RobotEQ: Transitioning from Passive Intelligence to Active Intelligence in Embodied AI

Embodied AI is a prominent research topic in both academia and industry. Current research centers on completing tasks based on explicit user instructions. However, for robots to integrate into human society, they must understand which actions are permissible and which are prohibited, even without explicit commands. We refer to the user-guided AI as passive intelligence and the unguided AI as active intelligence. This paper introduces RobotEQ, the first benchmark for active intelligence, aiming to assess whether existing models can comprehend and adhere to social norms in embodied scenarios. First, we construct RobotEQ-Data, a dataset consisting of 1,900 egocentric images, spanning 10 representative embodied categories and 56 subcategories. Through extensive manual annotation, we provide 5,353 action judgment questions and 1,286 spatial grounding questions, specifying appropriate robot actions across diverse scenarios. Furthermore, we establish RobotEQ-Bench to evaluate the performance of state-of-the-art models on this task. Experimental results show that current models still fall short in achieving reliable active intelligence, particularly in spatial grounding. Meanwhile, we observe that leveraging RAG techniques to incorporate external social norm knowledge bases can generally enhance performance. This work can facilitate the transition of robotics from user-guided passive manipulation to active social compliance.

Coupled Flow Matching

We introduce Coupled Flow Matching (CPFM), a framework that integrates controllable dimensionality reduction and high-fidelity reconstruction. CPFM learns coupled continuous flows for both the high-dimensional data x and the low-dimensional embedding y, which enables sampling p(y|x) via a latent-space flow and p(x|y) via a data-space flow. Unlike classical dimension-reduction methods, where information discarded during compression is often difficult to recover, CPFM preserves the knowledge of residual information within the weights of a flow network. This design provides bespoke controllability: users may decide which semantic factors to retain explicitly in the latent space, while the complementary information remains recoverable through the flow network. Coupled flow matching builds on two components: (i) an extended Gromov-Wasserstein optimal transport objective that establishes a probabilistic correspondence between data and embeddings, and (ii) a dual-conditional flow-matching network that extrapolates the correspondence to the underlying space. Experiments on multiple benchmarks show that CPFM yields semantically rich embeddings and reconstructs data with higher fidelity than existing baselines.