DynaCLIP is a self-supervised visual encoder that embeds implicit physical dynamics into visual representations through contrastive pre-training with analytically computed physics priors. Built on DINOv2-ViT-B/14, it fine-tunes the entire backbone with a Soft InfoNCE loss using category-grounded material properties (mass, friction, restitution) derived from 10 physics archetypes.

DynaCLIP achieves #1 ranking on 13 out of 14 headline metrics across 14 experiments, spanning physics understanding, robotic manipulation, material reasoning, and world modeling — without any task-specific fine-tuning of the representation.

Architecture

Backbone: DINOv2-ViT-B/14 (86M params, fully fine-tuned)
Feature extraction: CLS token ∥ mean-pooled patches → 1536-dim
Projection head: Linear(1536,768) → LayerNorm → GELU → Linear(768,512) → L2-norm (discarded after pre-training)
Total parameters: 88.2M (training) / 86M (inference)

Files

File	Size	Description
`dynaclip_backbone.pt`	346 MB	Recommended. Backbone weights only (DINOv2-ViT-B/14 fine-tuned). Use for downstream tasks.
`dynaclip_final.pt`	1.01 GB	Full training checkpoint (model + optimizer + scheduler + loss). Use to resume training.

Usage

python

import torch
from dynaclip.models import DynaCLIPEncoder

# Load backbone for downstream feature extraction
encoder = DynaCLIPEncoder(checkpoint_path="dynaclip_backbone.pt")
encoder.eval().cuda()

images = torch.randn(4, 3, 224, 224).cuda()
with torch.no_grad():
    features = encoder(images)  # [4, 1536]

Or download from Python:

python

from huggingface_hub import hf_hub_download

path = hf_hub_download(repo_id="zhengtaoyao/DynaCLIP", filename="dynaclip_backbone.pt")

Training Details

Data: DomainNet (345 categories) with analytical physics trajectories
Physics priors: 10 material archetypes (metal, wood, fabric, glass/ceramic, rubber/plastic, food/organic, paper, animal, stone, default)
Loss: Soft InfoNCE with learnable temperature (init τ=0.07)
Optimizer: AdamW (backbone lr=1e-5, head lr=1e-3, weight decay=0.05)
Schedule: Cosine with 500-step warmup, 20K total steps
Batch size: 1280 effective (DDP across 8 GPUs)
Precision: bf16
Hardware: 8× NVIDIA RTX PRO 6000 Blackwell (97 GB each)

Key Results (v2)

LIBERO-10 Robotic Manipulation (200 epochs, action chunking)

Backbone	Success Rate
VC-1	31.4%
MCR	32.9%
MVP	32.9%
R3M	42.0%
Voltron	43.6%
CLIP ViT-B/16	46.9%
Theia	49.0%
SigLIP ViT-B/16	49.2%
DINOv2 ViT-B/14	51.5%
DynaCLIP (Ours)	60.4%

Invisible-Object Physics Prediction (Linear Probing, R²)

Backbone	Mass	Friction	Restitution
CLIP ViT-B/16	0.196	0.065	0.041
SigLIP ViT-B/16	0.207	0.048	0.082
DINOv2 ViT-B/14	0.338	0.220	0.276
DynaCLIP (Ours)	0.553	0.378	0.652

Material Clustering (NMI / ARI)

Backbone	NMI	ARI
CLIP ViT-B/16	0.253	0.076
DINOv2 ViT-B/14	0.381	0.181
DynaCLIP (Ours)	0.424	0.208

CALVIN ABC→D Feature-Based Control

Backbone	Avg Len (↑)
DINOv2 ViT-B/14	1.23
CLIP ViT-B/16	2.18
DynaCLIP (Ours)	2.64

DROID-100 Offline Prediction

Backbone	CosSim (↑)	GripAcc (↑)
DINOv2 ViT-B/14	0.740	81.8%
CLIP ViT-B/16	0.748	80.3%
DynaCLIP (Ours)	0.787	84.7%

ManiSkill3 Generalization

Backbone	Gen Ratio (↑)
VC-1	0.85×
DINOv2 ViT-B/14	0.90×
CLIP ViT-B/16	0.95×
SigLIP ViT-B/16	0.98×
DynaCLIP (Ours)	1.02×

Summary

13/14 headline metrics at rank #1 across physics understanding, robotic manipulation, material reasoning, and visual world modeling. DynaCLIP demonstrates that physics-grounded contrastive learning produces representations that systematically improve downstream embodied AI tasks.

Citation

bibtex

@inproceedings{yao2026dynaclip,
  title={DynaCLIP: Physics-Grounded Visual Representations via Dynamics Contrastive Learning},
  author={Yao, Zhengtao},
  booktitle={Advances in Neural Information Processing Systems (NeurIPS)},
  year={2026}
}

zhengtaoyao/DynaCLIP

DynaCLIP: Physics-Grounded Visual Representations via Dynamics Contrastive Learning

Model Description