Planning Takes More Than Token Prediction: Causal Plan for Benchmarking and Building Physically Grounded Embodied Reasoners

arXiv:2606.01810 · cs.AI · Submitted 2026-06-01 · Read on arXiv

cs.AI

Submitted: 2026-06-01

Updated: 2026-09-24

Code: https://github.com/THUSI-Lab/Causal-Reasoner

Terminology

Affordance — 131× in this paper · explained in 1 episode
Benchmark — 84× in this paper · explained in 2 episodes
Core — 48× in this paper · explained in 2 episodes
Trace — 34× in this paper · explained in 2 episodes
Grounding — 29× in this paper · explained in 3 episodes
Robustness — 24× in this paper · explained in 5 episodes
Actor — 15× in this paper · explained in 3 episodes
Reasoning Traces — 15× in this paper · explained in 3 episodes
Alignment — 12× in this paper · explained in 1 episode
Consistency — 11× in this paper · explained in 3 episodes
Fidelity — 11× in this paper · explained in 2 episodes
Foundation Model — 9× in this paper · explained in 3 episodes
Aggregation — 8× in this paper · explained in 1 episode
Causal Reasoning — 8× in this paper · explained in 2 episodes
DIRECTLY OBSERVABLE — 8× in this paper
Foundation Models — 8× in this paper · explained in 7 episodes
Provenance — 8× in this paper · explained in 4 episodes
Verification — 8× in this paper · explained in 2 episodes
Hallucination — 6× in this paper · explained in 4 episodes
Ablation — 5× in this paper · explained in 1 episode
Accuracy — 5× in this paper · explained in 1 episode
Calibration — 5× in this paper · explained in 7 episodes
GRPO — 5× in this paper · explained in 6 episodes
Generalization — 5× in this paper · explained in 13 episodes
Adam — 3× in this paper · explained in 2 episodes
Reinforcement Learning — 3× in this paper · explained in 4 episodes
Embodied AI — 2× in this paper · explained in 2 episodes
Failure Modes — 2× in this paper · explained in 3 episodes
Fine-Tuning — 2× in this paper · explained in 5 episodes
LLM judge — 2× in this paper · explained in 2 episodes
Multimodal Reasoning — 2× in this paper · explained in 5 episodes
NOT DIRECTLY OBSERVABLE — 2× in this paper
Physical Constraints — 2× in this paper · explained in 7 episodes
Steering — 2× in this paper · explained in 2 episodes
Transferability — 2× in this paper · explained in 4 episodes
Visual Grounding — 2× in this paper · explained in 2 episodes
Ablation Studies — 1× in this paper · explained in 1 episode
Ablation study — 1× in this paper · explained in 1 episode
Adaptation — 1× in this paper · explained in 1 episode
Benchmarking — 1× in this paper · explained in 4 episodes
Causal Inference — 1× in this paper · explained in 4 episodes
LLM-as-a-Judge — 1× in this paper · explained in 3 episodes
Multimodal Inputs — 1× in this paper · explained in 2 episodes
Pruning — 1× in this paper · explained in 4 episodes
Selection Bias — 1× in this paper · explained in 4 episodes
Structural Integrity — 1× in this paper · explained in 3 episodes
Tokenization — 1× in this paper · explained in 2 episodes
Unified Framework — 1× in this paper · explained in 5 episodes
Verifier — 1× in this paper · explained in 2 episodes
Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Planning Takes More Than Token Prediction: Causal Plan for Benchmarking and Building Physically Grounded Embodied Reasoners

Terminology

Sources

Related papers