OmniEVA: Embodied Versatile Planner via Task-Adaptive 3D-Grounded and
  Embodiment-aware Reasoning
Authors: name: Yuecheng Liu, name: Dafeng Chi, name: Shiguang Wu, name: Zhanguang Zhang, name: Yuzheng Zhuang, name: Bowen Yang, name: He Zhu, name: Lingfeng Zhang, name: Pengwei Xie, name: David Gamaliel Arcos Bravo, name: Yingxue Zhang, name: Jianye Hao, name: Xingyue Quan

Recent advances in multimodal large language models (MLLMs) have opened new
opportunities for embodied intelligence, enabling multimodal understanding,
reasoning, and interaction, as well as continuous spatial decision-making.
Nevertheless, current MLLM-based embodied systems face two critical
limitations. First, Geometric Adaptability Gap: models trained solely on 2D
inputs or with hard-coded 3D geometry injection suffer from either insufficient
spatial information or restricted 2D generalization, leading to poor
adaptability across tasks with diverse spatial demands. Second, Embodiment
Constraint Gap: prior work often neglects the physical constraints and
capacities of real robots, resulting in task plans that are theoretically valid
but practically infeasible.To address these gaps, we introduce OmniEVA -- an
embodied versatile planner that enables advanced embodied reasoning and task
planning through two pivotal innovations: (1) a Task-Adaptive 3D Grounding
mechanism, which introduces a gated router to perform explicit selective
regulation of 3D fusion based on contextual requirements, enabling
context-aware 3D grounding for diverse embodied tasks. (2) an Embodiment-Aware
Reasoning framework that jointly incorporates task goals and embodiment
constraints into the reasoning loop, resulting in planning decisions that are
both goal-directed and executable. Extensive experimental results demonstrate
that OmniEVA not only achieves state-of-the-art general embodied reasoning
performance, but also exhibits a strong ability across a wide range of
downstream scenarios. Evaluations of a suite of proposed embodied benchmarks,
including both primitive and composite tasks, confirm its robust and versatile
planning capabilities. Project page: https://omnieva.github.io