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RynnBrain 1.1: Towards More Capable and Generalizable Embodied Foundation Model

Published on Jul 20 Submitted by MEGAon Jul 21#2 Paper of the day DAMO Academy

Authors

Do you know Kehan Li?You can claim authorship or link another user.Do you know Bohan Hou?You can claim authorship or link another user.Do you know Minghao Zhu?You can claim authorship or link another user.Do you know Tianyi Zhang?You can claim authorship or link another user.Do you know Zesen Cheng?You can claim authorship or link another user.Do you know Zhikai Wang?You can claim authorship or link another user.Do you know Sicong Leng?You can claim authorship or link another user.Do you know Xin Li?You can claim authorship or link another user.Do you know Xiao Lin?You can claim authorship or link another user.Do you know Biying Yao?You can claim authorship or link another user.Do you know Minghua Zeng?You can claim authorship or link another user.Do you know Jiangpin Liu?You can claim authorship or link another user.Do you know Ronghao Dang?You can claim authorship or link another user.Do you know Jiayan Guo?You can claim authorship or link another user.Do you know Siteng Huang?You can claim authorship or link another user.Do you know Haoyu Zhao?You can claim authorship or link another user.Do you know Heng Ping?You can claim authorship or link another user.Do you know Yaxi Zhao?You can claim authorship or link another user.Do you know Kexiang Wang?You can claim authorship or link another user.Do you know Tong Lu?You can claim authorship or link another user.Do you know Shengke Xue?You can claim authorship or link another user.Do you know Jiahao Tang?You can claim authorship or link another user.Do you know Yulei Wang?You can claim authorship or link another user.Do you know Zejing Wang?You can claim authorship or link another user.Do you know Jianwei Gao?You can claim authorship or link another user.Do you know Shijian Lu?You can claim authorship or link another user.Do you know Chengju Liu?You can claim authorship or link another user.Do you know Jianfei Yang?You can claim authorship or link another user.Do you know Mingxiu Chen?You can claim authorship or link another user.Do you know Deli Zhao?You can claim authorship or link another user.

Abstract

We present RynnBrain 1.1, a family of embodied foundation models spanning 2B, 9B, and 122B-A10B scales. Trained with a unified spatio-temporal and physically grounded framework, RynnBrain 1.1 supports embodied perception, spatial reasoning, localization, and planning. Compared with RynnBrain 1.0, it further introduces contact-point prediction across the model family and native 3D grounding for the 2B and 9B models, yielding representations and outputs that are more directly aligned with robot manipulation. We also develop RynnBrain-VLA with a unified cross-embodiment action space and embodiment-specific masking, and deploy it on Unitree G1, Astribot-S1, and Tianji-Wuji. RynnBrain 1.1 achieves strong results on embodied cognition, localization, and 3D grounding, with the 122B-A10B model outperforming all evaluated proprietary and open-source models on VSI-Bench, MMSI, and RefSpatial-Bench. Real-robot experiments show that RynnBrain-initialized policies outperform Qwen-based and representative generalist VLAs, while joint multi-task and multi-embodiment training improves process scores and success rates over per-task training.

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Author note
KL,BH,MZ,TZ,ZC,ZW,SL,XL,XL,BY,MZ,JL,RD contribute equally. Project Lead: Kehan Li and Xin Li project: https://alibaba-damo-academy.github.io/RynnBrain github: https://github.com/alibaba-damo-academy/RynnBrain huggingface: https://huggingface.co/collections/Alibaba-DAMO-Academy/rynnbrain-11 modelscope: https://modelscope.cn/collections/DAMO_Academy/RynnBrain-11