Author

Yonatan Bisk

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Preprint Oct 2026

ECHO: Embodied Camera Observations of Human Object Carrying

Embodied Camera observations of Human Object carrying is presented, a large-scale synthetic dataset that pairs dense RGB-D scans of indoor scenes with recordings of an embodied human carrying everyday objects to context-appropriate destinations and shows that no single input modality is sufficient, highlighting the nee...

Xue-Fei Sun, Lorin Achey, K. Hamilton et al. · 0 citations

#machine learning Preprint Sep 2026

Contextual Observer Grounding: Evaluating Situated Spatial Reasoning in Vision-Language Models

Reasoning over language instructions in embodied tasks such as robotics often requires understanding spatial relations from a speaker's situated perspective. Humans infer such perspectives from shared environmental knowledge, activity context, and commonsense. Recent vision-language models (VLMs) appear capable of spat...

Mimo Shirasaka, Haochen Zhang, Yonatan Bisk · 0 citations

Preprint Aug 2026

Lost in Reconstruction: Aligning Action Representations with Language in Vision-Language-Action Models

SALT is introduced, a Semantically ALigned action Tokenizer that augments a VQ-VAE-style tokenizer with an auxiliary objective requiring a frozen vision-language model to recover the episode instruction from quantized action latents to substantially improve language-conditioned control.

Wen-Jie Li, Yash Jangir, Ignacy Stepka et al. · 1 citation