IMBench: A Benchmark for Intuitive Robotic Manipulation

arXiv:2607.15641v1 Announce Type: new Abstract: Humans combine reasoning and motor control to solve complex manipulation tasks under diverse constraints. They build an understanding of the physical world that helps them convert reasoning into actions and quickly adapt to new scenes, tasks, and rules. We refer to this capability as intuitive manipulation. Existing benchmarks fail to capture this integration: they evaluate physical reasoning in isolation from execution, or measure policy performan...