Gemini Robotics 1.5：推动通用机器人在高级具身推理、思考与运动迁移方面的前沿
机器人学
2025-12-02 v3
摘要
通用机器人需要对物理世界进行深入理解，具备先进的推理能力以及通用且灵巧的控制能力。本报告介绍了最新一代 Gemini Robotics 模型家族：Gemini Robotics 1.5，这是一个多体征视觉-语言-动作（VLA）模型，以及 Gemini Robotics-ER 1.5，这是一个领先的具身推理（ER）模型。我们引入了三项主要创新。首先，Gemini Robotics 1.5 采用新型架构和运动迁移（MT）机制，使其能够从异构的多体征机器人数据中学习，从而提升 VLA 模型的通用性。其次，Gemini Robotics 1.5 在自然语言中交错地嵌入动作与多层次内部推理过程，使机器人能够"在行动前思考"，显著提升其分解和执行复杂多步骤任务的能力，同时使机器人行为更易于用户理解。第三，Gemini Robotics-ER 1.5 在具身推理方面取得了新的最高纪录，即在视觉理解、空间推理、任务规划和进度估计等机器人所必需的推理能力方面实现了领先水平。整个模型家族为我们迈向一个物理智能体时代的进程，使机器人能够感知、思考并行动，从而解决复杂的多步骤任务。
关键词
引用
@article{arxiv.2510.03342,
title = {Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer},
author = {Gemini Robotics Team and Abbas Abdolmaleki and Saminda Abeyruwan and Joshua Ainslie and Jean-Baptiste Alayrac and Montserrat Gonzalez Arenas and Ashwin Balakrishna and Nathan Batchelor and Alex Bewley and Jeff Bingham and Michael Bloesch and Konstantinos Bousmalis and Philemon Brakel and Anthony Brohan and Thomas Buschmann and Arunkumar Byravan and Serkan Cabi and Ken Caluwaerts and Federico Casarini and Christine Chan and Oscar Chang and London Chappellet-Volpini and Jose Enrique Chen and Xi Chen and Hao-Tien Lewis Chiang and Krzysztof Choromanski and Adrian Collister and David B. D'Ambrosio and Sudeep Dasari and Todor Davchev and Meet Kirankumar Dave and Coline Devin and Norman Di Palo and Tianli Ding and Carl Doersch and Adil Dostmohamed and Yilun Du and Debidatta Dwibedi and Sathish Thoppay Egambaram and Michael Elabd and Tom Erez and Xiaolin Fang and Claudio Fantacci and Cody Fong and Erik Frey and Chuyuan Fu and Ruiqi Gao and Marissa Giustina and Keerthana Gopalakrishnan and Laura Graesser and Oliver Groth and Agrim Gupta and Roland Hafner and Steven Hansen and Leonard Hasenclever and Sam Haves and Nicolas Heess and Brandon Hernaez and Alex Hofer and Jasmine Hsu and Lu Huang and Sandy H. Huang and Atil Iscen and Mithun George Jacob and Deepali Jain and Sally Jesmonth and Abhishek Jindal and Ryan Julian and Dmitry Kalashnikov and M. Emre Karagozler and Stefani Karp and Matija Kecman and J. Chase Kew and Donnie Kim and Frank Kim and Junkyung Kim and Thomas Kipf and Sean Kirmani and Ksenia Konyushkova and Li Yang Ku and Yuheng Kuang and Thomas Lampe and Antoine Laurens and Tuan Anh Le and Isabel Leal and Alex X. Lee and Tsang-Wei Edward Lee and Guy Lever and Jacky Liang and Li-Heng Lin and Fangchen Liu and Shangbang Long and Caden Lu and Sharath Maddineni and Anirudha Majumdar and Kevis-Kokitsi Maninis and Andrew Marmon and Sergio Martinez and Assaf Hurwitz Michaely and Niko Milonopoulos and Joss Moore and Robert Moreno and Michael Neunert and Francesco Nori and Joy Ortiz and Kenneth Oslund and Carolina Parada and Emilio Parisotto and Amaris Paryag and Acorn Pooley and Thomas Power and Alessio Quaglino and Haroon Qureshi and Rajkumar Vasudeva Raju and Helen Ran and Dushyant Rao and Kanishka Rao and Isaac Reid and David Rendleman and Krista Reymann and Miguel Rivas and Francesco Romano and Yulia Rubanova and Peter Pastor Sampedro and Pannag R Sanketi and Dhruv Shah and Mohit Sharma and Kathryn Shea and Mohit Shridhar and Charles Shu and Vikas Sindhwani and Sumeet Singh and Radu Soricut and Rachel Sterneck and Ian Storz and Razvan Surdulescu and Jie Tan and Jonathan Tompson and Saran Tunyasuvunakool and Jake Varley and Grace Vesom and Giulia Vezzani and Maria Bauza Villalonga and Oriol Vinyals and René Wagner and Ayzaan Wahid and Stefan Welker and Paul Wohlhart and Chengda Wu and Markus Wulfmeier and Fei Xia and Ted Xiao and Annie Xie and Jinyu Xie and Peng Xu and Sichun Xu and Ying Xu and Zhuo Xu and Jimmy Yan and Sherry Yang and Skye Yang and Yuxiang Yang and Hiu Hong Yu and Wenhao Yu and Wentao Yuan and Yuan Yuan and Jingwei Zhang and Tingnan Zhang and Zhiyuan Zhang and Allan Zhou and Guangyao Zhou and Yuxiang Zhou},
journal= {arXiv preprint arXiv:2510.03342},
year = {2025}
}