{
  "id": "2610.26854",
  "title": "Physical Words: A Vocabulary for Structuring Latent Reasoning in Robot Manipulation",
  "authors": "Jiaming Liu, Xinghao Zhu, Yiming Zhang, Shanghang Zhang, Yinxi Wang, Yichu Yang, Zhuoyang Liu, Dantong Niu, Soha Pouya, Juekun Li, Yan Chang",
  "first_public": "2026-10-19",
  "added_at": "2026-10-22",
  "venue": "arXiv",
  "arxiv": "2610.26854",
  "paper_url": "https://arxiv.org/abs/2610.26854",
  "html_url": "https://arxiv.org/html/2610.26854v3",
  "lens": [
    "continuous",
    "learned-tokens"
  ],
  "representation": [
    "text-latent-hybrid",
    "multimodal-latent"
  ],
  "computation": [
    "token-wise"
  ],
  "training": [
    "pretraining",
    "supervised"
  ],
  "questions": [
    "capability",
    "generalization"
  ],
  "evidence": [
    "empirical"
  ],
  "modality": [
    "multimodal"
  ],
  "summary": "Pairs action-word predictions with hidden-state predictions of future visual and tactile observations. Uses these intermediate representations to guide robot manipulation, with separate supervision for action labels and future sensory information.",
  "provenance": "Primary-source literature review, 2026-10-22",
  "author_names": [
    "Jiaming Liu",
    "Xinghao Zhu",
    "Yiming Zhang",
    "Shanghang Zhang",
    "Yinxi Wang",
    "Yichu Yang",
    "Zhuoyang Liu",
    "Dantong Niu",
    "Soha Pouya",
    "Juekun Li",
    "Yan Chang"
  ],
  "record_url": "https://latent-implicit-thinking.github.io/papers/2610.26854/",
  "legacy_record_url": "https://latent-implicit-thinking.github.io/papers/#paper-2610-26854",
  "citation_date": "2026-10-19",
  "json_url": "https://latent-implicit-thinking.github.io/papers/2610.26854/record.json",
  "markdown_url": "https://latent-implicit-thinking.github.io/papers/2610.26854/index.md",
  "bibtex_url": "https://latent-implicit-thinking.github.io/papers/2610.26854/citation.bib",
  "csl_url": "https://latent-implicit-thinking.github.io/papers/2610.26854/citation.csl.json",
  "pdf_url": "https://arxiv.org/pdf/2610.26854"
}