---
license: apache-2.0
language:
- en
- zh
pipeline_tag: image-text-to-text
library_name: transformers
tags:
- embodied-ai
- robotics
- vision-language-model
- embodied-reasoning
- spatial-reasoning
- pointing
- vla
- qwen3-vl
base_model:
- Qwen/Qwen3-VL-8B-Instruct
---

# Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models

<p align="center">
  🌐 <a href="https://embodied-r.github.io/">Project Page</a> &nbsp;|&nbsp;
  💻 <a href="https://github.com/pickxiguapi/Embodied-R1.5">Code</a> &nbsp;|&nbsp;
  🧰 <a href="https://github.com/pickxiguapi/EmbodiedEvalKit">EmbodiedEvalKit</a> &nbsp;|&nbsp;
  🤗 <a href="https://huggingface.co/collections/IffYuan/embodied-r15">Models & Datasets</a>
</p>

**Embodied-R1.5** is a unified **Embodied Foundation Model (EFM)** that integrates comprehensive embodied reasoning capabilities, spanning embodied cognition, task planning, correction, and pointing, within a single 8B-parameter architecture toward general physical intelligence.

Built on the paradigm of our prior work [Embodied-R1](https://embodied-r.github.io/), Embodied-R1.5 leaps from a pointing specialist to a comprehensive EFM that unifies three capability dimensions in one model. Leveraging three automated data construction pipelines, we build a large-scale data system of over 15B tokens and design a multi-task balanced RL recipe to alleviate heterogeneous task conflicts. We further introduce a **Planner-Grounder-Corrector (PGC)** closed-loop framework that enables a single model to autonomously execute and self-correct over long-horizon tasks.

## Highlights

- **Unified embodied capability system.** A single 8B model unifies three capability dimensions: Cognition & Spatial Reasoning, Planning & Correction, and Pointing & Location.
- **State-of-the-art performance.** Achieves SOTA on **16 out of 24** embodied VLM benchmarks, with an average score of **70.4%** across 21 main accuracy-based benchmarks, surpassing Gemini-Robotics-ER-1.5 and GPT-5.4 by 17.0% and 21.7% respectively.
- **Closed-loop autonomy.** The PGC framework lets one model serve as planner, grounder, and corrector simultaneously, completing long-horizon real-world tasks (e.g., making milk tea, sweeping garbage, stacking cups) without human intervention.
- **Efficient adaptation to action.** Because embodied reasoning is internalized upstream, the model can be fine-tuned into **Embodied-R1.5-VLA** with only a small amount of action data, outperforming strong VLA baselines such as $\pi_{0.5}$ across 4 popular manipulation benchmark suites (e.g., 92.4% on SimplerEnv Google Robot Visual Matching).
- **Fully open-source.** We release model weights, datasets, training code, and EmbodiedEvalKit, an evaluation framework tailored for embodied tasks.

## Model Details

- **Architecture:** Qwen3-VL (`Qwen3VLForConditionalGeneration`)
- **Parameters:** ~8B
- **Modality:** Image / Video + Text → Text
- **Output format:** All outputs are plain-text token sequences. Coordinates are normalized to $[0, 1000]$, trajectories are ordered coordinate sequences, and reasoning is free-form text. The final decision is emitted within an `<answer>...</answer>` tag.

### Unified Capabilities

1. **Embodied Cognition & Spatial Reasoning** — comprehends the semantic and spatial structure of the physical world, including static geometric relations and dynamic interaction possibilities.
2. **Embodied Planning & Correction** — covers the full task life cycle: long-horizon task decomposition, next-step planning, process detection, error localization, and error correction.
3. **Embodied Pointing & Location** — grounds high-level reasoning in coordinates and trajectories, covering referring expression grounding, region-level localization, functional (affordance) grounding, and visual trace generation.

## Quick Start

```python
from transformers import AutoModelForImageTextToText, AutoProcessor
from PIL import Image

model_id = "IffYuan/Embodied-R1.5"
model = AutoModelForImageTextToText.from_pretrained(
    model_id, torch_dtype="auto", device_map="auto"
)
processor = AutoProcessor.from_pretrained(model_id)

image = Image.open("scene.jpg")
messages = [
    {
        "role": "user",
        "content": [
            {"type": "image"},
            {"type": "text", "text": "You are a robot performing manipulation tasks. "
                                     "The task instruction is: move the blue cube on top of the yellow cube. "
                                     "Use 2D points to mark the target location."},
        ],
    }
]

text = processor.apply_chat_template(messages, tokenize=False, add_generation_prompt=True)
inputs = processor(text=[text], images=[image], return_tensors="pt").to(model.device)
out = model.generate(**inputs, max_new_tokens=512)
print(processor.batch_decode(out, skip_special_tokens=True)[0])
```

The model reasons over the visual observation and emits its final decision within an `<answer>` tag, e.g. `<answer>[{"point_2d": [750, 748]}]</answer>`.

## Citation

```bibtex
@article{yuan2026embodiedr15,
  title   = {Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models},
  author  = {Yuan, Yifu and others},
  year    = {2026}
}
```

## License

Released under the Apache 2.0 license.