10 papers
Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models
Yifu Yuan, Yaoting Huang, Xianze Yao +20
We introduce Embodied-R1.5, a unified Embodied Foundation Model (EFM) that integrates comprehensive embodied reasoning capabilities, spanning embodied cognition, task planning, cor…
Xpertbench: Expert Level Tasks with Rubrics-Based Evaluation
Xue Liu, Xin Ma, Yuxin Ma +36
As Large Language Models (LLMs) exhibit plateauing performance on conventional benchmarks, a pivotal challenge persists: evaluating their proficiency in complex, open-ended tasks c…
Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation
Yifu Yuan, Haiqin Cui, Yaoting Huang +7
Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity. To address this, we pioneer "pointing" as a uni…
From Seeing to Doing: Bridging Reasoning and Decision for Robotic Manipulation
Yifu Yuan, Haiqin Cui, Yibin Chen +7
Achieving generalization in robotic manipulation remains a critical challenge, particularly for unseen scenarios and novel tasks. Current Vision-Language-Action (VLA) models, while…
ActionCodec: What Makes for Good Action Tokenizers
Zibin Dong, Yicheng Liu, Shiduo Zhang +8
Vision-Language-Action (VLA) models leveraging the native autoregressive paradigm of Vision-Language Models (VLMs) have demonstrated superior instruction-following and training eff…
DualRAG: A Dual-Process Approach to Integrate Reasoning and Retrieval for Multi-Hop Question Answering
Rong Cheng, Jinyi Liu, Yan Zheng +6
Multi-Hop Question Answering (MHQA) tasks permeate real-world applications, posing challenges in orchestrating multi-step reasoning across diverse knowledge domains. While existing…