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simmediummanipulationmetric · varies
PhysMem: Scaling Test-time Physical Memory for Robot Manipulation
Description
Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction and stability in general terms; however, they often cannot predict how a specific ball will roll on a particular surface or which stone will provide a stable foundation without direct experience. We present PhysMem, a memory framework that enables VLM robot planners to learn physical principles from interaction at test t