EmbodiedSkills is a unified framework that treats each skill decision as an execution proposal, checking prerequisites and verifying outcomes during long‑horizon vision‑language‑action tasks. It connects high‑level skill selection, bounded low‑level VLA execution, and post‑action verification through a fixed executable‑skill interface, enabling easy replacement of low‑level policies and recording of structured trajectories for supervision and adaptation. Instantiated with Qwen3‑VL and OpenPI/pi0.5 on RoboTwin 2.0 and LIBERO, the framework achieves high success rates (86.20% and 97.40% respectively) and demonstrates effective memory‑dependent task performance.
By Wei Wang, Wenqiao Zhang, Yutong Lin, Yuqian Yuan, Tianwei Lin, Jinhao Mao, Zhenxuan Fan, Mingjian Gao, Yang Dai, Wentong Li, Zheqi Lv, Zheng Dong, Yingjie Niu, Jiaqi Zhu, Jun Xiao, Chao Li, Yueting Zhuang
FluxVLA Engine is an open, configuration‑driven platform that unifies the fragmented components of embodied policy development—datasets, visual‑language and world models, action heads, learning methods, distributed training, simulation evaluation, inference, and robot interfaces—into a reproducible data‑to‑deployment workflow. It adds features such as compositional dual‑arm simulation, scalable automatic data generation, human‑in‑the‑loop rollout and correction, Real‑Time Chunking for fast inference, and lightweight remote GPU serving, thereby linking offline learning, simulation validation, online correction, and real‑robot execution under shared, auditable contracts. The engine aims to eliminate engineering bottlenecks that currently separate promising embodied‑learning algorithms from reliable, reproducible deployment.
By Yinhao Li, Weixin Mao, Zihan Lan, Jikun Rong, Qirui Hu, Yiming Zhang, Weipeng Deng, Bowen Shen, Minzhao Zhu, Yiming Mao, Yan Yang, Chenguang Cui, Hongyuan Chen, Xu Huang, Zheyi Zhao, Pinxi Shen, Bozhen He, Zhen Fu, Yifan Wang, Zexin Zhang, Ang Gao, Haoyu Chen, Chengqi Shi, Hua Chen
arXiv:2607. 04927v1 Announce Type: cross Abstract: World Action Models (WAMs) provide a promising alternative to Vision-Language-Action (VLA) policies by using video-based world modeling as dense supervision for robot action learning.
By Jian Zhu, Jianjun Zhang, Taiyi Su, Tianbin Liu, Zhangyuan Wang, Kai Xie, Zitai Huang, Chong Ma, Youzhang He, Tianjian Wang, Hanyang Wang, Weihao Ding, Yi Xu
arXiv:2608. 16806v1 Announce Type: cross Abstract: Large Language Models (LLMs) have demonstrated capabilities in in-context learning, task decomposition, step-by-step reasoning, and code generation, driving their gradual evolution from text generation models into the core of agents capable of perceiving environments, invoking tools, and executing tasks.
By Jiawei Liu, Jiacheng Guo, Tian Zhang, Yiwei Xu, Juan Wang, Jinlin Fan, Bowen Xiao, Chi Guo, Keyan Guo, Hongxin Hu
arXiv:2608. 09298v1 Announce Type: cross Abstract: Action-conditioned world models (ACWMs) promise to provide embodied AI with scalable predictive simulators for planning, policy evaluation, and data generation.
By Peterson Co, Sicheng Hu, Chunxuan Jiao, Hongyang Cheng, Yulin Luo, Yijie Xu, Sixiang Chen, Zhongxia Zhao, Zihao Wang, DaFeng Chi, Peidong Liu, YuTong Chen, Henghua Liu, Zhihao Yuan, Huizhu Jia, Yuzheng Zhuang, Tianle Zhang, Liang Lin, Huajie Tan, Shanghang Zhang
arXiv:2601. 20334v2 Announce Type: replace-cross Abstract: Robotic manipulation has increasingly adopted vision-language-action (VLA) models, which achieve strong performance but typically require task-specific demonstrations and fine-tuning, and often generalize poorly under domain shift.
By Brian Y. Tsui, Alan Y. Fang, Tiffany J. Hwu
arXiv:2607. 10350v1 Announce Type: new Abstract: Recent VLM and VLA systems have improved robotic perception and action prediction, yet long-horizon embodied agents still require a general runtime layer for reasoning, memory, tool use, verification, and cross-embodiment execution.
By Jiayi Tian, Shiao Liu, Yuting Xu, Jia Lu, Zihao Guan, Honglin Han, Di Yang, Minqi Gu, Yifei Qian, Tianlin Zhang, Yanqing Zhu, Zeqian Ye, Menglin Yang, Fei Wang, Xu Hu, Xiuxian Li, Wei Zhang, Shihui Su, Yiyan Ji, Jingbo Wang, Ziteng Feng, Jiaheng Liu, Zhaoxiang Zhang, Xiaolong Wu, Mingyang Yin, Zedong Chu, Mu Xu
arXiv:2606. 11324v1 Announce Type: cross Abstract: We introduce Embodied-R1.
By Yifu Yuan, Yaoting Huang, Xianze Yao, Yutong Li, Shuoheng Zhang, Linqi Han, Pengyi Li, Jiangeng Sun, Wenting Jia, Zhao Zhang, Yuhao Liu, Ruihao Liao, Yucheng Hu, Qiyu Wu, Yuxiao Li, Zibin Dong, Fei Ni, Yan Zheng, Shuyang Gu, Yi Ma, Hongyao Tang, Han Hu, Jianye Hao
World Action Agent (WAA) is a multi‑agent framework that lets vision‑language models (VLMs) directly pilot robots by operating within a visual action workspace. The workspace provides automatically selected contact views, editable action rehearsals, and in‑view correction to refine decisions before low‑level execution. WAA learns procedural skills from expert videos and human teaching, and its interaction traces can train smaller VLMs, achieving state‑of‑the‑art success on LIBERO‑Pro and improving out‑of‑domain performance on robosuite and Qwen3.5‑9B.
By Yehang Zhang, Haojian Huang, Yifan Chang, Jianchong Su, Bohan Zhou, Yingjie Xu, Wosong Chen, Tianhao Zhou, Chenxu Wang, Tianyi Zhang, Yangkai Wei, Wenqian Li, Shiyuan Deng, Yinchuan Li, Ying-Cong Chen, Zexi Li
Action-conditioned world models (ACWMs) promise to provide embodied AI with scalable predictive simulators for planning, policy evaluation, and data generation. Realizing this promise requires precise action-conditioned transitions rather than merely plausible outputs.
The paper introduces URAI, a Universal Robot‑Agent Interface that separates robot control into two roles: a programming agent that writes reusable, task‑specific tools from intent, and an execution agent that calls these tools in a feedback loop. This design keeps high‑level decision making in the model while delegating low‑level motion to code, allowing tool revisions to persist across episodes without retraining the foundation model. Experiments on RoboDojo and AgileX tasks show significant gains in success rate, speed, and token efficiency compared to direct fingertip control and pre‑written programs.
By Shijia Ge, Alex Zhou, Jianshu Zeng, Yexing Wan, Di Wu, Zelin Zheng, Yazhe Wang, Zhiqi Jia, Xuan Shangguan, Jay Zhu, Yijun Liu, Lingyu He, Sihang Wu, Xiao He, Hongcheng Gao
arXiv:2605. 30280v2 Announce Type: replace-cross Abstract: Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments.
By Qiuyue Wang, Mingsheng Li, Jian Guan, Jinhui Ye, Sicheng Xie, Yitao Liu, Junhao Chen, Zhixuan Liang, Jie Zhang, Xintong Hu, Xuhong Huang, Pei Lin, Junyang Lin, Dayiheng Liu, Shuai Bai, Jingren Zhou, Jiazhao Zhang, Haoqi Yuan, Gengze Zhou, Hang Yin, Ye Wang, Yiyang Huang, Zixing Lei, Wujian Peng, Delin Chen, Yingming Zheng, Jingyang Fan, Xianwei Zhuang, Xin Zhou, Haoyang Li, Anzhe Chen, Tong Zhang, Xuejing Liu, Yuchong Sun, Ruizhe Chen, Zhaohai Li, Chenxu L\"u, Zhibo Yang, Tao Yu, Xionghui Chen