6 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…
RoboPIN: Grounded Embodied Reasoning via Pinned Chain-of-Thought
Yaoting Huang, Yifu Yuan, Linqi Han +6
Embodied reasoning requires models to perceive task-relevant objects and spaces in physical environments and maintain consistent visual grounding throughout multi-step reasoning. H…
ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
Shuoheng Zhang, Yifu Yuan, Hongyao Tang +7
Existing imitation learning methods enable robots to interact autonomously with the physical environment. However, contact-rich manipulation tasks remain a significant challenge du…
The Rank and Gradient Lost in Non-stationarity: Sample Weight Decay for Mitigating Plasticity Loss in Reinforcement Learning
Zihao Wu, Hongyao Tang, Yi Ma +3
Deep reinforcement learning (RL) suffers from plasticity loss severely due to the nature of non-stationarity, which impairs the ability to adapt to new data and learn continually.…
MUVLA: Learning to Explore Object Navigation via Map Understanding
Peilong Han, Fan Jia, Min Zhang +5
In this paper, we present MUVLA, a Map Understanding Vision-Language-Action model tailored for object navigation. It leverages semantic map abstractions to unify and structure hist…
Embodied Arena: A Comprehensive, Unified, and Evolving Evaluation Platform for Embodied AI
Fei Ni, Min Zhang, Pengyi Li +34
Embodied AI development significantly lags behind large foundation models due to three critical challenges: (1) lack of systematic understanding of core capabilities needed for Emb…