# Proactive Physical AI through Continuous Observation and Timely Intervention

arXiv: https://arxiv.org/abs/2610.16967 · HTML: https://mlsanity.com/paper/2610.16967/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 27 of its 32 references that are in the map.
- First posted on arXiv 12 Oct 2026.

## Builds on (most cited first, 27 of 27)

- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [VideoLLM-online: Online Video Large Language Model for Streaming Video](https://mlsanity.com/paper/2406.11816/) (2024)
- [HoloAssist: an Egocentric Human Interaction Dataset for Interactive AI Assistants in the Real World](https://mlsanity.com/paper/2309.17024/) (2023)
- [Dispider: Enabling Video LLMs with Active Real-Time Interaction via Disentangled Perception, Decision, and Reaction](https://mlsanity.com/paper/2501.03218/) (2025)
- [RoboVQA: Multimodal Long-Horizon Reasoning for Robotics](https://mlsanity.com/paper/2311.00899/) (2023)
- [Streaming Video Understanding and Multi-round Interaction with Memory-enhanced Knowledge](https://mlsanity.com/paper/2501.13468/) (2025)
- [Code-as-Monitor: Constraint-aware Visual Programming for Reactive and Proactive Robotic Failure Detection](https://mlsanity.com/paper/2412.04455/) (2024)
- [OmniMMI: A Comprehensive Multi-modal Interaction Benchmark in Streaming Video Contexts](https://mlsanity.com/paper/2503.22952/) (2025)
- [StreamMind: Unlocking Full Frame Rate Streaming Video Dialogue through Event-Gated Cognition](https://mlsanity.com/paper/2503.06220/) (2025)
- [ViSpeak: Visual Instruction Feedback in Streaming Videos](https://mlsanity.com/paper/2503.12769/) (2025)
- [Proactive Assistant Dialogue Generation from Streaming Egocentric Videos](https://mlsanity.com/paper/2506.05904/) (2025)
- [Eyes Wide Open: Ego Proactive Video-LLM for Streaming Video](https://mlsanity.com/paper/2510.14560/) (2025)
- [ProactiveVideoQA: A Comprehensive Benchmark Evaluating Proactive Interactions in Video Large Language Models](https://mlsanity.com/paper/2507.09313/) (2025)
- [LiveStar: Live Streaming Assistant for Real-World Online Video Understanding](https://mlsanity.com/paper/2511.05299/) (2025)
- [StreamChat: Chatting with Streaming Video](https://mlsanity.com/paper/2412.08646/) (2024)
- [MMDuet2: Enhancing Proactive Interaction of Video MLLMs with Multi-Turn Reinforcement Learning](https://mlsanity.com/paper/2512.06810/) (2025)
- [ProAgent: Harnessing On-Demand Sensory Contexts for Proactive LLM Agent Systems in the Wild](https://mlsanity.com/paper/2512.06721/) (2025)
- [RoboOmni: Proactive Robot Manipulation in Omni-modal Context](https://mlsanity.com/paper/2510.23763/) (2025)
- [ProactiveMobile: A Comprehensive Benchmark for Boosting Proactive Intelligence on Mobile Devices](https://mlsanity.com/paper/2602.21858/) (2026)
- [ProAct: Harnessing Streaming Motion Generation and Agentic Reasoning for Real-Time Embodied Social Interaction](https://mlsanity.com/paper/2602.14048/) (2026)
- [Event-Driven Proactive Assistive Manipulation with Grounded Vision-Language Planning](https://mlsanity.com/paper/2603.23950/) (2026)

## Abstract (arXiv)

Physical AI is commonly formulated around an explicitly specified task: given a goal or instruction, a system perceives, reasons, and acts. In many real-world settings, however, important tasks emerge from continuously changing world states before a person explicitly formulates them. We study this complementary problem as Proactive Physical AI, where an AI system continuously observes the physical world, identifies situations that warrant intervention, and initiates appropriate actions at the right time. We develop ProAgent, an end-to-end system built around two components: a Jev-style proactive timing model (dubbed StreamingJev) that determines whether and when intervention is needed, and a Response Model that generates responses for people or invokes available device capabilities for physical execution. To support learning at scale, we develop an automated data pipeline that converts videos into supervision for proactive timing. Experiments demonstrate strong proactive performance under both explicit objectives and standing roles, combining more accurate intervention timing with fewer false triggers than the source-backbone baseline. Real-robot evaluations further demonstrate ProAgent's ability to identify emerging needs and translate them into appropriate physical actions.