相关论文: RynnBrain: Open Embodied Foundation Models

While Vision-Language Models (VLMs) have advanced highlevel reasoning in autonomous driving, their ability to ground this reasoning in the underlying physics of ego-motion remains poorly understood. We introduce EgoDyn-Bench, a diagnostic…

MLLMs have been successfully applied to multimodal embedding tasks, yet their generative reasoning capabilities remain underutilized. Directly incorporating chain-of-thought reasoning into embedding learning introduces two fundamental…

Multimodal foundation models offer a promising framework for robotic perception and planning by processing sensory inputs to generate actionable plans. However, addressing uncertainty in both perception (sensory interpretation) and…

Models capable of "thinking with images" by dynamically grounding their reasoning in visual evidence represent a major leap in multimodal AI. However, replicating and advancing this ability is non-trivial, with current methods often trapped…

Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic…

Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…

Large language models (LLMs) have revolutionized artificial intelligence by enabling complex reasoning capabilities. While recent advancements in reinforcement learning (RL) have primarily focused on domain-specific reasoning tasks (e.g.,…

Embodied intelligence, a grand challenge in artificial intelligence, is fundamentally constrained by the limited spatial understanding and reasoning capabilities of current models. Prevailing efforts to address this through enhancing…

Neuro-symbolic methods integrate neural architectures, knowledge representation and reasoning. However, they have been struggling at both dealing with the intrinsic uncertainty of the observations and scaling to real-world applications.…

Embodied artificial intelligence (EAI) integrates advanced AI models into physical entities for real-world interaction. The emergence of foundation models as the "brain" of EAI agents for high-level task planning has shown promising…

Vision-language navigation requires agents to reason and act under constraints of embodiment. While vision-language models (VLMs) demonstrate strong generalization, current benchmarks provide limited understanding of how embodiment -- i.e.,…

We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…

Assessing the capacity of Large Language Models (LLMs) to plan and reason within the constraints of interactive environments is crucial for developing capable AI agents. We introduce $\textbf{LLM-BabyBench}$, a new benchmark suite designed…

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…

We address prevailing challenges of the brain-powered research, departing from the observation that the literature hardly recover accurate spatial information and require subject-specific models. To address these challenges, we propose…

Embodied agents capable of complex physical skills can improve productivity, elevate life quality, and reshape human-machine collaboration. We aim at autonomous training of embodied agents for various tasks involving mainly large foundation…

World models have emerged as a pivotal component in robot manipulation planning, enabling agents to predict future environmental states and reason about the consequences of actions before execution. While video-generation models are…

Recent advances in agentic AI have led to systems capable of autonomous task execution and language-based reasoning, yet their spatial reasoning abilities remain limited and underexplored, largely constrained to symbolic and sequential…

Biological neural networks (BNNs) have been established as a powerful and adaptive substrate that offer the potential for incredibly energy and data efficient information processing with distinct learning mechanisms. Yet a core challenge to…

Scalable Embodied AI faces fundamental constraints due to prohibitive costs and safety risks of real-world interaction. While Embodied World Models (EWMs) offer promise through imagined rollouts, existing approaches suffer from geometric…