Capek 0.5: An Execution-Centric Vision-Language Model for Embodied Intelligence

arXiv:2608.06756 · cs.AI · Submitted 2026-08-07 · Read on arXiv

Ying Chen, Weizhen Li, Zhe Hu, Zhenjiang Li, Rui Jiang, Zhifeng Gu, Lihuang Fang, Jiangping Liu, Lei Yi, Jie Chen

cs.AI

Submitted: 2026-08-07

Updated: 2026-08-10

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 79× in this paper · explained in 2 episodes
• Verification — 60× in this paper · explained in 2 episodes
• Affordance — 31× in this paper · explained in 1 episode
• Grounding — 31× in this paper · explained in 3 episodes
• Trace — 30× in this paper · explained in 2 episodes
• Distillation — 11× in this paper · explained in 2 episodes
• Accuracy — 9× in this paper · explained in 1 episode
• GRPO — 7× in this paper · explained in 6 episodes
• Foundation Model — 5× in this paper · explained in 3 episodes
• On-Policy Distillation — 5× in this paper · explained in 3 episodes
• Progress-Value Estimation — 5× in this paper
• Benchmarking — 4× in this paper · explained in 3 episodes
• Conference on Computer Vision and Pattern Recognition — 4× in this paper
• Core — 4× in this paper · explained in 2 episodes
• Foundation Models — 4× in this paper · explained in 7 episodes
• Multi-Teacher On-Policy Distillation — 4× in this paper
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Verifier — 4× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Instruction Tuning — 3× in this paper · explained in 2 episodes
• Visual Grounding — 3× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Abstention — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Agentic AI — 2× in this paper · explained in 1 episode
• Embodied AI — 2× in this paper · explained in 2 episodes
• Temporal Reasoning — 2× in this paper · explained in 2 episodes
• Verifiable Rewards — 2× in this paper · explained in 2 episodes
• Agentic Coding — 1× in this paper · explained in 1 episode
• Agentic Evaluation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Annotation Ambiguity — 1× in this paper · explained in 1 episode
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• KL Regularization — 1× in this paper · explained in 2 episodes
• Mixture-of-Experts (MoE) — 1× in this paper · explained in 7 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Thinking mode — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution
• Qwen2.5-VL Technical Report
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• PaLM-E: An Embodied Multimodal Language Model
• Code as Policies: Language Model Programs for Embodied Control
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• Gemini Robotics: Bringing AI into the Physical World
• RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics
• RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concrete
• RoboBrain 2.5: Depth in Sight, Time in Mind
• RynnBrain: Open Embodied Foundation Models
• Hy-Embodied-VLM-1.0: Efficient Physical-World Agents
• Cosmos 3: Omnimodal World Models for Physical AI
• MiMo-Embodied: X-Embodied Foundation Model Technical Report
• Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models
• Vesta: A Generalist Embodied Reasoning Model
• ACE-Brain-0.5: A Unified Embodied Foundational Model for Physical Agentic AI
• EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents
• Towards Embodied Agentic AI: Review and Classification of LLM- and VLM-Driven Robot Autonomy and Interaction
• MOPD: Multi-Teacher On-Policy Distillation for Capability Integration in LLM Post-Training

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