Research

robotics

PhysTrace: Interpretable Temporal Evaluation of Physical Consistency in Video Generative Models

PhysTrace is a training-free framework for evaluating physical consistency in videos, relevant to video-based world models used for robot prediction and planning. It aligns multimodal-LLM-generated, history-conditioned expectations with observed video windows to localize physical violations over time and describe them. On the new IntPhys2-Timing benchmark, it achieves up to 70.7% hit rate across physical principles; on IntPhys2, it outperforms compared methods in overall possible–impossible discrimination accuracy.

arXiv cs.ROOct 22, 2026

robotics

CoHelix: Event-Based Multi-Propeller Rotation-Rate Tracking with Shared Projective Geometry

CoHelix is a recursive event-camera filter that tracks rotation rates for four rigidly mounted, coplanar quadcopter propellers while jointly estimating a shared image homography. On moving-camera recordings, it achieved 62.9% lock—time within 2% of synchronized ground truth—versus 39.8% for HelixTrack and 22.2% for EventPro. On a separate target-follower dataset, it reached 95.9% lock using measurement settings selected on the moving-camera data and a fixed initial rate.

arXiv cs.ROOct 22, 2026

Verified published records only; coverage is not a census. arXiv preprints may not be peer reviewed. Official code is linked only after verification.