IPR uses world-model rollouts to reinforce a VLM policy via PhysCode on a 1000+ game benchmark, achieving robust physical reasoning that improves with experience and transfers zero-shot to unseen games while surpassing GPT-5.
Rt-2: Vision-language-action mod- els transfer web knowledge to robotic control, 2023
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IPR-1: Interactive Physical Reasoner
IPR uses world-model rollouts to reinforce a VLM policy via PhysCode on a 1000+ game benchmark, achieving robust physical reasoning that improves with experience and transfers zero-shot to unseen games while surpassing GPT-5.