ERA: Transforming VLMs into Embodied Agents via Embodied Prior Learning and Online Reinforcement Learning

Recent advances in embodied AI highlight the potential of vision language models (VLMs) as agents capable of perception, reasoning, and interaction in complex environments. However, top-performing systems rely on large-scale models that are costly to deploy, while smaller VLMs lack the necessary knowledge and skills to succeed. To bridge this gap, we present \textit{Embodied Reasoning Agent (ERA)}, a two-stage framework that integrates prior knowledge learning and online reinforcement learning (RL). The first stage, \textit{Embodied Prior Learning}, distills foundational knowledge from three types of data: (1) Trajectory-Augmented Priors, which enrich existing trajectory data with structured reasoning generated by stronger models; (2) Environment-Anchored Priors, which provide in-environment knowledge and grounding supervision; and (3) External Knowledge Priors, which transfer general knowledge from out-of-environment datasets. In the second stage, we develop an online RL pipeline that builds on these priors to further enhance agent performance. To overcome the inherent challenges in agent RL, including long horizons, sparse rewards, and training instability, we introduce three key designs: self-summarization for context management, dense reward shaping, and turn-level policy optimization. Extensive experiments on both high-level planning (EB-ALFRED) and low-level control (EB-Manipulation) tasks demonstrate that ERA-3B surpasses both prompting-based large models and previous training-based baselines. Specifically, it achieves overall improvements of 8.4\% on EB-ALFRED and 19.4\% on EB-Manipulation over GPT-4o, and exhibits strong generalization to unseen tasks. Overall, ERA offers a practical path toward scalable embodied intelligence, providing methodological insights for future embodied AI systems.

Plan-Guided Reinforcement Learning for Whole-Body Manipulation

Synthesizing complex whole-body manipulation behaviors has fundamental challenges due to the rapidly growing combinatorics inherent to contact interaction planning. While model-based methods have shown promising results in solving long-horizon manipulation tasks, they often work under strict assumptions, such as known model parameters, oracular observation of the environment state, and simplified dynamics, resulting in plans that cannot easily transfer to hardware. Learning-based approaches, such as imitation learning (IL) and reinforcement learning (RL), have been shown to be robust when operating over in-distribution states; however, they need heavy human supervision. Specifically, model-free RL requires a tedious reward-shaping process. IL methods, on the other hand, rely on human demonstrations that involve advanced teleoperation methods. In this work, we propose a plan-guided reinforcement learning (PGRL) framework to combine the advantages of model-based planning and reinforcement learning. Our method requires minimal human supervision because it relies on plans generated by model-based planners to guide the exploration in RL. In exchange, RL derives a more robust policy thanks to domain randomization. We test this approach on a whole-body manipulation task on Punyo, an upper-body humanoid robot with compliant, air-filled arm coverings, to pivot and lift a large box. Our preliminary results indicate that the proposed methodology is promising to address challenges that remain difficult for either model- or learning-based strategies alone.

Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning

Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a manipulation planner that is able to reason about diverse changes of contacts to discover such plans. It implements a hybrid approach that performs contact-implicit trajectory optimization for pivoting and sliding manipulation primitives and sampling-based planning to change between manipulation primitives and target object poses. The optimization method, simultaneous trajectory optimization and contact selection (STOCS), introduces an infinite programming framework to dynamically select from contact points and support forces between the object and environment during a manipulation primitive. To sequence manipulation primitives, a sampling-based tree-growing planner uses STOCS to construct a manipulation tree. We show that by using a powerful trajectory optimizer, the proposed planner can discover multi-modal manipulation trajectories involving grasping, sliding, and pivoting within a few dozen samples. The resulting trajectories are verified to enable a 6 DoF manipulator to manipulate physical objects successfully.