Visual Embodied Brain: Let Multimodal Large Language Models See, Think,
  and Control in Spaces
Authors: name: Gen Luo, name: Ganlin Yang, name: Ziyang Gong, name: Guanzhou Chen, name: Haonan Duan, name: Erfei Cui, name: Ronglei Tong, name: Zhi Hou, name: Tianyi Zhang, name: Zhe Chen, name: Shenglong Ye, name: Lewei Lu, name: Jingbo Wang, name: Wenhai Wang, name: Jifeng Dai, name: Yu Qiao, name: Rongrong Ji, name: Xizhou Zhu

The remarkable progress of Multimodal Large Language Models (MLLMs) has
attracted increasing attention to extend them to physical entities like legged
robot. This typically requires MLLMs to not only grasp multimodal understanding
abilities, but also integrate visual-spatial reasoning and physical interaction
capabilities. Nevertheless,existing methods struggle to unify these
capabilities due to their fundamental differences.In this paper, we present the
Visual Embodied Brain (VeBrain), a unified framework for perception, reasoning,
and control in real world. VeBrain reformulates robotic control into common
text-based MLLM tasks in the 2D visual space, thus unifying the objectives and
mapping spaces of different tasks. Then, a novel robotic adapter is proposed to
convert textual control signals from MLLMs to motion policies of real robots.
From the data perspective, we further introduce VeBrain-600k, a high-quality
instruction dataset encompassing various capabilities of VeBrain. In
VeBrain-600k, we take hundreds of hours to collect, curate and annotate the
data, and adopt multimodal chain-of-thought(CoT) to mix the different
capabilities into a single conversation. Extensive experiments on 13 multimodal
benchmarks and 5 spatial intelligence benchmarks demonstrate the superior
performance of VeBrain to existing MLLMs like Qwen2.5-VL. When deployed to
legged robots and robotic arms, VeBrain shows strong adaptability, flexibility,
and compositional capabilities compared to existing methods. For example,
compared to Qwen2.5-VL, VeBrain not only achieves substantial gains on MMVet by
+5.6%, but also excels in legged robot tasks with +50% average gains.