2025/10/14 by Zixing Lei, Sheng Yin, Lei, Zixing +18
Computer Science · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Robotics (cs.RO) #Semantic Web and Ontologies
paper · pdf · doi:10.48550/arxiv.2510.12072
openalex publication_date 2025/10/14 · openalex created_date 2025/10/17 · openalex updated_date 2026/07/28
Embodied decision-making enables agents to translate high-level goals into executable actions through continuous interactions within the physical world, forming a cornerstone of general-purpose embodied intelligence. Large language models (LLMs), with their general decision-making capabilities, offer a promising path to realize this potential; however, LLMs trained solely on language lack exposure to physical environments, limiting their true embodied understanding. To bridge this gap, we propose the concept of a training ground: a comprehensive infrastructure that provides task and scene simulation, embodied interaction, and feedback signals, offering a one-stop solution for LLM acquire genuine embodied decision-making skills. In this work, we present EmboMatrix, the first training ground of its kind, providing massive and diverse tasks with efficient simulation and precise rewards. EmboMatrix incorporates a series of novel techniques: a multi-agent data engine for large-scale task and scene generation, a distributed heterogeneous-hardware system for scalable simulation, and a multi-level reward architecture for precise supervision. Leveraging EmboMatrix, we cultivate EmboBrain, an LLM whose embodied decision-making abilities emerge from extensive embodied interactions. Experiments show that EmboBrain-7B surpasses the 671B DeepSeek-R1 baseline by 9.5% on two challenging embodied decision-making benchmarks, demonstrating the power of interactive, environment-grounded learning for building truly intelligent embodied agents.