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Bridging Physical Reasoning and Task Generalization via Visual Action Outcome Reasoning Alignment
Vision language models (VLMs) struggle to generalize in interactive physical reasoning, particularly under unseen tasks and environments. Two key failure modes are prominent: hallucinated chain of thought (CoT) reasoning that contradicts physical reality, and misalignment between the model's reasoning and actions. We present VAORA (Visual Action Outcome Reasoning Alignment), a novel reward design that directly add...