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This work introduces a comprehensive evaluation framework organized around four complementary dimensions of physical world reasoning, and constructs a diverse set of novel tasks that require models to integrate complementary information across modalities.
Bench2Dex is meant as a platform for studying visuo-tactile learning across dexterous hands and offers a shared setting for algorithm development while tactile hardware and simulation models are still evolving.
CaTok achieves state-of-the-art ImageNet reconstruction with fewer training epochs by learning causal 1D image representations, outperforming existing visual tokenizers.
