic commonsense completion is the development of generative models of commonsense knowledge, and propose COMmonsEnse Transformers (COMET) that learn to generate rich and diverse commonsense descriptions in natural language. Despite the challenges of commonsense modeling, our investigation reveals promising results when implicit knowledge from deep pre-trained language models is transferred to generate explicit knowledge in commonsense knowledge graphs. Empirical results demonstrate that COMET is able to generate novel knowledge that humans rate as high quality, with up to 77.5% (ATOMIC) and 91.7% (ConceptNet) precision at top 1, which approaches human performance for these resources. Our findings suggest that using generative commonsense models for automatic commonsense KB completion could soon be a plausible alternative to extractive methods.

Understanding commonsense causality is a unique mark of intelligence for humans. It helps people understand the principles of the real world better and benefits the decision-making process related to causation. For instance, commonsense causality is crucial in judging whether a defendant's action causes the plaintiff's loss in determining legal liability. Despite its significance, a systematic exploration of this topic is notably lacking. Our comprehensive survey bridges this gap by focusing on taxonomies, benchmarks, acquisition methods, qualitative reasoning, and quantitative measurements in commonsense causality, synthesizing insights from over 200 representative articles. Our work aims to provide a systematic overview, update scholars on recent advancements, provide a pragmatic guide for beginners, and highlight promising future research directions in this vital field.

Commonsense question answering (QA) research requires machines to answer questions based on commonsense knowledge. However, this research requires expensive labor costs to annotate data as the basis of research, and models that rely on fine-tuning paradigms only apply to specific tasks, rather than learn a general commonsense reasoning ability. As a more robust method, zero-shot commonsense question answering shows a good prospect. The current zero-shot framework tries to convert triples in commonsense knowledge graphs (KGs) into QA-form samples as the pre-trained data source to incorporate commonsense knowledge into the model. However, this method ignores the multi-hop relationship in the KG, which is also an important central problem in commonsense reasoning. In this paper, we propose a novel multi-hop commonsense knowledge injection framework. Specifically, it explores multi-hop reasoning paradigm in KGs that conform to linguistic logic, and we further propose two multi-hop QA generation methods based on KGs. Then, we utilize contrastive learning to pre-train the model with the synthetic QA dataset to inject multi-hop commonsense knowledge. Extensive experiments on five commonsense question answering benchmarks demonstrate that our framework achieves state-of-art performance.

Understanding the physical world - governed by laws of motion, spatial relations, and causality - poses a fundamental challenge for multimodal large language models (MLLMs). While recent advances such as OpenAI o3 and GPT-4o demonstrate impressive perceptual and reasoning capabilities, our investigation reveals these models struggle profoundly with visual physical reasoning, failing to grasp basic physical laws, spatial interactions, and causal effects in complex scenes. More importantly, they often fail to follow coherent reasoning chains grounded in visual evidence, especially when multiple steps are needed to arrive at the correct answer. To rigorously evaluate this capability, we introduce MVPBench, a curated benchmark designed to rigorously evaluate visual physical reasoning through the lens of visual chain-of-thought (CoT). Each example features interleaved multi-image inputs and demands not only the correct final answer but also a coherent, step-by-step reasoning path grounded in evolving visual cues. This setup mirrors how humans reason through real-world physical processes over time. To ensure fine-grained evaluation, we introduce a graph-based CoT consistency metric that verifies whether the reasoning path of model adheres to valid physical logic. Additionally, we minimize shortcut exploitation from text priors, encouraging models to rely on visual understanding. Experimental results reveal a concerning trend: even cutting-edge MLLMs exhibit poor visual reasoning accuracy and weak image-text alignment in physical domains. Surprisingly, RL-based post-training alignment - commonly believed to improve visual reasoning performance - often harms spatial reasoning, suggesting a need to rethink current fine-tuning practices.

We present NovaCOMET, an open commonsense knowledge model, that combines the best aspects of knowledge and general task models. Compared to previous knowledge models, NovaCOMET allows open-format relations enabling direct application to reasoning tasks; compared to general task models like Flan-T5, it explicitly centers knowledge, enabling superior performance for commonsense reasoning. NovaCOMET leverages the knowledge of opaque proprietary models to create an open knowledge pipeline. First, knowledge is symbolically distilled into NovATOMIC, a publicly-released discrete knowledge graph which can be audited, critiqued, and filtered. Next, we train NovaCOMET on NovATOMIC by fine-tuning an open-source pretrained model. NovaCOMET uses an open-format training objective, replacing the fixed relation sets of past knowledge models, enabling arbitrary structures within the data to serve as inputs or outputs. The resulting generation model, optionally augmented with human annotation, matches or exceeds comparable open task models like Flan-T5 on a range of commonsense generation tasks. NovaCOMET serves as a counterexample to the contemporary focus on instruction tuning only, demonstrating a distinct advantage to explicitly modeling commonsense knowledge as well.

Pre-trained vision language models do not have good intuitions about the physical world. Recent work has shown that supervised fine-tuning can improve model performance on simple physical tasks. However, fine-tuned models do not appear to learn robust physical rules that can generalize to new contexts. Based on research in cognitive science, we hypothesize that models need to interact with an environment to properly learn its physical dynamics. We train models that learn through interaction with a simulated environment using reinforcement learning. While learning from interaction allows models to improve their within-task performance, it fails to produce models with generalizable physical intuitions. We find that models trained on one task do not reliably generalize to related tasks, even if the tasks share visual statistics and physical principles, and regardless of whether the models are trained through interaction.

Pre-trained language models, despite their rapid advancements powered by scale, still fall short of robust commonsense capabilities. And yet, scale appears to be the winning recipe; after all, the largest models seem to have acquired the largest amount of commonsense capabilities. Or is it? In this paper, we investigate the possibility of a seemingly impossible match: can smaller language models with dismal commonsense capabilities (i.e., GPT-2), ever win over models that are orders of magnitude larger and better (i.e., GPT-3), if the smaller models are powered with novel commonsense distillation algorithms? The key intellectual question we ask here is whether it is possible, if at all, to design a learning algorithm that does not benefit from scale, yet leads to a competitive level of commonsense acquisition. In this work, we study the generative models of commonsense knowledge, focusing on the task of generating generics, statements of commonsense facts about everyday concepts, e.g., birds can fly. We introduce a novel commonsense distillation framework, I2D2, that loosely follows the Symbolic Knowledge Distillation of West et al. but breaks the dependence on the extreme-scale models as the teacher model by two innovations: (1) the novel adaptation of NeuroLogic Decoding to enhance the generation quality of the weak, off-the-shelf language models, and (2) self-imitation learning to iteratively learn from the model's own enhanced commonsense acquisition capabilities. Empirical results suggest that scale is not the only way, as novel algorithms can be a promising alternative. Moreover, our study leads to a new corpus of generics, Gen-A-Tomic, that is of the largest and highest quality available to date.

Building omni-modal models with physical intelligence requires fine-grained supervision that captures physical evidence such as contact, support, deformation, and state transitions. However, existing omni-modal captioners primarily model general audiovisual semantics and often overlook transient or spatially localized physical evidence. We present a unified framework for physics-aware audiovisual captioning spanning data construction, training, and evaluation. Firstly, we build a data construction pipeline that identifies physics-rich clips and leverages OmniFysics-Agent to coordinate audio, visual, and physical-perception tools for collecting spatiotemporally aligned and traceable cross-modal evidence; within the Agent, a physical perception model (PPM) fine-tuned on approximately 2M image-level samples serves as a dedicated tool for extracting object-interaction and state-change cues. Secondly, we build the Daily-Physics 50K dataset and introduce the evidence-driven OmniPhysCap (OPC) benchmark to evaluate the recovery of physical and cross-modal evidence from generated captions. Finally, we train OmniFysics-Captioner from the resulting data. Our Captioner matches Gemini 3.1 Pro on audiovisual captioning, achieves state-of-the-art results on multiple video-captioning benchmarks, and substantially outperforms other open-source models. Ablations show that PPM evidence improves physical coverage and produces finer-grained, more reliable cross-modal descriptions.

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel object and their configurations. Developmental psychology has shown that such skills are acquired by infants from observations at a very early stage. In this paper, we contrast a more traditional approach of taking a model-based route with explicit 3D representations and physical simulation by an end-to-end approach that directly predicts stability and related quantities from appearance. We ask the question if and to what extent and quality such a skill can directly be acquired in a data-driven way bypassing the need for an explicit simulation. We present a learning-based approach based on simulated data that predicts stability of towers comprised of wooden blocks under different conditions and quantities related to the potential fall of the towers. The evaluation is carried out on synthetic data and compared to human judgments on the same stimuli.

Physical understanding remains brittle in omni-modal models because key physical attributes are visually ambiguous and sparsely represented in web-scale data. We present OmniFysics, a compact omni-modal model that unifies understanding across images, audio, video, and text, with integrated speech and image generation. To inject explicit physical knowledge, we build a physical data engine with two components. FysicsAny produces physics-grounded instruction--image supervision by mapping salient objects to verified physical attributes through hierarchical retrieval over a curated prototype database, followed by physics-law--constrained verification and caption rewriting. FysicsOmniCap distills web videos via audio--visual consistency filtering to generate high-fidelity video--instruction pairs emphasizing cross-modal physical cues. We train OmniFysics with staged multimodal alignment and instruction tuning, adopt latent-space flow matching for text-to-image generation, and use an intent router to activate generation only when needed. Experiments show competitive performance on standard multimodal benchmarks and improved results on physics-oriented evaluations.

In this study, we explore the sophisticated domain of task planning for robust household embodied agents, with a particular emphasis on the intricate task of selecting substitute objects. We introduce the CommonSense Object Affordance Task (COAT), a novel framework designed to analyze reasoning capabilities in commonsense scenarios. This approach is centered on understanding how these agents can effectively identify and utilize alternative objects when executing household tasks, thereby offering insights into the complexities of practical decision-making in real-world environments.Drawing inspiration from human decision-making, we explore how large language models tackle this challenge through three meticulously crafted commonsense question-and-answer datasets, featuring refined rules and human annotations. Our evaluation of state-of-the-art language models on these datasets sheds light on three pivotal considerations: 1) aligning an object's inherent utility with the task at hand, 2) navigating contextual dependencies (societal norms, safety, appropriateness, and efficiency), and 3) accounting for the current physical state of the object. To maintain accessibility, we introduce five abstract variables reflecting an object's physical condition, modulated by human insights to simulate diverse household scenarios. Our contributions include insightful Object-Utility mappings addressing the first consideration and two extensive QA datasets (15k and 130k questions) probing the intricacies of contextual dependencies and object states. The datasets, along with our findings, are accessible at: https://github.com/com-phy-affordance/COAT. This research not only advances our understanding of physical commonsense reasoning in language models but also paves the way for future improvements in household agent intelligence.

A critical gap exists between the general-purpose visual understanding of state-of-the-art physical AI models and the specialized perceptual demands of structured real-world deployment environments. We present PRISM, a 270K-sample multi-view video supervised fine-tuning (SFT) corpus for embodied vision-language-models (VLMs) in real-world retail environments. PRISM is motivated by a simple observation - physical AI systems fail not because of poor visual recognition, but because they do not understand space, physical dynamics and embodied action well enough to operate reliably in the world. To this end, PRISM is grounded in a novel three-dimensional knowledge ontology that spans spatial knowledge, temporal and physical knowledge, and embodied action knowledge. It covers 20+ capability probes across four evaluation dimensions - Embodied Reasoning (ER), Common Sense (CS), Spatial Perception (SP), and Intuitive Physics (IP), and to our knowledge, PRISM is the first dataset to instantiate all three knowledge dimensions within a single real-world deployment domain. The corpus captures data from egocentric, exocentric and 360° viewpoints across five supermarket locations and includes open-ended, chain-of-thought, and multiple-choice supervision. At 4 fps, PRISM spans approximately 11.8M video frames and approximately 730M tokens, placing it among the largest domain-specific video SFT corpora. Fine-tuning on PRISM reduces the error rate across all 20+ probes by 66.6% over the pre-trained baseline, with significant gains in embodied action understanding where the accuracy improves by 36.4%. Our results suggest that ontology-structured, domain specific SFT can meaningfully strengthen embodied VLMs for real-world settings. The PRISM dataset and more details are available at https://dreamvu.ai/prism

Physical reasoning, which involves the interpretation, understanding, and prediction of object behavior in dynamic environments, remains a significant challenge for current Vision-Language Models (VLMs). In this work, we propose two methods to enhance VLMs' physical reasoning capabilities using simulated data. First, we fine-tune a pre-trained VLM using question-answer (QA) pairs generated from simulations relevant to physical reasoning tasks. Second, we introduce Physics Context Builders (PCBs), specialized VLMs fine-tuned to create scene descriptions enriched with physical properties and processes. During physical reasoning tasks, these PCBs can be leveraged as context to assist a Large Language Model (LLM) to improve its performance. We evaluate both of our approaches using multiple benchmarks, including a new stability detection QA dataset called Falling Tower, which includes both simulated and real-world scenes, and CLEVRER. We demonstrate that a small QA fine-tuned VLM can significantly outperform larger state-of-the-art foundational models. We also show that integrating PCBs boosts the performance of foundational LLMs on physical reasoning tasks. Using the real-world scenes from the Falling Tower dataset, we also validate the robustness of both approaches in Sim2Real transfer. Our results highlight the utility that simulated data can have in the creation of learning systems capable of advanced physical reasoning.

Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to robots. Large language models (LLMs) are one potential source of this knowledge, but they do not naively capture information about plausible physical arrangements of the world. We propose LLM-GROP, which uses prompting to extract commonsense knowledge about semantically valid object configurations from an LLM and instantiates them with a task and motion planner in order to generalize to varying scene geometry. LLM-GROP allows us to go from natural-language commands to human-aligned object rearrangement in varied environments. Based on human evaluations, our approach achieves the highest rating while outperforming competitive baselines in terms of success rate while maintaining comparable cumulative action costs. Finally, we demonstrate a practical implementation of LLM-GROP on a mobile manipulator in real-world scenarios. Supplementary materials are available at: https://sites.google.com/view/llm-grop

Physics reasoning requires constructing a consistent model of the underlying physical system rather than relying solely on symbolic or formula-based manipulation. Although large language models have shown strong ability in solving math and coding problems, they still struggle with physics problems, as these problems entangle the physical modeling process with mathematical calculations. Humans approach physics by first building a representation of the system before performing calculations. Inspired by this, we introduce a unified framework that distills intermediate representations that explicitly encode the physical modeling process and adopt a two-stage post-training strategy, where supervised fine-tuning establishes structured modeling, and reinforcement learning with rubric-based feedback improves the quality of the modeling process. Experiments on multiple multimodal physics benchmarks show that our approach leads to consistent improvements in reasoning performance across different models and datasets. On PhysReason, PhyX and SeePhys benchmarks, physical modeling output performs GRPO by an average ~3%, showing that explicit physical modeling is an efficient strategy of improving physics reasoning for small LLMs.

With the rapid development of large multimodal models, reliable judge and critic models have become essential for open-ended evaluation and preference alignment, providing pairwise preferences, numerical scores, and explanatory justifications for assessing model-generated responses. However, existing critics are primarily trained in general visual domains such as captioning or image question answering, leaving physical AI tasks involving perception, causal reasoning, and planning largely underexplored. We introduce PhyCritic, a multimodal critic model optimized for physical AI through a two-stage RLVR pipeline: a physical skill warmup stage that enhances physically oriented perception and reasoning, followed by self-referential critic finetuning, where the critic generates its own prediction as an internal reference before judging candidate responses, improving judgment stability and physical correctness. Across both physical and general-purpose multimodal judge benchmarks, PhyCritic achieves strong performance gains over open-source baselines and, when applied as a policy model, further improves perception and reasoning in physically grounded tasks.

Video generation models have emerged as a promising paradigm for embodied world simulation. However, both general-domain video generators and robot-specific data fine-tuned models can still produce physically implausible manipulations, including discontinuous motion trajectories and inconsistent robot-object interactions, which limits their reliability as world simulators. Through extensive experiments, we find that such physical instability mainly arises from two factors: deformation of moving objects and implausible spatio-temporal correlations among interacting entities, particularly during contact. Building on this observation, we propose PhysisForcing, a scalable training framework that strengthens physical consistency by focusing supervision on physics-informative regions through joint optimization of pixel-level and semantic-level features. The framework consists of a pixel-level trajectory alignment loss, which supervises DiT features using reference point trajectories, and a semantic-level relational alignment loss, which aligns DiT features with inter-region relations extracted from a frozen video understanding encoder. Extensive experiments on R-Bench, PAI-Bench, and EZS-Bench show that PhysisForcing consistently improves embodied video generation over strong baselines, improving the Wan2.2-I2V-A14B and Cosmos3-Nano base models on R-Bench by 22.3\% and 9.2\% (7.1\% and 3.7\% over vanilla finetuning), with the Cosmos3-Nano variant attaining the best overall score. Beyond generation, as a world model under the WorldArena action-planner protocol it raises the closed-loop success rate from 16.0\% to 24.0\% and further improves downstream policy success, indicating that physically aligned video models yield stronger representations for robotic manipulation.

Instruction following vision-language (VL) models offer a flexible interface that supports a broad range of multimodal tasks in a zero-shot fashion. However, interfaces that operate on full images do not directly enable the user to "point to" and access specific regions within images. This capability is important not only to support reference-grounded VL benchmarks, but also, for practical applications that require precise within-image reasoning. We build Localized Visual Commonsense models, which allow users to specify (multiple) regions as input. We train our model by sampling localized commonsense knowledge from a large language model (LLM): specifically, we prompt an LLM to collect commonsense knowledge given a global literal image description and a local literal region description automatically generated by a set of VL models. With a separately trained critic model that selects high-quality examples, we find that training on the localized commonsense corpus can successfully distill existing VL models to support a reference-as-input interface. Empirical results and human evaluations in a zero-shot setup demonstrate that our distillation method results in more precise VL models of reasoning compared to a baseline of passing a generated referring expression to an LLM.

Since commonsense information has been recorded significantly less frequently than its existence, language models pre-trained by text generation have difficulty to learn sufficient commonsense knowledge. Several studies have leveraged text retrieval to augment the models' commonsense ability. Unlike text, images capture commonsense information inherently but little effort has been paid to effectively utilize them. In this work, we propose a novel Multi-mOdal REtrieval (MORE) augmentation framework, to leverage both text and images to enhance the commonsense ability of language models. Extensive experiments on the Common-Gen task have demonstrated the efficacy of MORE based on the pre-trained models of both single and multiple modalities.

Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic Embodied Reasoning that targets physical reasoning challenges arising in robot learning and planning. KinDER comprises 25 procedurally generated environments, a Gymnasium-compatible Python library with parameterized skills and demonstrations, and a standardized evaluation suite with 13 implemented baselines spanning task and motion planning, imitation learning, reinforcement learning, and foundation-model-based approaches. The environments are designed to isolate five core physical reasoning challenges: basic spatial relations, nonprehensile multi-object manipulation, tool use, combinatorial geometric constraints, and dynamic constraints, disentangled from perception, language understanding, and application-specific complexity. Empirical evaluation shows that existing methods struggle to solve many of the environments, indicating substantial gaps in current approaches to physical reasoning. We additionally include real-to-sim-to-real experiments on a mobile manipulator to assess the correspondence between simulation and real-world physical interaction. KinDER is fully open-sourced and intended to enable systematic comparison across diverse paradigms for advancing physical reasoning in robotics. Website and code: https://prpl-group.com/kinder-site/

Commonsense reasoning is a long-standing challenge for deep learning. For example, it is difficult to use neural networks to tackle the Winograd Schema dataset (Levesque et al., 2011). In this paper, we present a simple method for commonsense reasoning with neural networks, using unsupervised learning. Key to our method is the use of language models, trained on a massive amount of unlabled data, to score multiple choice questions posed by commonsense reasoning tests. On both Pronoun Disambiguation and Winograd Schema challenges, our models outperform previous state-of-the-art methods by a large margin, without using expensive annotated knowledge bases or hand-engineered features. We train an array of large RNN language models that operate at word or character level on LM-1-Billion, CommonCrawl, SQuAD, Gutenberg Books, and a customized corpus for this task and show that diversity of training data plays an important role in test performance. Further analysis also shows that our system successfully discovers important features of the context that decide the correct answer, indicating a good grasp of commonsense knowledge.

Large-scale sequence-to-sequence models have shown to be adept at both multiple-choice and open-domain commonsense reasoning tasks. However, the current systems do not provide the ability to control the various attributes of the reasoning chain. To enable better controllability, we propose to study the commonsense reasoning as a template filling task (TemplateCSR) -- where the language models fills reasoning templates with the given constraints as control factors. As an approach to TemplateCSR, we (i) propose a dataset of commonsense reasoning template-expansion pairs and (ii) introduce POTTER, a pretrained sequence-to-sequence model using prompts to perform commonsense reasoning across concepts. Our experiments show that our approach outperforms baselines both in generation metrics and factuality metrics. We also present a detailed error analysis on our approach's ability to reliably perform commonsense reasoning.

Generative world models are increasingly used for video generation, where learned simulators are expected to capture the physical rules that govern real-world dynamics. However, evaluating whether generated videos actually follow these rules remains challenging. Existing physics-focused video benchmarks have made important progress, but they still face three key challenges, including the coarse evaluation frameworks that hide law-specific failures, response biases and fatigue that undermine the validity of annotation judgments, and automated evaluators that are insufficiently physics-aware or difficult to audit. To address those challenges, we introduce PhyGround, a criteria-grounded benchmark for evaluating physical reasoning in video generation. The benchmark contains 250 curated prompts, each augmented with an expected physical outcome, and a taxonomy of 13 physical laws across solid-body mechanics, fluid dynamics, and optics. Each law is operationalized through observable sub-questions to enable per-law diagnostics. We evaluate eight modern video generation models through a large-scale, quality-controlled human study, grounded on social science lab experiment design. A total of 459 annotators provided 5,796 complete annotations and over 37.4K fine-grained labels; after quality control, the retained annotations exhibited high split-half model-ranking correlations (Spearman's rho > 0.90). To support reproducible automated evaluation, we release PhyJudge-9B, an open physics-specialized VLM judge. PhyJudge-9B achieves substantially lower aggregate relative bias than Gemini-3.1-Pro (3.3% vs. 16.6%). We release prompts, human annotations, model checkpoints, and evaluation code on the project page https://phyground.github.io/.

Commonsense reasoning often involves evaluating multiple plausible interpretations rather than selecting a single atomic answer, yet most benchmarks rely on single-label evaluation, obscuring whether statements are jointly plausible, mutually exclusive, or jointly implausible. We introduce LOGICAL-COMMONSENSEQA, a benchmark that re-frames commonsense reasoning as logical composition over pairs of atomic statements using plausibility-level operators (AND, OR, NEITHER/NOR). Evaluating instruction-tuned, reasoning-specialized, and fine-tuned models under zero-shot, few-shot, and chain-of-thought prompting, we find that while models perform reasonably on conjunctive and moderately on disjunctive reasoning, performance degrades sharply on negation-based questions. LOGICAL-COMMONSENSEQA exposes fundamental reasoning limitations and provides a controlled framework for advancing compositional commonsense reasoning.

Recent advancements in video generation have witnessed significant progress, especially with the rapid advancement of diffusion models. Despite this, their deficiencies in physical cognition have gradually received widespread attention - generated content often violates the fundamental laws of physics, falling into the dilemma of ''visual realism but physical absurdity". Researchers began to increasingly recognize the importance of physical fidelity in video generation and attempted to integrate heuristic physical cognition such as motion representations and physical knowledge into generative systems to simulate real-world dynamic scenarios. Considering the lack of a systematic overview in this field, this survey aims to provide a comprehensive summary of architecture designs and their applications to fill this gap. Specifically, we discuss and organize the evolutionary process of physical cognition in video generation from a cognitive science perspective, while proposing a three-tier taxonomy: 1) basic schema perception for generation, 2) passive cognition of physical knowledge for generation, and 3) active cognition for world simulation, encompassing state-of-the-art methods, classical paradigms, and benchmarks. Subsequently, we emphasize the inherent key challenges in this domain and delineate potential pathways for future research, contributing to advancing the frontiers of discussion in both academia and industry. Through structured review and interdisciplinary analysis, this survey aims to provide directional guidance for developing interpretable, controllable, and physically consistent video generation paradigms, thereby propelling generative models from the stage of ''visual mimicry'' towards a new phase of ''human-like physical comprehension''.

Robot learning of manipulation skills is hindered by the scarcity of diverse, unbiased datasets. While curated datasets can help, challenges remain in generalizability and real-world transfer. Meanwhile, large-scale "in-the-wild" video datasets have driven progress in computer vision through self-supervised techniques. Translating this to robotics, recent works have explored learning manipulation skills by passively watching abundant videos sourced online. Showing promising results, such video-based learning paradigms provide scalable supervision while reducing dataset bias. This survey reviews foundations such as video feature representation learning techniques, object affordance understanding, 3D hand/body modeling, and large-scale robot resources, as well as emerging techniques for acquiring robot manipulation skills from uncontrolled video demonstrations. We discuss how learning only from observing large-scale human videos can enhance generalization and sample efficiency for robotic manipulation. The survey summarizes video-based learning approaches, analyses their benefits over standard datasets, survey metrics, and benchmarks, and discusses open challenges and future directions in this nascent domain at the intersection of computer vision, natural language processing, and robot learning.

The robot learning community has made great strides in recent years, proposing new architectures and showcasing impressive new capabilities; however, the dominant metric used in the literature, especially for physical experiments, is "success rate", i.e. the percentage of runs that were successful. Furthermore, it is common for papers to report this number with little to no information regarding the number of runs, the initial conditions, and the success criteria, little to no narrative description of the behaviors and failures observed, and little to no statistical analysis of the findings. In this paper we argue that to move the field forward, researchers should provide a nuanced evaluation of their methods, especially when evaluating and comparing learned policies on physical robots. To do so, we propose best practices for future evaluations: explicitly reporting the experimental conditions, evaluating several metrics designed to complement success rate, conducting statistical analysis, and adding a qualitative description of failures modes. We illustrate these through an evaluation on physical robots of several learned policies for manipulation tasks.

Captioning is a crucial and challenging task for video understanding. In videos that involve active agents such as humans, the agent's actions can bring about myriad changes in the scene. Observable changes such as movements, manipulations, and transformations of the objects in the scene, are reflected in conventional video captioning. Unlike images, actions in videos are also inherently linked to social aspects such as intentions (why the action is taking place), effects (what changes due to the action), and attributes that describe the agent. Thus for video understanding, such as when captioning videos or when answering questions about videos, one must have an understanding of these commonsense aspects. We present the first work on generating commonsense captions directly from videos, to describe latent aspects such as intentions, effects, and attributes. We present a new dataset "Video-to-Commonsense (V2C)" that contains sim9k videos of human agents performing various actions, annotated with 3 types of commonsense descriptions. Additionally we explore the use of open-ended video-based commonsense question answering (V2C-QA) as a way to enrich our captions. Both the generation task and the QA task can be used to enrich video captions.

The sequential process of conceptualization and instantiation is essential to generalizable commonsense reasoning as it allows the application of existing knowledge to unfamiliar scenarios. However, existing works tend to undervalue the step of instantiation and heavily rely on pre-built concept taxonomies and human annotations to collect both types of knowledge, resulting in a lack of instantiated knowledge to complete reasoning, high cost, and limited scalability. To tackle these challenges, we introduce CANDLE, a distillation framework that iteratively performs contextualized conceptualization and instantiation over commonsense knowledge bases by instructing large language models to generate both types of knowledge with critic filtering. By applying CANDLE to ATOMIC, we construct a comprehensive knowledge base comprising six million conceptualizations and instantiated commonsense knowledge triples. Both types of knowledge are firmly rooted in the original ATOMIC dataset, and intrinsic evaluations demonstrate their exceptional quality and diversity. Empirical results indicate that distilling CANDLE on student models provides benefits across four downstream tasks. Our code, data, and models are publicly available at https://github.com/HKUST-KnowComp/CANDLE.

Generative skill acquisition enables embodied agents to actively learn a scalable and evolving repertoire of control skills, crucial for the advancement of large decision models. While prior approaches often rely on supervision signals from generalist agents (e.g., LLMs), their effectiveness in complex 3D environments remains unclear; exhaustive evaluation incurs substantial computational costs, significantly hindering the efficiency of skill learning. Inspired by recent successes in verification models for mathematical reasoning, we propose VERGSA (Verifying Embodied Reasoning in Generative Skill Acquisition), a framework that systematically integrates real-time verification principles into embodied skill learning. VERGSA establishes 1) a seamless extension from verification of mathematical reasoning into embodied learning by dynamically incorporating contextually relevant tasks into prompts and defining success metrics for both subtasks and overall tasks, and 2) an automated, scalable reward labeling scheme that synthesizes dense reward signals by iteratively finalizing the contribution of scene configuration and subtask learning to overall skill acquisition. To the best of our knowledge, this approach constitutes the first comprehensive training dataset for verification-driven generative skill acquisition, eliminating arduous manual reward engineering. Experiments validate the efficacy of our approach: 1) the exemplar task pool improves the average task success rates by 21%, 2) our verification model boosts success rates by 24% for novel tasks and 36% for encountered tasks, and 3) outperforms LLM-as-a-Judge baselines in verification quality.

In recent years, large language models have greatly improved in their ability to perform complex multi-step reasoning. However, even state-of-the-art models still regularly produce logical mistakes. To train more reliable models, we can turn either to outcome supervision, which provides feedback for a final result, or process supervision, which provides feedback for each intermediate reasoning step. Given the importance of training reliable models, and given the high cost of human feedback, it is important to carefully compare the both methods. Recent work has already begun this comparison, but many questions still remain. We conduct our own investigation, finding that process supervision significantly outperforms outcome supervision for training models to solve problems from the challenging MATH dataset. Our process-supervised model solves 78% of problems from a representative subset of the MATH test set. Additionally, we show that active learning significantly improves the efficacy of process supervision. To support related research, we also release PRM800K, the complete dataset of 800,000 step-level human feedback labels used to train our best reward model.

Large language models (LLMs) such as ChatGPT and GPT-4 have made significant progress in NLP. However, their ability to memorize, represent, and leverage commonsense knowledge has been a well-known pain point for LLMs. It remains unclear that: (1) Can GPTs effectively answer commonsense questions? (2) Are GPTs knowledgeable in commonsense? (3) Are GPTs aware of the underlying commonsense knowledge for answering a specific question? (4) Can GPTs effectively leverage commonsense for answering questions? To evaluate the above commonsense problems, we conduct a series of experiments to evaluate ChatGPT's commonsense abilities, and the experimental results show that: (1) GPTs can achieve good QA accuracy in commonsense tasks, while they still struggle with certain types of knowledge. (2) ChatGPT is knowledgeable, and can accurately generate most of the commonsense knowledge using knowledge prompts. (3) Despite its knowledge, ChatGPT is an inexperienced commonsense problem solver, which cannot precisely identify the needed commonsense knowledge for answering a specific question, i.e., ChatGPT does not precisely know what commonsense knowledge is required to answer a question. The above findings raise the need to investigate better mechanisms for utilizing commonsense knowledge in LLMs, such as instruction following, better commonsense guidance, etc.

Vision-Language Models (VLMs) are increasingly pivotal for generalist robot manipulation, enabling tasks such as physical reasoning, policy generation, and failure detection. However, their proficiency in these high-level applications often assumes a deep understanding of low-level physical prerequisites, a capability that remains largely unverified. For robots to perform actions reliably, they must comprehend intrinsic object properties (e.g., material, weight), action affordances (e.g., graspable, stackable), and physical constraints (e.g., stability, reachability, or an object's state, such as being closed). Despite the widespread use of VLMs in manipulation tasks, we argue that off-the-shelf models may lack this granular, physically grounded understanding, as such prerequisites are often overlooked during training. To address this critical gap, we introduce PAC Bench, a comprehensive benchmark designed to systematically evaluate VLMs on their understanding of core Properties, Affordances, and Constraints (PAC) from a task executability perspective. PAC Bench features a diverse dataset with over 30,000 annotations, comprising 673 real-world images (115 object classes, 15 property types, and 1 to 3 affordances defined per class), 100 real-world humanoid-view scenarios, and 120 unique simulated constraint scenarios across four tasks. Our evaluations reveal significant gaps in the ability of current VLMs to grasp fundamental physical concepts, highlighting limitations in their suitability for reliable robot manipulation and pointing to key areas for targeted research. PAC Bench also serves as a standardized benchmark for rigorously evaluating physical reasoning in VLMs and guiding the development of more robust, physically grounded models for robotic applications. Project Page: https://pacbench.github.io/

Large multimodal models have demonstrated impressive problem-solving abilities in vision and language tasks, and have the potential to encode extensive world knowledge. However, it remains an open challenge for these models to perceive, reason, plan, and act in realistic environments. In this work, we introduce Can-Do, a benchmark dataset designed to evaluate embodied planning abilities through more diverse and complex scenarios than previous datasets. Our dataset includes 400 multimodal samples, each consisting of natural language user instructions, visual images depicting the environment, state changes, and corresponding action plans. The data encompasses diverse aspects of commonsense knowledge, physical understanding, and safety awareness. Our fine-grained analysis reveals that state-of-the-art models, including GPT-4V, face bottlenecks in visual perception, comprehension, and reasoning abilities. To address these challenges, we propose NeuroGround, a neurosymbolic framework that first grounds the plan generation in the perceived environment states and then leverages symbolic planning engines to augment the model-generated plans. Experimental results demonstrate the effectiveness of our framework compared to strong baselines. Our code and dataset are available at https://embodied-planning.github.io.

Many contact-rich tasks humans perform, such as box pickup or rolling dough, rely on force feedback for reliable execution. However, this force information, which is readily available in most robot arms, is not commonly used in teleoperation and policy learning. Consequently, robot behavior is often limited to quasi-static kinematic tasks that do not require intricate force-feedback. In this paper, we first present a low-cost, intuitive, bilateral teleoperation setup that relays external forces of the follower arm back to the teacher arm, facilitating data collection for complex, contact-rich tasks. We then introduce FACTR, a policy learning method that employs a curriculum which corrupts the visual input with decreasing intensity throughout training. The curriculum prevents our transformer-based policy from over-fitting to the visual input and guides the policy to properly attend to the force modality. We demonstrate that by fully utilizing the force information, our method significantly improves generalization to unseen objects by 43\% compared to baseline approaches without a curriculum. Video results, codebases, and instructions at https://jasonjzliu.com/factr/

Recent years have brought about a renewed interest in commonsense representation and reasoning in the field of natural language understanding. The development of new commonsense knowledge graphs (CSKG) has been central to these advances as their diverse facts can be used and referenced by machine learning models for tackling new and challenging tasks. At the same time, there remain questions about the quality and coverage of these resources due to the massive scale required to comprehensively encompass general commonsense knowledge. In this work, we posit that manually constructed CSKGs will never achieve the coverage necessary to be applicable in all situations encountered by NLP agents. Therefore, we propose a new evaluation framework for testing the utility of KGs based on how effectively implicit knowledge representations can be learned from them. With this new goal, we propose ATOMIC 2020, a new CSKG of general-purpose commonsense knowledge containing knowledge that is not readily available in pretrained language models. We evaluate its properties in comparison with other leading CSKGs, performing the first large-scale pairwise study of commonsense knowledge resources. Next, we show that ATOMIC 2020 is better suited for training knowledge models that can generate accurate, representative knowledge for new, unseen entities and events. Finally, through human evaluation, we show that the few-shot performance of GPT-3 (175B parameters), while impressive, remains ~12 absolute points lower than a BART-based knowledge model trained on ATOMIC 2020 despite using over 430x fewer parameters.

A common thread of retrieval-augmented methods in the existing literature focuses on retrieving encyclopedic knowledge, such as Wikipedia, which facilitates well-defined entity and relation spaces that can be modeled. However, applying such methods to commonsense reasoning tasks faces two unique challenges, i.e., the lack of a general large-scale corpus for retrieval and a corresponding effective commonsense retriever. In this paper, we systematically investigate how to leverage commonsense knowledge retrieval to improve commonsense reasoning tasks. We proposed a unified framework of retrieval-augmented commonsense reasoning (called RACo), including a newly constructed commonsense corpus with over 20 million documents and novel strategies for training a commonsense retriever. We conducted experiments on four different commonsense reasoning tasks. Extensive evaluation results showed that our proposed RACo can significantly outperform other knowledge-enhanced method counterparts, achieving new SoTA performance on the CommonGen and CREAK leaderboards.

The transition from symbolic manipulation to science-grade reasoning represents a pivotal frontier for Large Language Models (LLMs), with physics serving as the critical test anchor for binding abstract logic to physical reality. Physics demands that a model maintain physical consistency with the laws governing the universe, a task that fundamentally requires multimodal perception to ground abstract logic in reality. At the Olympiad level, diagrams are often constitutive rather than illustrative, containing essential constraints, such as boundary conditions and spatial symmetries, that are absent from the text. To bridge this visual-logical gap, we introduce P1-VL, a family of open-source vision-language models engineered for advanced scientific reasoning. Our method harmonizes Curriculum Reinforcement Learning, which employs progressive difficulty expansion to stabilize post-training, with Agentic Augmentation, enabling iterative self-verification at inference. Evaluated on HiPhO, a rigorous benchmark of 13 exams from 2024-2025, our flagship P1-VL-235B-A22B becomes the first open-source Vision-Language Model (VLM) to secure 12 gold medals and achieves the state-of-the-art performance in the open-source models. Our agent-augmented system achieves the No.2 overall rank globally, trailing only Gemini-3-Pro. Beyond physics, P1-VL demonstrates remarkable scientific reasoning capacity and generalizability, establishing significant leads over base models in STEM benchmarks. By open-sourcing P1-VL, we provide a foundational step toward general-purpose physical intelligence to better align visual perceptions with abstract physical laws for machine scientific discovery.

How can "weak teacher models" such as average human annotators or existing AI systems, effectively supervise LLMs to improve performance on hard reasoning tasks, especially those that challenge and requires expertise or daily practice from the teacher models? In this paper, we seek for empirical answers to this question by investigating various data-driven strategies that offer supervision data at different quality levels upon tasks of varying complexity. Two intuitive strategies emerge for teacher models to provide supervision during alignment training: 1) using lower-quality supervision from complete tasks that match the difficulty of the target reasoning tasks, and 2) leveraging higher-quality supervision from easier subtasks that are less challenging. Interestingly, we find that even when the outcome error rate for hard task supervision is high (e.g., 90\%), training on such data can outperform perfectly correct supervision on easier subtasks on multiple hard math benchmarks. We further identify a more critical factor influencing training performance: step-wise error rates, which indicate the severity of errors in solutions. Specifically, training on hard task supervision with the same outcome error rates but disparate step-wise error rates can lead to a 30\% accuracy gap on MATH benchmark. Our results also reveal that supplementing hard task supervision with the corresponding subtask supervision can yield notable performance improvements than simply combining rephrased hard full task supervision, suggesting new avenues for data augmentation. Data and code are released at https://github.com/hexuan21/Weak-to-Strong.

We present PhysCaP, a Physics-Informed Code-as-Policy agent for active perception in robotic manipulation. While vision-language-action policies excel at imitating demonstrations, they rely on passive observation and fail to infer latent physical properties critical for manipulation. PhysCaP augments code-as-policy frameworks with a physics-informed exploration layer that enables explicit information-seeking through interaction. It introduces training-free physical property extraction modules that estimate object mass and stiffness from robot proprioception without additional sensors. To balance exploration costs and the efficiency of information obtained, PhysCaP employs a dual-agent design: a Planner that decides when to explore and when to stop, and a Prioritizer that filters implausible interactions and ranks the remainder using a heuristic priority score, enabling efficient, targeted exploration. We evaluate PhysCaP on real-world tabletop manipulation tasks (searching for hidden objects, detecting empty cans, and finding ripe avocados) and a simulated task in LIBERO. The results show that existing passive and naive interactive baselines either fail when physical properties are hidden or over-explore, whereas PhysCaP achieves comparable performance with fewer interactions and reduced execution time. Ablation studies further validate the effectiveness of the proposed physical property extraction modules. Project page: https://physcap.github.io

Autonomous intelligence requires not only perception and reasoning, but critically, effective interaction with the existing world and its infrastructure. Everyday environments are rich in tangible control interfaces (TCIs), e.g., light switches, appliance panels, and embedded GUIs, that demand commonsense and physics reasoning, but also causal prediction and outcome verification in time and space (e.g., delayed heating, remote lights). Moreover, failures here have potential safety implications, yet current benchmarks rarely test grounding, partial observability (video), or post-hoc verification in situated settings. We introduce SWITCH (Semantic World Interface Tasks for Control and Handling), an embodied, task-driven benchmark created through iterative releases to probe these gaps. Its first iteration, SWITCH-Basic, evaluates five complementary abilities:task-aware VQA, semantic UI grounding, action generation, state-transition prediction, and result verification, under egocentric RGB video input and device diversity. Across 351 tasks spanning 98 real devices and appliances, commercial and open LMMMs exhibit inconsistent performance even on single-step interactions, often over-relying on textual cues and under-using visual or video evidence (and high aggregate scores can mask such failures). SWITCH provides data, code, and held-out splits to enable reproducible evaluation and community contributions toward more challenging future iterations of the benchmark and the creation of training datasets. Benchmark resources are available at: https://github.com/BAAI-Agents/SWITCH.

Reacting to sudden physical hazards (catching a slipping plate, dodging a falling knife) is both a meaningful test of embodied intelligence and a hard requirement for deploying multimodal large language models (MLLMs) as the decision coreof household robots. Existing evaluations, however, probe intuitive physics passively through question answering over videos, or target deliberate, long-horizon tasks such as navigation and rearrangement; none measure whether a model can turn physical understanding into immediate, safety-critical action. We introduce ReactHuman, the first physics-grounded benchmark for human-like reactive decision-making, in which the evaluated MLLM acts as the brain of a simulated humanoid facing sudden household hazards; it spans 17 event families and over 1,000 bit-for-bit reproducible scenes with exact, annotation-free ground truth derived from 240 Hz rigid-body simulation, including adversarial objects whose appearance contradicts their physics (a foam anvil, a steel apple). We further design a five-metric suite that scores each reaction along three axes: reasonable, safe, and physically grounded. We physically execute every committed plan so that decisions have observable consequences. With this harness we evaluate seven representative MLLMs. Results show that reactive safety is far from solved: models mishandle roughly one hazard in three, act from fixed dispositions rather than the observed scene, trust appearance over motion, and miss interception points at meter scale even when the chosen action is correct; none of these failures shrink with model scale. ReactHuman thus offers both a fine-grained diagnosis and a scalable training signal toward physically grounded, safety-aware embodied agents. The benchmark can be found here: https://huggingface.co/datasets/Alan123/reacthuman-benchmark-scaled

We introduce PhysicalAgent, an agentic framework for robotic manipulation that integrates iterative reasoning, diffusion-based video generation, and closed-loop execution. Given a textual instruction, our method generates short video demonstrations of candidate trajectories, executes them on the robot, and iteratively re-plans in response to failures. This approach enables robust recovery from execution errors. We evaluate PhysicalAgent across multiple perceptual modalities (egocentric, third-person, and simulated) and robotic embodiments (bimanual UR3, Unitree G1 humanoid, simulated GR1), comparing against state-of-the-art task-specific baselines. Experiments demonstrate that our method consistently outperforms prior approaches, achieving up to 83% success on human-familiar tasks. Physical trials reveal that first-attempt success is limited (20-30%), yet iterative correction increases overall success to 80% across platforms. These results highlight the potential of video-based generative reasoning for general-purpose robotic manipulation and underscore the importance of iterative execution for recovering from initial failures. Our framework paves the way for scalable, adaptable, and robust robot control.

Despite the much discussed capabilities of today's language models, they are still prone to silly and unexpected commonsense failures. We consider a retrospective verification approach that reflects on the correctness of LM outputs, and introduce Vera, a general-purpose model that estimates the plausibility of declarative statements based on commonsense knowledge. Trained on ~7M commonsense statements created from 19 QA datasets and two large-scale knowledge bases, and with a combination of three training objectives, Vera is a versatile model that effectively separates correct from incorrect statements across diverse commonsense domains. When applied to solving commonsense problems in the verification format, Vera substantially outperforms existing models that can be repurposed for commonsense verification, and it further exhibits generalization capabilities to unseen tasks and provides well-calibrated outputs. We find that Vera excels at filtering LM-generated commonsense knowledge and is useful in detecting erroneous commonsense statements generated by models like ChatGPT in real-world settings.

Recent work has shown that asking language models to generate reasoning steps improves performance on many reasoning tasks. When moving beyond prompting, this raises the question of how we should supervise such models: outcome-based approaches which supervise the final result, or process-based approaches which supervise the reasoning process itself? Differences between these approaches might naturally be expected not just in final-answer errors but also in reasoning errors, which can be difficult to detect and are problematic in many real-world domains such as education. We run the first comprehensive comparison between process- and outcome-based approaches trained on a natural language task, GSM8K. We find that pure outcome-based supervision produces similar final-answer error rates with less label supervision. However, for correct reasoning steps we find it necessary to use process-based supervision or supervision from learned reward models that emulate process-based feedback. In total, we improve the previous best results from 16.8% to 12.7% final-answer error and 14.0% to 3.4% reasoning error among final-answer-correct solutions.

LLM-based LEGO assembly generation requires both semantic grounding and physical feasibility. We identify a data-induced failure mode, PhysHack, in which the assemblies satisfy physical-validity constraints while producing structures that are geometrically misaligned, semantically inconsistent, or poorly calibrated. To address this challenge, we propose a model-based data selection approach that uses only a small fraction of the training data while improving physically grounded LEGO assembly generation. Building on the selected trajectories, we introduce PVPO, a sample-efficient reinforcement learning method that couples physical feasibility with voxel-space geometric rewards. Our results show that physical validity alone is an insufficient proxy for reliable physical reasoning: models can learn to generate valid structures without preserving semantic or geometric fidelity. Experiments across model backbones and test-time scaling settings demonstrate that PVPO improves structural and semantic alignment, physical validity, structural stability, and calibration, while reducing reliance on extensive post-hoc rejection sampling. In particular, results on calibration show that PVPO mitigates PhysHack by making test-time selection more predictive of semantic and structural quality.

Commonsense reasoning is fundamentally based on multimodal knowledge. However, existing large language models (LLMs) are primarily trained using textual data only, limiting their ability to incorporate essential visual information. In contrast, Visual Language Models, which excel at visually-oriented tasks, often fail at non-visual tasks such as basic commonsense reasoning. This divergence highlights a critical challenge - the integration of robust visual understanding with foundational text-based language reasoning. To this end, we introduce a method aimed at enhancing LLMs' visual commonsense. Specifically, our method generates multiple images based on the input text prompt and integrates these into the model's decision-making process by mixing their prediction probabilities. To facilitate multimodal grounded language modeling, we employ a late-fusion layer that combines the projected visual features with the output of a pre-trained LLM conditioned on text only. This late-fusion layer enables predictions based on comprehensive image-text knowledge as well as text only when this is required. We evaluate our approach using several visual commonsense reasoning tasks together with traditional NLP tasks, including common sense reasoning and reading comprehension. Our experimental results demonstrate significant superiority over existing baselines. When applied to recent state-of-the-art LLMs (e.g., Llama3), we observe improvements not only in visual common sense but also in traditional NLP benchmarks. Code and models are available under https://github.com/guyyariv/vLMIG.

Large pretrained (e.g., "foundation") models exhibit distinct capabilities depending on the domain of data they are trained on. While these domains are generic, they may only barely overlap. For example, visual-language models (VLMs) are trained on Internet-scale image captions, but large language models (LMs) are further trained on Internet-scale text with no images (e.g., spreadsheets, SAT questions, code). As a result, these models store different forms of commonsense knowledge across different domains. In this work, we show that this diversity is symbiotic, and can be leveraged through Socratic Models (SMs): a modular framework in which multiple pretrained models may be composed zero-shot i.e., via multimodal-informed prompting, to exchange information with each other and capture new multimodal capabilities, without requiring finetuning. With minimal engineering, SMs are not only competitive with state-of-the-art zero-shot image captioning and video-to-text retrieval, but also enable new applications such as (i) answering free-form questions about egocentric video, (ii) engaging in multimodal assistive dialogue with people (e.g., for cooking recipes) by interfacing with external APIs and databases (e.g., web search), and (iii) robot perception and planning.

Human commonsense understanding of the physical and social world is organized around intuitive theories. These theories support making causal and moral judgments. When something bad happens, we naturally ask: who did what, and why? A rich literature in cognitive science has studied people's causal and moral intuitions. This work has revealed a number of factors that systematically influence people's judgments, such as the violation of norms and whether the harm is avoidable or inevitable. We collected a dataset of stories from 24 cognitive science papers and developed a system to annotate each story with the factors they investigated. Using this dataset, we test whether large language models (LLMs) make causal and moral judgments about text-based scenarios that align with those of human participants. On the aggregate level, alignment has improved with more recent LLMs. However, using statistical analyses, we find that LLMs weigh the different factors quite differently from human participants. These results show how curated, challenge datasets combined with insights from cognitive science can help us go beyond comparisons based merely on aggregate metrics: we uncover LLMs implicit tendencies and show to what extent these align with human intuitions.

Visual understanding goes well beyond object recognition. With one glance at an image, we can effortlessly imagine the world beyond the pixels: for instance, we can infer people's actions, goals, and mental states. While this task is easy for humans, it is tremendously difficult for today's vision systems, requiring higher-order cognition and commonsense reasoning about the world. We formalize this task as Visual Commonsense Reasoning. Given a challenging question about an image, a machine must answer correctly and then provide a rationale justifying its answer. Next, we introduce a new dataset, VCR, consisting of 290k multiple choice QA problems derived from 110k movie scenes. The key recipe for generating non-trivial and high-quality problems at scale is Adversarial Matching, a new approach to transform rich annotations into multiple choice questions with minimal bias. Experimental results show that while humans find VCR easy (over 90% accuracy), state-of-the-art vision models struggle (~45%). To move towards cognition-level understanding, we present a new reasoning engine, Recognition to Cognition Networks (R2C), that models the necessary layered inferences for grounding, contextualization, and reasoning. R2C helps narrow the gap between humans and machines (~65%); still, the challenge is far from solved, and we provide analysis that suggests avenues for future work.

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally expensive to train and are subject to performance pitfalls, such as compounding errors during autoregressive rollout. In this work, we take a different perspective and look at scientific tasks further downstream of predicting the next frame, such as estimation of a system's governing physical parameters. Accuracy on these tasks offers a uniquely quantifiable glimpse into the physical relevance of the representations of these models. We evaluate the effectiveness of general-purpose self-supervised methods in learning physics-grounded representations that are useful for downstream scientific tasks. Surprisingly, we find that not all methods designed for physical modeling outperform generic self-supervised learning methods on these tasks, and methods that learn in the latent space (e.g., joint embedding predictive architectures, or JEPAs) outperform those optimizing pixel-level prediction objectives. Code is available at https://github.com/helenqu/physical-representation-learning.

Vision-Language Models (VLMs) have shown strong multimodal reasoning capabilities, yet whether they truly capture the physical consistency underlying real-world dynamics remains unclear. Existing benchmark paradigms often suffer from fragmented evaluation, focusing on isolated cognitive stages while overlooking the inherent synergy between perception, reasoning, and physical judgment. The lack of a holistic perspective limits the ability to diagnose whether VLMs can reliably evaluate the physical authenticity of emerging generative models. To address these issues, we introduce PhysVista, a benchmark designed to evaluate physical intelligence in VLMs through a closed cognitive loop framework inspired by the human seeing-reasoning-assessment process. PhysVista restores this loop by jointly evaluating physical state perception, physical dynamics reasoning, and physical plausibility assessment. It further distinguishes event-level reasoning and scale-level reasoning to enable fine-grained analysis of physical understanding. In addition, PhysVista incorporates both real-world and AI-generated videos, allowing evaluation across diverse domains and emerging generative scenarios. Extensive experiments across a diverse set of VLMs reveal substantial limitations in physical reasoning and plausibility assessment, highlighting a persistent gap between visual recognition and genuine physical understanding, and pointing toward more principled designs for physically grounded multimodal intelligence.

Motion instruction is a crucial task that helps athletes refine their technique by analyzing movements and providing corrective guidance. Although recent advances in multimodal models have improved motion understanding, generating precise and sport-specific instruction remains challenging due to the highly domain-specific nature of sports and the need for informative guidance. We propose CoachMe, a reference-based model that analyzes the differences between a learner's motion and a reference under temporal and physical aspects. This approach enables both domain-knowledge learning and the acquisition of a coach-like thinking process that identifies movement errors effectively and provides feedback to explain how to improve. In this paper, we illustrate how CoachMe adapts well to specific sports such as skating and boxing by learning from general movements and then leveraging limited data. Experiments show that CoachMe provides high-quality instructions instead of directions merely in the tone of a coach but without critical information. CoachMe outperforms GPT-4o by 31.6% in G-Eval on figure skating and by 58.3% on boxing. Analysis further confirms that it elaborates on errors and their corresponding improvement methods in the generated instructions. You can find CoachMe here: https://motionxperts.github.io/

Recent rapid advancements in text-to-video (T2V) generation, such as SoRA and Kling, have shown great potential for building world simulators. However, current T2V models struggle to grasp abstract physical principles and generate videos that adhere to physical laws. This challenge arises primarily from a lack of clear guidance on physical information due to a significant gap between abstract physical principles and generation models. To this end, we introduce the World Simulator Assistant (WISA), an effective framework for decomposing and incorporating physical principles into T2V models. Specifically, WISA decomposes physical principles into textual physical descriptions, qualitative physical categories, and quantitative physical properties. To effectively embed these physical attributes into the generation process, WISA incorporates several key designs, including Mixture-of-Physical-Experts Attention (MoPA) and a Physical Classifier, enhancing the model's physics awareness. Furthermore, most existing datasets feature videos where physical phenomena are either weakly represented or entangled with multiple co-occurring processes, limiting their suitability as dedicated resources for learning explicit physical principles. We propose a novel video dataset, WISA-32K, collected based on qualitative physical categories. It consists of 32,000 videos, representing 17 physical laws across three domains of physics: dynamics, thermodynamics, and optics. Experimental results demonstrate that WISA can effectively enhance the compatibility of T2V models with real-world physical laws, achieving a considerable improvement on the VideoPhy benchmark. The visual exhibitions of WISA and WISA-32K are available in the https://360cvgroup.github.io/WISA/.

Commonsense reasoning is one of the key problems in natural language processing, but the relative scarcity of labeled data holds back the progress for languages other than English. Pretrained cross-lingual models are a source of powerful language-agnostic representations, yet their inherent reasoning capabilities are still actively studied. In this work, we design a simple approach to commonsense reasoning which trains a linear classifier with weights of multi-head attention as features. To evaluate this approach, we create a multilingual Winograd Schema corpus by processing several datasets from prior work within a standardized pipeline and measure cross-lingual generalization ability in terms of out-of-sample performance. The method performs competitively with recent supervised and unsupervised approaches for commonsense reasoning, even when applied to other languages in a zero-shot manner. Also, we demonstrate that most of the performance is given by the same small subset of attention heads for all studied languages, which provides evidence of universal reasoning capabilities in multilingual encoders.

Video world models are expected to predict how the physical world evolves, yet they often produce visually plausible videos that violate basic physical principles. Existing approaches commonly assume that natural language is insufficient to represent the physical knowledge required for reliable generation, and therefore introduce additional visual, latent, numerical, or planning-based signals. We revisit this assumption and introduce Physis-Lang, a self-evolving framework that treats physical language as a shared and optimizable representation across data curation, model training, and video generation. Physis-Lang represents physical processes through language that describes their relevant entities, causes, interactions, governing principles, temporal evolution, and effects. To improve this representation, we construct PhysCapBench, which decomposes physical processes into atomic assertions and evaluates captions using recall and precision. An agentic loop iteratively analyzes assertion-level errors and refines the instruction used to produce physical captions. Physis-Lang further converts model deficiencies into textual descriptions and uses language-guided retrieval to identify visually diverse videos that cover missing physical processes. Experiments on four widely used physical video benchmarks with Wan and Cosmos backbones demonstrate consistent improvements in physical plausibility. Notably, starting from open-source Cosmos3-Nano backbones, our Physis-Lang-enhanced models surpass the leading proprietary Veo 3.1 model.

We study self-distillation in settings where supervision is unreliable: there are no ground truth labels, verifiable rewards, or external graders to evaluate answers. We focus on document-grounded question answering with asymmetric context, where a single model serves as both tutor (with access to a relevant source document during training) and student (answering from the question alone at test time). Rather than assuming tutor correctness, we derive supervision online from tutor consensus by sampling multiple document-grounded reasoning traces and using agreement to gate learning. Conditioned on this reliability signal, we distill knowledge through full tutor reasoning trajectories (not just final answers), providing a dense and stable learning signal. Empirically, this consensus-gated trajectory distillation substantially improves transfer to the document-free student. Held-out in-domain accuracy under asymmetric evaluation improves from 46.0\% to 62.0\%, and average (maj@8) accuracy on public document-free math benchmarks improves from 20.2\% to 35.4\%.

Safety judges are increasingly deployed to evaluate model outputs against evolving criteria, yet recent meta-evaluation work shows they remain brittle under prompt and rubric variation, with false negative-rate swings of up to 0.24 reported for stylistic perturbations alone. We argue that safety judgment is fundamentally a rubric-following problem: a robust judge must apply the given evaluation criteria consistently across rubric formulations rather than memorize one specific template. We propose a training strategy that combines (i) instance-conditioned dynamic rubrics generated from prompt-response-label triples to expose the judge to the variability of evaluation criteria, and (ii) a reliable-to-expressive curriculum that begins with clean fixed-rubric supervision and progressively introduces noisier dynamic-rubric data. We evaluate on a single human-labeled set under three contrasting rubric prompts (HarmBench-style, ShieldGemma-style, and a domain-specific rubric). Our 12B curriculum judge achieves 94.12-94.88% accuracy across the three rubrics with a cross-rubric range of only 0.76, outperforming general-purpose LLMs, dedicated safety classifiers, and reasoning-oriented judges up to 30B in both peak accuracy and stability. An ablation shows that naively mixing dynamic rubrics into SFT increases cross rubric variance (1.44 -> 3.60); only the curriculum schedule recovers and improves on the fixed rubric baseline (variance 0.76).

We focus on the self-supervised discovery of manipulation concepts that can be adapted and reassembled to address various robotic tasks. We propose that the decision to conceptualize a physical procedure should not depend on how we name it (semantics) but rather on the significance of the informativeness in its representation regarding the low-level physical state and state changes. We model manipulation concepts (discrete symbols) as generative and discriminative goals and derive metrics that can autonomously link them to meaningful sub-trajectories from noisy, unlabeled demonstrations. Specifically, we employ a trainable codebook containing encodings (concepts) capable of synthesizing the end-state of a sub-trajectory given the current state (generative informativeness). Moreover, the encoding corresponding to a particular sub-trajectory should differentiate the state within and outside it and confidently predict the subsequent action based on the gradient of its discriminative score (discriminative informativeness). These metrics, which do not rely on human annotation, can be seamlessly integrated into a VQ-VAE framework, enabling the partitioning of demonstrations into semantically consistent sub-trajectories, fulfilling the purpose of discovering manipulation concepts and the corresponding sub-goal (key) states. We evaluate the effectiveness of the learned concepts by training policies that utilize them as guidance, demonstrating superior performance compared to other baselines. Additionally, our discovered manipulation concepts compare favorably to human-annotated ones while saving much manual effort.

The task of video-based commonsense captioning aims to generate event-wise captions and meanwhile provide multiple commonsense descriptions (e.g., attribute, effect and intention) about the underlying event in the video. Prior works explore the commonsense captions by using separate networks for different commonsense types, which is time-consuming and lacks mining the interaction of different commonsense. In this paper, we propose a Hybrid Reasoning Network (HybridNet) to endow the neural networks with the capability of semantic-level reasoning and word-level reasoning. Firstly, we develop multi-commonsense learning for semantic-level reasoning by jointly training different commonsense types in a unified network, which encourages the interaction between the clues of multiple commonsense descriptions, event-wise captions and videos. Then, there are two steps to achieve the word-level reasoning: (1) a memory module records the history predicted sequence from the previous generation processes; (2) a memory-routed multi-head attention (MMHA) module updates the word-level attention maps by incorporating the history information from the memory module into the transformer decoder for word-level reasoning. Moreover, the multimodal features are used to make full use of diverse knowledge for commonsense reasoning. Experiments and abundant analysis on the large-scale Video-to-Commonsense benchmark show that our HybridNet achieves state-of-the-art performance compared with other methods.

Multimodal Large Language Models (MLLMs) excel at utilizing digital APIs and increasingly serve as the "brain" of embodied AI, instructing robots to interact with the physical world. In such embodied settings, a central capability is the use of physical tools, which underpins MLLMs' ability to assist humans in real-world tasks. Despite the importance, MLLMs' proficiency in physical tool use remains largely unexplored. To address this gap, we introduce PhysTool-Bench, the first physical tool-use benchmark designed to evaluate MLLMs' ability to comprehend real-world scenarios, identify physical tools, and plan their use. PhysTool-Bench comprises 2,510 queries over 2,678 real-world physical tools spanning diverse domains, including manufacturing, electrical work, agriculture, and healthcare. Concretely, models are evaluated along two primary dimensions: 1) recognizing all physical tools present in the scene, and 2) planning the tool selection and use sequence based on the instruction and visual context. Across 13 leading MLLMs, even the strongest model (Gemini-3.1-Pro) identifies only 58.7% of tools in a scene and completes merely 21.0% of queries end-to-end. Our analysis reveals a two-level deficit: MLLMs struggle to perceive tools in realistic scenes, and the much larger drop at the planning stage further indicates a lack of functional commonsense for mapping perceived tools onto task semantics, pinpointing a critical bottleneck for the development of practical embodied AI.

Commonsense generation is a challenging task of generating a plausible sentence describing an everyday scenario using provided concepts. Its requirement of reasoning over commonsense knowledge and compositional generalization ability even puzzles strong pre-trained language generation models. We propose a novel framework using retrieval methods to enhance both the pre-training and fine-tuning for commonsense generation. We retrieve prototype sentence candidates by concept matching and use them as auxiliary input. For fine-tuning, we further boost its performance with a trainable sentence retriever. We demonstrate experimentally on the large-scale CommonGen benchmark that our approach achieves new state-of-the-art results.

Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world, particularly within domains such as robotic manipulation. However, current VLMs are limited in their understanding of the physical concepts (e.g., material, fragility) of common objects, which restricts their usefulness for robotic manipulation tasks that involve interaction and physical reasoning about such objects. To address this limitation, we propose PhysObjects, an object-centric dataset of 36.9K crowd-sourced and 417K automated physical concept annotations of common household objects. We demonstrate that fine-tuning a VLM on PhysObjects improves its understanding of physical object concepts, by capturing human priors of these concepts from visual appearance. We incorporate this physically-grounded VLM in an interactive framework with a large language model-based robotic planner, and show improved planning performance on tasks that require reasoning about physical object concepts, compared to baselines that do not leverage physically-grounded VLMs. We additionally illustrate the benefits of our physically-grounded VLM on a real robot, where it improves task success rates. We release our dataset and provide further details and visualizations of our results at https://iliad.stanford.edu/pg-vlm/.

LLMs can now act as autonomous agents that interact with digital environments and complete specific objectives (e.g., arranging an online meeting). However, accuracy is still far from satisfactory, partly due to a lack of large-scale, direct demonstrations for digital tasks. Obtaining supervised data from humans is costly, and automatic data collection through exploration or reinforcement learning relies on complex environmental and content setup, resulting in datasets that lack comprehensive coverage of various scenarios. On the other hand, there is abundant knowledge that may indirectly assist task completion, such as online tutorials that were created for human consumption. In this work, we present Synatra, an approach that effectively transforms this indirect knowledge into direct supervision at scale. We define different types of indirect knowledge, and carefully study the available sources to obtain it, methods to encode the structure of direct demonstrations, and finally methods to transform indirect knowledge into direct demonstrations. We use 100k such synthetically-created demonstrations to finetune a 7B CodeLlama, and demonstrate that the resulting agent surpasses all comparably sized models on three web-based task benchmarks Mind2Web, MiniWoB++ and WebArena, as well as surpassing GPT-3.5 on WebArena and Mind2Web. In addition, while synthetic demonstrations prove to be only 3% the cost of human demonstrations (at $0.031 each), we show that the synthetic demonstrations can be more effective than an identical number of human demonstrations collected from limited domains.

Large Language Models (LLMs) have achieved remarkable progress on advanced reasoning tasks such as mathematics and coding competitions. Meanwhile, physics, despite being both reasoning-intensive and essential to real-world understanding, received limited academic and industrial attention. This paper introduces PHYSICS, a dataset containing 16,568 high-quality physics problems spanning subjects and difficulty levels, to facilitate this issue. Specifically, PHYSICS is curated with exercises from over 100 textbooks through a carefully designed pipeline for quality control. It covers five major physics domains: Mechanics, Electromagnetism, Thermodynamics, Optics, and Modern Physics. It also spans a wide range of difficulty levels, from high school to graduate-level physics courses. To utilize the data for improving and evaluating the model's physical reasoning capabilities, we split the dataset into training and test sets, and provide reasoning paths generated by powerful reasoning models for the training data to facilitate model training. In addition, for the evaluation part, we find that existing evaluation frameworks exhibit biases in aspects such as units, simplification, and precision in physics domain. To balance efficiency and accuracy, we introduce a Rule+Model evaluation framework tailored to physics problems. Our evaluations on current state-of-the-art open-source and proprietary models highlight the limitations of current models in handling physics-related tasks. We hope that our dataset and evaluation methodology will jointly advance the development of LLMs in the field of physics.

Embodied reasoning requires models to perceive task-relevant objects and spaces in physical environments and maintain consistent visual grounding throughout multi-step reasoning. However, current vision-language models rely on text-only or coordinate-augmented chain-of-thought, where entity references remain implicit and ambiguous. This may cause the reasoning process to decouple from visual evidence, entity references to drift across steps, and a causal disconnection between the reasoning trajectory and the final answer, with these problems further amplified in multi-view scenarios due to cross-view appearance changes. To address these issues, we propose Pinned Chain-of-Thought (PinCoT), a structured reasoning paradigm that pins every reasoning step to visual evidence. PinCoT introduces the concept of reasoning anchor, which binds each task-relevant entity to a structured visual anchor with entity name, unique identity, view index, and spatial grounding, enabling consistent entity tracking across reasoning steps and views. We build a fully automated data generation pipeline to construct PIN-170K, a high-quality PinCoT-formatted reasoning dataset. We then train RoboPIN through three-stage post-training that progressively injects embodied knowledge, structured reasoning ability, and process-supervised alignment, with rewards that directly constrain both anchor localization and identity consistency during reasoning. On 14 benchmarks covering embodied spatial reasoning, multi-view reasoning, and pointing, RoboPIN with only 4B parameters surpasses 7B level open-source embodied models on average, achieving a 12% average improvement over the strongest 7B baseline, Mimo-Embodied. Further analysis shows that PinCoT improves grounding accuracy and cross-step identity consistency, validating the effectiveness of process supervision.

Commonsense intelligence in machines is often assessed by static benchmarks that compare a model's output against human-prescribed correct labels. An important, albeit implicit, assumption of these labels is that they accurately capture what any human would think, effectively treating human common sense as homogeneous. However, recent empirical work has shown that humans vary enormously in what they consider commonsensical; thus what appears self-evident to one benchmark designer may not be so to another. Here, we propose a novel method for evaluating common sense in artificial intelligence (AI), specifically in large language models (LLMs), that incorporates empirically observed heterogeneity among humans by measuring the correspondence between a model's judgment and that of a human population. We first find that, when treated as independent survey respondents, most LLMs remain below the human median in their individual commonsense competence. Second, when used as simulators of a hypothetical population, LLMs correlate with real humans only modestly in the extent to which they agree on the same set of statements. In both cases, smaller, open-weight models are surprisingly more competitive than larger, proprietary frontier models. Our evaluation framework, which ties commonsense intelligence to its cultural basis, contributes to the growing call for adapting AI models to human collectivities that possess different, often incompatible, social stocks of knowledge.

Language technologies that accurately model the dynamics of events must perform commonsense reasoning. Existing work evaluating commonsense reasoning focuses on making inferences about common, everyday situations. To instead investigate the ability to model unusual, unexpected, and unlikely situations, we explore the task of uncommonsense abductive reasoning. Given a piece of context with an unexpected outcome, this task requires reasoning abductively to generate a natural language explanation that makes the unexpected outcome more likely in the context. To this end, we curate and release a new English language corpus called UNcommonsense. We characterize the differences between the performance of human explainers and the best performing large language models, finding that model-enhanced human-written explanations achieve the highest quality by trading off between specificity and diversity. Finally, we experiment with several online imitation learning algorithms to train open and accessible language models on this task. When compared with the vanilla supervised fine-tuning approach, these methods consistently reduce lose rates on both common and uncommonsense abductive reasoning judged by human evaluators.

We introduce Youtu-LLM, a lightweight yet powerful language model that harmonizes high computational efficiency with native agentic intelligence. Unlike typical small models that rely on distillation, Youtu-LLM (1.96B) is pre-trained from scratch to systematically cultivate reasoning and planning capabilities. The key technical advancements are as follows: (1) Compact Architecture with Long-Context Support: Built on a dense Multi-Latent Attention (MLA) architecture with a novel STEM-oriented vocabulary, Youtu-LLM supports a 128k context window. This design enables robust long-context reasoning and state tracking within a minimal memory footprint, making it ideal for long-horizon agent and reasoning tasks. (2) Principled "Commonsense-STEM-Agent" Curriculum: We curated a massive corpus of approximately 11T tokens and implemented a multi-stage training strategy. By progressively shifting the pre-training data distribution from general commonsense to complex STEM and agentic tasks, we ensure the model acquires deep cognitive abilities rather than superficial alignment. (3) Scalable Agentic Mid-training: Specifically for the agentic mid-training, we employ diverse data construction schemes to synthesize rich and varied trajectories across math, coding, and tool-use domains. This high-quality data enables the model to internalize planning and reflection behaviors effectively. Extensive evaluations show that Youtu-LLM sets a new state-of-the-art for sub-2B LLMs. On general benchmarks, it achieves competitive performance against larger models, while on agent-specific tasks, it significantly surpasses existing SOTA baselines, demonstrating that lightweight models can possess strong intrinsic agentic capabilities.

Humanoid loco-manipulation demands coordinated body and hand behavior, while conventional robot pre-training data provide limited coverage of such whole-body motion. We present WB-WAM, a World Action Model that incorporates explicit whole-body action supervision into generative video pre-training. A shared physical action space integrates body, root, and dexterous hand annotations from heterogeneous sources, enabling joint video and action learning from 1880.2 hours of partially annotated video and motion data. The resulting priors are refined through PICO mid-training and adapted to robot tasks with auxiliary forward kinematics supervision. We construct WB-Datasets to support these stages with retargeted egocentric human demonstrations and robot trajectories, allowing task-aligned human motion to supplement limited robot data. Evaluations in simulation demonstrate strong whole-body task performance with 81.9% in HumanoidArena, while real-world experiments further validate WB-WAM with 84.0% mean success across five tasks. Moreover, task-aligned PICO mid-training improves downstream task performance while reducing the need for real-robot demonstrations. These results support heterogeneous whole-body pre-training and human motion transfer as a practical route to data-efficient humanoid loco-manipulation.

Generative commonsense reasoning (GCR) in natural language is to reason about the commonsense while generating coherent text. Recent years have seen a surge of interest in improving the generation quality of commonsense reasoning tasks. Nevertheless, these approaches have seldom investigated diversity in the GCR tasks, which aims to generate alternative explanations for a real-world situation or predict all possible outcomes. Diversifying GCR is challenging as it expects to generate multiple outputs that are not only semantically different but also grounded in commonsense knowledge. In this paper, we propose MoKGE, a novel method that diversifies the generative reasoning by a mixture of expert (MoE) strategy on commonsense knowledge graphs (KG). A set of knowledge experts seek diverse reasoning on KG to encourage various generation outputs. Empirical experiments demonstrated that MoKGE can significantly improve the diversity while achieving on par performance on accuracy on two GCR benchmarks, based on both automatic and human evaluations.

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these approaches are largely limited to simple tasks with well-defined rewards, such as pick-and-place. This limitation arises because LLMs struggle to interpret complex scenes compressed into text or code due to their restricted input modality, while VLM-based rewards, though better at visual perception, remain limited by their less expressive output modality. To address these challenges, we leverage the imagination capability of general-purpose video generation models. Given an initial simulation frame and a textual task description, the video generation model produces a video demonstrating task completion with correct semantics. We then extract rich supervisory signals from the generated video, including 6D object pose sequences, 2D segmentations, and estimated depth, to facilitate task learning in simulation. Our approach significantly improves supervision quality for complex embodied tasks, enabling large-scale training in simulators.

We present ATOMIC, an atlas of everyday commonsense reasoning, organized through 877k textual descriptions of inferential knowledge. Compared to existing resources that center around taxonomic knowledge, ATOMIC focuses on inferential knowledge organized as typed if-then relations with variables (e.g., "if X pays Y a compliment, then Y will likely return the compliment"). We propose nine if-then relation types to distinguish causes vs. effects, agents vs. themes, voluntary vs. involuntary events, and actions vs. mental states. By generatively training on the rich inferential knowledge described in ATOMIC, we show that neural models can acquire simple commonsense capabilities and reason about previously unseen events. Experimental results demonstrate that multitask models that incorporate the hierarchical structure of if-then relation types lead to more accurate inference compared to models trained in isolation, as measured by both automatic and human evaluation.

Humans learn by observing, interacting with environments, and internalizing physics and causality. Here, we aim to ask whether an agent can similarly acquire human-like reasoning from interaction and keep improving with more experience. We study this in a Game-to-Unseen (G2U) setting, curating 1,000+ heterogeneous games with diverse physical and causal mechanisms, and evaluate at three human-like levels: Survival, Curiosity, Utility, from primitive intuition to goal-driven reasoning. Our analysis reveals complementary failures: VLM/VLA agents reason but lack look-ahead in interactive settings, while world models imagine but imitate visual patterns rather than analyze physics and causality. We therefore propose IPR (Interactive Physical Reasoner), using world-model rollouts to score and reinforce a VLM's policy, and introduce PhysCode, a physics-centric action code aligning semantic intent with dynamics to provide a shared action space for prediction and reasoning. Pretrained on 1,000+ games, our IPR performs robustly on three levels, matches GPT-5 overall, and surpasses it on Curiosity. We find that performance improves with more training games and interaction steps, and that the model also zero-shot transfers to unseen games. These results support physics-centric interaction as a path to steadily improving physical reasoning.

Modern foundational Multimodal Large Language Models (MLLMs) and video world models have advanced significantly in mathematical, common-sense, and visual reasoning, but their grasp of the underlying physics remains underexplored. Existing benchmarks attempting to measure this matter rely on synthetic, Visual Question Answer templates or focus on perceptual video quality that is tangential to measuring how well the video abides by physical laws. To address this fragmentation, we introduce PhysicsMind, a unified benchmark with both real and simulation environments that evaluates law-consistent reasoning and generation over three canonical principles: Center of Mass, Lever Equilibrium, and Newton's First Law. PhysicsMind comprises two main tasks: i) VQA tasks, testing whether models can reason and determine physical quantities and values from images or short videos, and ii) Video Generation(VG) tasks, evaluating if predicted motion trajectories obey the same center-of-mass, torque, and inertial constraints as the ground truth. A broad range of recent models and video generation models is evaluated on PhysicsMind and found to rely on appearance heuristics while often violating basic mechanics. These gaps indicate that current scaling and training are still insufficient for robust physical understanding, underscoring PhysicsMind as a focused testbed for physics-aware multimodal models. Our data will be released upon acceptance.

When answering a question, people often draw upon their rich world knowledge in addition to the particular context. Recent work has focused primarily on answering questions given some relevant document or context, and required very little general background. To investigate question answering with prior knowledge, we present CommonsenseQA: a challenging new dataset for commonsense question answering. To capture common sense beyond associations, we extract from ConceptNet (Speer et al., 2017) multiple target concepts that have the same semantic relation to a single source concept. Crowd-workers are asked to author multiple-choice questions that mention the source concept and discriminate in turn between each of the target concepts. This encourages workers to create questions with complex semantics that often require prior knowledge. We create 12,247 questions through this procedure and demonstrate the difficulty of our task with a large number of strong baselines. Our best baseline is based on BERT-large (Devlin et al., 2018) and obtains 56% accuracy, well below human performance, which is 89%.

Achieving realistic simulations of humans interacting with a wide range of objects has long been a fundamental goal. Extending physics-based motion imitation to complex human-object interactions (HOIs) is challenging due to intricate human-object coupling, variability in object geometries, and artifacts in motion capture data, such as inaccurate contacts and limited hand detail. We introduce InterMimic, a framework that enables a single policy to robustly learn from hours of imperfect MoCap data covering diverse full-body interactions with dynamic and varied objects. Our key insight is to employ a curriculum strategy -- perfect first, then scale up. We first train subject-specific teacher policies to mimic, retarget, and refine motion capture data. Next, we distill these teachers into a student policy, with the teachers acting as online experts providing direct supervision, as well as high-quality references. Notably, we incorporate RL fine-tuning on the student policy to surpass mere demonstration replication and achieve higher-quality solutions. Our experiments demonstrate that InterMimic produces realistic and diverse interactions across multiple HOI datasets. The learned policy generalizes in a zero-shot manner and seamlessly integrates with kinematic generators, elevating the framework from mere imitation to generative modeling of complex human-object interactions.

Robotic generalization relies on physical intelligence: the ability to reason about state changes, contact-rich interactions, and long-horizon planning under egocentric perception and action. However, most VLMs are trained primarily on third-person data, creating a fundamental viewpoint mismatch for humanoid robots. Scaling robot egocentric data collection remains impractical due to high cost and limited diversity, whereas large-scale human egocentric videos offer a scalable alternative that naturally capture rich interaction context and causal structure. The key challenge is to convert raw egocentric videos into structured and reliable embodiment training supervision. Accordingly, we propose an Egocentric2Embodiment translation pipeline that transforms first-person videos into multi-level, schema-driven VQA supervision with enforced evidence grounding and temporal consistency, enabling the construction of the Egocentric2Embodiment dataset (E2E-3M) at scale. An egocentric-aware embodied brain, termed PhysBrain, is obtained by training on the E2E-3M dataset. PhysBrain exhibits substantially improved egocentric understanding, particularly for planning on EgoThink. It provides an egocentric-aware initialization that enables more sample-efficient VLA fine-tuning and higher SimplerEnv success rates (53.9\%), demonstrating effective transfer from human egocentric supervision to downstream robot control.