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PhysBrain 1.5: From Vision-Language Models to Physical Foundation Models

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

We present PhysBrain 1.5, a unified model for understanding physical environments, generating actions, and predicting future states. Motivated by the physical loop of observation, interaction, and environmental change, we bring these capabilities into a common learning framework. Starting from a general vision--language model, we encode language responses, end-effector motion, and dense visual targets as discrete sequences and jointly optimize them with autoregressive next-token prediction. Pre-training draws its embodied supervision entirely from human interaction videos, using task-centered

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