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PhysWord: Structuring Implicit Reasoning in Robotic Manipulation with Physical Words

The paper proposes PhysWord, a reasoning-before-acting robotic foundation model that uses atomic action words as shared semantic anchors to align continuous representations of physical dynamics with language. PhysWord predicts upcoming atomic action words and aligns their contextual hidden states with implicit targets derived from future observations, constructing a temporally structured PhysWord space with visual and optional tactile variants.

Part of the event: PhysWord: Structuring Robot Manipulation Reasoning with Physical Tokens

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