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EmbodiedMind: Adaptive Data Curation and Prefix-Tree Reinforcement Learning for Efficient Embodied Intelligence

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Training embodied foundation models typically requires massive-scale datasets and extensive computational resources, yet often suffers from three critical limitations: (1) inefficient sample utilization due to low-informative samples; (2) imbalanced gradient contributions across heterogeneous tasks; and (3) severe credit assignment problem in long-horizon planning, where trajectory-level rewards indiscriminately penalize all tokens. To address these issues, we propose an efficient training paradigm that achieves state-of-the-art average performance through strategic data selection and hierarch

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