A2-MEAS 框架迈向具身智能体时代
Toward the Era of Agentic Embodied Intelligence
A2-MEAS 框架通过学习校正码和具身视觉语言行动模型提升机器人控制与故障恢复，在 50 任务 BEHAVIOR 2026 公开子集上达到 0.5755 Q-score 并实现 45.40% 任务成功率，12 项真实机器人任务平均成功率 57.92%。该框架采用动作预训练和任务专业化，训练吞吐量达 427.1 样本/秒，系统将开源模型、训练脚本及基础设施。
Published on Nov 6
Authors:
,
,
,
,
,
,
,
Abstract
An embodied multi-agent framework uses learned correction codes and a vision-language-action model with motion-aware history and latent world modeling to improve robot control, failure recovery, and training efficiency.
Foundation models increasingly guide robot actions, yet sustained autonomy requires efficient control and failure recovery. We introduce A2-MEAS, an embodied multi-agent framework built around code as a scaling interface. Learned correction codes combine corrective language, spatial evidence, execution history, and action proposals. MetaBrain provides training supervision and runtime guidance. A correction encoder and adapter absorb this knowledge into policy weights during training, while fresh codes adapt behavior with frozen weights at deployment. The action model, A2-WLA, adds motion-aware history and a latent world model to a vision-language-action policy. Surprisingly, this simple design with action pretraining and task specialization reaches 0.5755 Q-score on the 50-task BEHAVIOR 2026 public subset before online correction, 2.21x the 2025 winner's reported 0.2605 across different benchmark editions and training configurations. On all 100 BEHAVIOR 2026 public tasks, A2-MEAS achieves 0.6411 Q-score and 45.40% task success. On RoboTwin 2.0, A2-WLA achieves 93.98% average success, rising to 95.05% with the complete system. Across 12 real-robot tasks in five household settings, A2-WLA achieves 57.92% average success versus 26.67% for pi0.5. In long-horizon pour-over coffee preparation, a history-conditioned adapter raises post-failure completion at two filter-handling steps from 14% to 94% and from 8% to 82%, compared with A2-WLA retries. Our training infrastructure delivers 427.1 samples per second, 4.03x the throughput of a pi0.5 reference implementation on matched hardware. We will release the system, models, training scripts, and infrastructure to support efficient embodied learning.
View arXiv page View PDF Project page GitHub 1 Add to collection
Get this paper in your agent:
hf papers read 2611.09124
Don't have the latest CLI?
curl -LsSf https://hf.co/cli/install.sh | bash
Models citing this paper 0
No model linking this paper
Cite arxiv.org/abs/2611.09124 in a model README.md to link it from this page.
Datasets citing this paper 0
No dataset linking this paper
Cite arxiv.org/abs/2611.09124 in a dataset README.md to link it from this page.
Spaces citing this paper 0
No Space linking this paper
Cite arxiv.org/abs/2611.09124 in a Space README.md to link it from this page.
Collections including this paper 0
No Collection including this paper
Add this paper to a collection to link it from this page.
来源: Hugging Face Daily Papers · huggingface.co