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Tianjin University

Research labTianjin, China

Chinese university whose College of Intelligence and Computing released Embodied-R1, a 3B embodied-reasoning model for manipulation.

Overview

Embodied-R1 was released in August 2025 (ICLR 2026) by researchers at the College of Intelligence and Computing, Tianjin University, led by Jianye Hao. It is a 3B-parameter embodied-reasoning vision-language model trained with reinforced fine-tuning that uses 'pointing' as an embodiment-agnostic intermediate representation for manipulation; weights are published on Hugging Face.

Sources: arxiv.org (19 Aug 2025) · huggingface.co (19 Oct 2026)

Type
Research lab
Headquarters
Tianjin, Chinaarxiv.org, 19 Aug 2025
Website
tju.edu.cn

Key people

  • Jianye HaoCorresponding author, Embodied-R1arxiv.org, 19 Aug 2025
  • Yifu YuanLead author, Embodied-R1arxiv.org, 19 Aug 2025

Funding history

Research lab · University; no separate funding disclosed

Ranking

#27 of 104 model companies · score 58.5 / 100 · updated 19 Oct 2026

  • Published benchmarks 35%59%
  • Open weights 20%100%
  • Adoption 20%46%
  • Released models 15%20%
  • Disclosed funding 10%n/a

Each bar shows an input from 0 to 100% before weighting. 1 of 1 listed models have open weights. Most-starred official repository: pickxiguapi/Embodied-R1 (156 stars, 19 Oct 2026).

How we rank model companies

The score (0–100) measures public, checkable evidence about a company's robot models. It does not measure private capability. A company that publishes no benchmark results and no weights can still have strong models. Every input is computed from the data on each company page, and every number there links to its source.

InputWeightHow it is measured
Published benchmarks35%For each scored benchmark, the company's best result divided by the best result any company has published, averaged over the benchmarks it reports. No published results scores 0. Results come only from the model's own paper, model card or the official benchmark leaderboard. Scored: LIBERO (4-suite average success, %); SimplerEnv Google Robot, visual matching (%); SimplerEnv Google Robot, variant aggregation (%); SimplerEnv WidowX / Bridge (%); CALVIN ABC→D (average length, 0–5); RoboArena (pairwise rating).
Open weights20%Share of the company's listed models whose weights the public can download.
Adoption20%GitHub stars on the company's most-starred official model repository, on a log scale relative to the most-starred repository in the list. Hugging Face downloads are shown on company pages but not scored, because gated repositories report zero.
Released models15%Number of publicly announced, named models, capped at 5.
Disclosed funding10%The sum of the funding rounds listed on the company's profile that were disclosed in USD, on a log scale from $10M to the largest sum in the list. Rounds reported only in other currencies are listed but not converted or counted. This input applies only to private startups and robot makers. For big-tech divisions, research labs and listed companies it is n/a, and its weight is shared across the other inputs in proportion.

Sources. arXiv papers and official model cards for benchmarks and parameters; official leaderboards (RoboArena); the GitHub and Hugging Face APIs for stars and downloads; company announcements and established press for funding. Missing values are shown as n/a, never estimated.

Updated 19 Oct 2026. Benchmark protocols differ between papers, for example in fine-tuning and number of trials, so small gaps between close scores are not meaningful.

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Open-weights models (1)

Tianjin University logo

Embodied-R1

Open weightsEmbodied reasoning

3B vision-language model trained with reinforced fine-tuning to output points (affordances, targets, traces) that drive zero-shot manipulation.

Released
19 Aug 2025
Parameters
3B
License
other
Embodiments
single-arm
GitHub stars
156 as of 19 Oct 2026
HF downloads (all time)
11.1k as of 19 Oct 2026
Published benchmark results for Embodied-R1
BenchmarkResultSource
SimplerEnv WidowXSimplerEnv WidowX (Bridge) average (%)56.2%arxiv.orgTable 4, zero-shot with a motion planner (not end-to-end). As of 19 Aug 2025