This work was done when Mingyu was at MIT.

Moreover, we show more visualization results in experiments. To ensure a fair comparison, we used the fusion and optimization method as same as Latefusion. When k=1, it means that the object's physical properties are only related to itself, while As described in Section 3.1 in our paper, we represent audio Table 2: Performance comparison between our proposed DSE-audio and existing baseline methods. As shown in Table 2, we compare our method with other baseline methods. In Figure 6, we show a few additional examples of clustering using dynamic factors.

Understanding physical properties such as friction, stiffness, hardness, and material composition is essential for enabling robots to interact safely and effectively with their surroundings. However, existing 3D reconstruction methods focus on geometry and appearance and cannot infer these underlying physical properties. We present PhysGS, a Bayesian-inferred extension of 3D Gaussian Splatting that estimates dense, per-point physical properties from visual cues and vision--language priors. We formulate property estimation as Bayesian inference over Gaussian splats, where material and property beliefs are iteratively refined as new observations arrive. PhysGS also models aleatoric and epistemic uncertainties, enabling uncertainty-aware object and scene interpretation. Across object-scale (ABO-500), indoor, and outdoor real-world datasets, PhysGS improves accuracy of the mass estimation by up to 22.8%, reduces Shore hardness error by up to 61.2%, and lowers kinetic friction error by up to 18.1% compared to deterministic baselines. Our results demonstrate that PhysGS unifies 3D reconstruction, uncertainty modeling, and physical reasoning in a single, spatially continuous framework for dense physical property estimation. Additional results are available at https://samchopra2003.github.io/physgs.

Neural Information Processing Systems http://nips.cc/

Large Language Models have demonstrated the ability to generalize well at many levels across domains, modalities, and even shown in-context learning capabilities. This enables research questions regarding how they can be used to encode physical information that is usually only available from scientific measurements, and loosely encoded in textual descriptions. Using astrophysics as a test bed, we investigate if LLM embeddings can codify physical summary statistics that are obtained from scientific measurements through two main questions: 1) Does prompting play a role on how those quantities are codified by the LLM? and 2) What aspects of language are most important in encoding the physics represented by the measurement? We investigate this using sparse autoencoders that extract interpretable features from the text.

3D modeling is shifting from static visual representations toward physical, articulated assets that can be directly used in simulation and interaction. However, most existing 3D generation methods overlook key physical and articulation properties, thereby limiting their utility in embodied AI. To bridge this gap, we introduce PhysX-Anything, the first simulation-ready physical 3D generative framework that, given a single in-the-wild image, produces high-quality sim-ready 3D assets with explicit geometry, articulation, and physical attributes. Specifically, we propose the first VLM-based physical 3D generative model, along with a new 3D representation that efficiently tokenizes geometry. It reduces the number of tokens by 193x, enabling explicit geometry learning within standard VLM token budgets without introducing any special tokens during fine-tuning and significantly improving generative quality. In addition, to overcome the limited diversity of existing physical 3D datasets, we construct a new dataset, PhysX-Mobility, which expands the object categories in prior physical 3D datasets by over 2x and includes more than 2K common real-world objects with rich physical annotations. Extensive experiments on PhysX-Mobility and in-the-wild images demonstrate that PhysX-Anything delivers strong generative performance and robust generalization. Furthermore, simulation-based experiments in a MuJoCo-style environment validate that our sim-ready assets can be directly used for contact-rich robotic policy learning. We believe PhysX-Anything can substantially empower a broad range of downstream applications, especially in embodied AI and physics-based simulation.

Phys2Real is a real-to-sim-to-real pipeline for robotic manipulation that combines VLM-based physical parameter estimation with interaction-based adaptation through uncertainty-aware fusion. It comprises three stages: (I) real-to-sim: object reconstruction from segmented Gaussian Splats into simulation-ready meshes, (II) policy learning: reinforcement learning of policies conditioned on physical parameters such as the center of mass (CoM) of an object, and (III) sim-to-real transfer: uncertainty-aware fusion of VLM priors and interaction-based estimates for online adaptation. Abstract-- Learning robotic manipulation policies directly in the real world can be expensive and time-consuming. While reinforcement learning (RL) policies trained in simulation present a scalable alternative, effective sim-to-real transfer remains challenging, particularly for tasks that require precise dynamics. T o address this, we propose Phys2Real, a real-to-sim-to-real RL pipeline that combines vision-language model (VLM)-inferred physical parameter estimates with interactive adaptation through uncertainty-aware fusion. Our approach consists of three core components: (1) high-fidelity geometric reconstruction with 3D Gaussian splatting, (2) VLM-inferred prior distributions over physical parameters, and (3) online physical parameter estimation from interaction data. On planar pushing tasks of a T - block with varying center of mass (CoM) and a hammer with an off-center mass distribution, Phys2Real achieves substantial improvements over a domain randomization baseline: 100% vs 79% success rate for the bottom-weighted T -block, 57% vs 23% in the challenging top-weighted T -block, and 15% faster average task completion for hammer pushing. Ablation studies indicate that the combination of VLM and interaction information is essential for success. Deploying robotic manipulation policies trained in simulation to the real world remains a fundamental challenge, especially for tasks requiring fine-grained physical dynamics. Robots must adapt to varying object properties such as friction, mass distribution, and compliance, which significantly affect manipulation outcomes but are difficult to model precisely. While learning from demonstrations has shown significant promise, it often lacks the physical grounding and reasoning needed to adapt to novel objects.

This work was done when Mingyu was at MIT.