EmbodiedMind: Adaptive Data Curation and Prefix-Tree Reinforcement Learning for Efficient Embodied Intelligence

arXiv:2609.19659 · cs.RO, cs.LG · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-17

Updated: 2026-09-17

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

Terminology

• GRPO — 65× in this paper · explained in 6 episodes
• Benchmark — 34× in this paper · explained in 2 episodes
• Task Planning — 18× in this paper · explained in 2 episodes
• Foundation Model — 13× in this paper · explained in 3 episodes
• Foundation Models — 12× in this paper · explained in 7 episodes
• Grounding — 11× in this paper · explained in 3 episodes
• Accuracy — 9× in this paper · explained in 1 episode
• Credit assignment — 9× in this paper · explained in 3 episodes
• Reinforcement Learning — 9× in this paper · explained in 4 episodes
• Fine-Tuning — 8× in this paper · explained in 5 episodes
• Verification — 6× in this paper · explained in 2 episodes
• Core — 5× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Rejection Sampling-based Fine-Tuning — 3× in this paper
• Supervised Fine-Tuning — 3× in this paper
• Visual Grounding — 3× in this paper · explained in 2 episodes
• Adaptive Sampling — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Embodied AI — 2× in this paper · explained in 2 episodes
• Temporal Reasoning — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Catastrophic Forgetting — 1× in this paper · explained in 5 episodes
• Computational Tractability — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• D Intersection-over-Union — 1× in this paper
• Decoupling — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• F1 Score — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Semantic Similarity — 1× in this paper · explained in 2 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Supervised Fine-Tuning (SFT) — 1× in this paper · explained in 8 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Sources

• DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models
• TreeRPO: Tree Relative Policy Optimization
• RynnBrain: Open Embodied Foundation Models
• RoboBrain 2.5: Depth in Sight, Time in Mind
• MiMo-Embodied: X-Embodied Foundation Model Technical Report
• EmbodiedBrain: Expanding Performance Boundaries of Task Planning for Embodied Intelligence
• Cosmos 3: Omnimodal World Models for Physical AI
• Pelican-VL 1.0: A Foundation Brain Model for Embodied Intelligence
• Robix: A Unified Model for Robot Interaction, Reasoning and Planning
• Reinforced Reasoning for Embodied Planning
• Reinforced Embodied Planning with Verifiable Reward for Real-World Robotic Manipulation
• Qwen3-VL Technical Report
• Bee: A High-Quality Corpus and Full-Stack Suite to Unlock Advanced Fully Open MLLMs
• Towards Cross-View Point Correspondence in Vision-Language Models
• Making VLMs More Robot-Friendly: Self-Critical Distillation of Low-Level Procedural Reasoning
• RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction
• Gemini Robotics: Bringing AI into the Physical World
• Robobench: A Comprehensive Evaluation Benchmark for Multimodal Large Language Models as Embodied Brain
• ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI

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