{"id":"https://openalex.org/W7162782278","doi":"https://doi.org/10.48550/arxiv.2605.30350","title":"DynaFLIP: Rethinking Robotics Perception via Tri-Modal-Dynamics Guided Representation","display_name":"DynaFLIP: Rethinking Robotics Perception via Tri-Modal-Dynamics Guided Representation","publication_year":2026,"publication_date":"2026-05-28","ids":{"openalex":"https://openalex.org/W7162782278","doi":"https://doi.org/10.48550/arxiv.2605.30350"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.30350","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30350","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.30350","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014563296","display_name":"Jusuk Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Jusuk","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137336428","display_name":"Seungjae Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Seungjae","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137346529","display_name":"Jonghun Shin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shin, Jonghun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137371287","display_name":"Hoseong Jung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jung, Hoseong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137314112","display_name":"Sungha Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Sungha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032424238","display_name":"Daesol Cho","orcid":"https://orcid.org/0000-0002-4105-4422"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cho, Daesol","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137311743","display_name":"H. Jin Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, H. Jin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137313884","display_name":"Jia-Bin Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Jia-Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137360947","display_name":"Furong Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Furong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.35989999771118164,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.35989999771118164,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.27070000767707825,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.11550000309944153,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5703999996185303},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5645999908447266},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.5372999906539917},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5189999938011169},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5188000202178955},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4505000114440918},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.44279998540878296},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.43790000677108765},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.414900004863739},{"id":"https://openalex.org/keywords/downstream","display_name":"Downstream (manufacturing)","score":0.35989999771118164}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6843000054359436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6506999731063843},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5703999996185303},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5645999908447266},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.5372999906539917},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5189999938011169},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5188000202178955},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4505000114440918},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.44279998540878296},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.43790000677108765},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.414900004863739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38499999046325684},{"id":"https://openalex.org/C2776207758","wikidata":"https://www.wikidata.org/wiki/Q5303302","display_name":"Downstream (manufacturing)","level":2,"score":0.35989999771118164},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3422999978065491},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.335999995470047},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.3231000006198883},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.31380000710487366},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3021000027656555},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2964000105857849},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.28139999508857727},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C20556612","wikidata":"https://www.wikidata.org/wiki/Q4469374","display_name":"Volume (thermodynamics)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.26100000739097595}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.30350","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30350","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.30350","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30350","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robot":[0],"manipulation":[1],"critically":[2],"depends":[3],"on":[4,133],"perception":[5],"that":[6,45,130,177],"preserves":[7],"the":[8,81,91,105,195],"action-relevant":[9],"aspects":[10],"of":[11,111],"a":[12,40,86,96,120,124],"scene.":[13],"Yet":[14],"most":[15],"robot":[16,61,178],"learning":[17],"pipelines":[18],"are":[19,184],"built":[20],"upon":[21],"visual":[22,146,182],"encoders":[23],"pre-trained":[24],"for":[25,137],"static":[26],"recognition":[27],"or":[28],"vision-language":[29],"alignment,":[30],"leaving":[31],"motion":[32,47],"understanding":[33,48],"to":[34,70,79,84,186],"downstream":[35,154],"policies.":[36],"We":[37,52,158],"introduce":[38],"DynaFLIP,":[39],"dynamics-aware":[41,141],"multimodal":[42],"pre-training":[43],"framework":[44],"pushes":[46],"upstream":[49],"into":[50],"perception.":[51],"construct":[53],"image-language-3D":[54],"flow":[55],"triplets":[56,66],"from":[57],"heterogeneous":[58],"human":[59],"and":[60,63,108,123,148,164],"videos,":[62],"use":[64],"these":[65],"as":[67,144],"training-time":[68],"supervision":[69],"shape":[71],"an":[72],"image-only":[73],"encoder.":[74],"Our":[75,127,174],"key":[76],"idea":[77],"is":[78,191],"encourage":[80],"three":[82],"modalities":[83],"span":[85],"small":[87],"simplex":[88,98],"volume":[89,99,113],"in":[90],"shared":[92],"hyperspherical":[93],"space":[94],"--":[95],"smaller":[97],"indicating":[100],"stronger":[101],"alignment.":[102],"To":[103],"avoid":[104],"geometric":[106],"ambiguity":[107],"trivial":[109],"collapse":[110],"naive":[112],"minimization,":[114],"we":[115],"combine":[116],"simplex-volume":[117],"minimization":[118],"with":[119,167],"cosine":[121],"regularizer":[122],"contrastive":[125],"objective.":[126],"analyses":[128],"show":[129],"DynaFLIP":[131],"focuses":[132],"control-relevant":[134],"regions":[135],"critical":[136],"manipulation.":[138],"The":[139],"resulting":[140],"representations":[142,183],"serve":[143],"reusable":[145],"backbones":[147],"consistently":[149],"outperform":[150],"baselines":[151],"across":[152,161],"diverse":[153,162],"policies,":[155],"including":[156],"VLAs.":[157],"validate":[159],"this":[160],"simulation":[163],"real-world":[165],"setups,":[166],"gains":[168],"reaching":[169],"+22.5%":[170],"under":[171,198],"out-of-distribution":[172],"scenarios.":[173],"results":[175],"suggest":[176],"generalization":[179],"improves":[180],"when":[181],"trained":[185],"encode":[187],"not":[188],"just":[189],"what":[190],"present,":[192],"but":[193],"how":[194],"world":[196],"changes":[197],"action.":[199]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-30T00:00:00"}
