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| Format: | Preprint |
| Published: |
2025
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| Online Access: | https://arxiv.org/abs/2510.03342 |
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| author | Gemini Robotics Team Abdolmaleki, Abbas Abeyruwan, Saminda Ainslie, Joshua Alayrac, Jean-Baptiste Arenas, Montserrat Gonzalez Balakrishna, Ashwin Batchelor, Nathan Bewley, Alex Bingham, Jeff Bloesch, Michael Bousmalis, Konstantinos Brakel, Philemon Brohan, Anthony Buschmann, Thomas Byravan, Arunkumar Cabi, Serkan Caluwaerts, Ken Casarini, Federico Chan, Christine Chang, Oscar Chappellet-Volpini, London Chen, Jose Enrique Chen, Xi Chiang, Hao-Tien Lewis Choromanski, Krzysztof Collister, Adrian D'Ambrosio, David B. Dasari, Sudeep Davchev, Todor Dave, Meet Kirankumar Devin, Coline Di Palo, Norman Ding, Tianli Doersch, Carl Dostmohamed, Adil Du, Yilun Dwibedi, Debidatta Egambaram, Sathish Thoppay Elabd, Michael Erez, Tom Fang, Xiaolin Fantacci, Claudio Fong, Cody Frey, Erik Fu, Chuyuan Gao, Ruiqi Giustina, Marissa Gopalakrishnan, Keerthana Graesser, Laura Groth, Oliver Gupta, Agrim Hafner, Roland Hansen, Steven Hasenclever, Leonard Haves, Sam Heess, Nicolas Hernaez, Brandon Hofer, Alex Hsu, Jasmine Huang, Lu Huang, Sandy H. Iscen, Atil Jacob, Mithun George Jain, Deepali Jesmonth, Sally Jindal, Abhishek Julian, Ryan Kalashnikov, Dmitry Karagozler, M. Emre Karp, Stefani Kecman, Matija Kew, J. Chase Kim, Donnie Kim, Frank Kim, Junkyung Kipf, Thomas Kirmani, Sean Konyushkova, Ksenia Ku, Li Yang Kuang, Yuheng Lampe, Thomas Laurens, Antoine Le, Tuan Anh Leal, Isabel Lee, Alex X. Lee, Tsang-Wei Edward Lever, Guy Liang, Jacky Lin, Li-Heng Liu, Fangchen Long, Shangbang Lu, Caden Maddineni, Sharath Majumdar, Anirudha Maninis, Kevis-Kokitsi Marmon, Andrew Martinez, Sergio Michaely, Assaf Hurwitz Milonopoulos, Niko Moore, Joss Moreno, Robert Neunert, Michael Nori, Francesco Ortiz, Joy Oslund, Kenneth Parada, Carolina Parisotto, Emilio Paryag, Amaris Pooley, Acorn Power, Thomas Quaglino, Alessio Qureshi, Haroon Raju, Rajkumar Vasudeva Ran, Helen Rao, Dushyant Rao, Kanishka Reid, Isaac Rendleman, David Reymann, Krista Rivas, Miguel Romano, Francesco Rubanova, Yulia Sampedro, Peter Pastor Sanketi, Pannag R Shah, Dhruv Sharma, Mohit Shea, Kathryn Shridhar, Mohit Shu, Charles Sindhwani, Vikas Singh, Sumeet Soricut, Radu Sterneck, Rachel Storz, Ian Surdulescu, Razvan Tan, Jie Tompson, Jonathan Tunyasuvunakool, Saran Varley, Jake Vesom, Grace Vezzani, Giulia Villalonga, Maria Bauza Vinyals, Oriol Wagner, René Wahid, Ayzaan Welker, Stefan Wohlhart, Paul Wu, Chengda Wulfmeier, Markus Xia, Fei Xiao, Ted Xie, Annie Xie, Jinyu Xu, Peng Xu, Sichun Xu, Ying Xu, Zhuo Yan, Jimmy Yang, Sherry Yang, Skye Yang, Yuxiang Yu, Hiu Hong Yu, Wenhao Yuan, Wentao Yuan, Yuan Zhang, Jingwei Zhang, Tingnan Zhang, Zhiyuan Zhou, Allan Zhou, Guangyao Zhou, Yuxiang |
| author_facet | Gemini Robotics Team Abdolmaleki, Abbas Abeyruwan, Saminda Ainslie, Joshua Alayrac, Jean-Baptiste Arenas, Montserrat Gonzalez Balakrishna, Ashwin Batchelor, Nathan Bewley, Alex Bingham, Jeff Bloesch, Michael Bousmalis, Konstantinos Brakel, Philemon Brohan, Anthony Buschmann, Thomas Byravan, Arunkumar Cabi, Serkan Caluwaerts, Ken Casarini, Federico Chan, Christine Chang, Oscar Chappellet-Volpini, London Chen, Jose Enrique Chen, Xi Chiang, Hao-Tien Lewis Choromanski, Krzysztof Collister, Adrian D'Ambrosio, David B. Dasari, Sudeep Davchev, Todor Dave, Meet Kirankumar Devin, Coline Di Palo, Norman Ding, Tianli Doersch, Carl Dostmohamed, Adil Du, Yilun Dwibedi, Debidatta Egambaram, Sathish Thoppay Elabd, Michael Erez, Tom Fang, Xiaolin Fantacci, Claudio Fong, Cody Frey, Erik Fu, Chuyuan Gao, Ruiqi Giustina, Marissa Gopalakrishnan, Keerthana Graesser, Laura Groth, Oliver Gupta, Agrim Hafner, Roland Hansen, Steven Hasenclever, Leonard Haves, Sam Heess, Nicolas Hernaez, Brandon Hofer, Alex Hsu, Jasmine Huang, Lu Huang, Sandy H. Iscen, Atil Jacob, Mithun George Jain, Deepali Jesmonth, Sally Jindal, Abhishek Julian, Ryan Kalashnikov, Dmitry Karagozler, M. Emre Karp, Stefani Kecman, Matija Kew, J. Chase Kim, Donnie Kim, Frank Kim, Junkyung Kipf, Thomas Kirmani, Sean Konyushkova, Ksenia Ku, Li Yang Kuang, Yuheng Lampe, Thomas Laurens, Antoine Le, Tuan Anh Leal, Isabel Lee, Alex X. Lee, Tsang-Wei Edward Lever, Guy Liang, Jacky Lin, Li-Heng Liu, Fangchen Long, Shangbang Lu, Caden Maddineni, Sharath Majumdar, Anirudha Maninis, Kevis-Kokitsi Marmon, Andrew Martinez, Sergio Michaely, Assaf Hurwitz Milonopoulos, Niko Moore, Joss Moreno, Robert Neunert, Michael Nori, Francesco Ortiz, Joy Oslund, Kenneth Parada, Carolina Parisotto, Emilio Paryag, Amaris Pooley, Acorn Power, Thomas Quaglino, Alessio Qureshi, Haroon Raju, Rajkumar Vasudeva Ran, Helen Rao, Dushyant Rao, Kanishka Reid, Isaac Rendleman, David Reymann, Krista Rivas, Miguel Romano, Francesco Rubanova, Yulia Sampedro, Peter Pastor Sanketi, Pannag R Shah, Dhruv Sharma, Mohit Shea, Kathryn Shridhar, Mohit Shu, Charles Sindhwani, Vikas Singh, Sumeet Soricut, Radu Sterneck, Rachel Storz, Ian Surdulescu, Razvan Tan, Jie Tompson, Jonathan Tunyasuvunakool, Saran Varley, Jake Vesom, Grace Vezzani, Giulia Villalonga, Maria Bauza Vinyals, Oriol Wagner, René Wahid, Ayzaan Welker, Stefan Wohlhart, Paul Wu, Chengda Wulfmeier, Markus Xia, Fei Xiao, Ted Xie, Annie Xie, Jinyu Xu, Peng Xu, Sichun Xu, Ying Xu, Zhuo Yan, Jimmy Yang, Sherry Yang, Skye Yang, Yuxiang Yu, Hiu Hong Yu, Wenhao Yuan, Wentao Yuan, Yuan Zhang, Jingwei Zhang, Tingnan Zhang, Zhiyuan Zhou, Allan Zhou, Guangyao Zhou, Yuxiang |
| contents | General-purpose robots need a deep understanding of the physical world, advanced reasoning, and general and dexterous control. This report introduces the latest generation of the Gemini Robotics model family: Gemini Robotics 1.5, a multi-embodiment Vision-Language-Action (VLA) model, and Gemini Robotics-ER 1.5, a state-of-the-art Embodied Reasoning (ER) model. We are bringing together three major innovations. First, Gemini Robotics 1.5 features a novel architecture and a Motion Transfer (MT) mechanism, which enables it to learn from heterogeneous, multi-embodiment robot data and makes the VLA more general. Second, Gemini Robotics 1.5 interleaves actions with a multi-level internal reasoning process in natural language. This enables the robot to "think before acting" and notably improves its ability to decompose and execute complex, multi-step tasks, and also makes the robot's behavior more interpretable to the user. Third, Gemini Robotics-ER 1.5 establishes a new state-of-the-art for embodied reasoning, i.e., for reasoning capabilities that are critical for robots, such as visual and spatial understanding, task planning, and progress estimation. Together, this family of models takes us a step towards an era of physical agents-enabling robots to perceive, think and then act so they can solve complex multi-step tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_03342 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer Gemini Robotics Team Abdolmaleki, Abbas Abeyruwan, Saminda Ainslie, Joshua Alayrac, Jean-Baptiste Arenas, Montserrat Gonzalez Balakrishna, Ashwin Batchelor, Nathan Bewley, Alex Bingham, Jeff Bloesch, Michael Bousmalis, Konstantinos Brakel, Philemon Brohan, Anthony Buschmann, Thomas Byravan, Arunkumar Cabi, Serkan Caluwaerts, Ken Casarini, Federico Chan, Christine Chang, Oscar Chappellet-Volpini, London Chen, Jose Enrique Chen, Xi Chiang, Hao-Tien Lewis Choromanski, Krzysztof Collister, Adrian D'Ambrosio, David B. Dasari, Sudeep Davchev, Todor Dave, Meet Kirankumar Devin, Coline Di Palo, Norman Ding, Tianli Doersch, Carl Dostmohamed, Adil Du, Yilun Dwibedi, Debidatta Egambaram, Sathish Thoppay Elabd, Michael Erez, Tom Fang, Xiaolin Fantacci, Claudio Fong, Cody Frey, Erik Fu, Chuyuan Gao, Ruiqi Giustina, Marissa Gopalakrishnan, Keerthana Graesser, Laura Groth, Oliver Gupta, Agrim Hafner, Roland Hansen, Steven Hasenclever, Leonard Haves, Sam Heess, Nicolas Hernaez, Brandon Hofer, Alex Hsu, Jasmine Huang, Lu Huang, Sandy H. Iscen, Atil Jacob, Mithun George Jain, Deepali Jesmonth, Sally Jindal, Abhishek Julian, Ryan Kalashnikov, Dmitry Karagozler, M. Emre Karp, Stefani Kecman, Matija Kew, J. Chase Kim, Donnie Kim, Frank Kim, Junkyung Kipf, Thomas Kirmani, Sean Konyushkova, Ksenia Ku, Li Yang Kuang, Yuheng Lampe, Thomas Laurens, Antoine Le, Tuan Anh Leal, Isabel Lee, Alex X. Lee, Tsang-Wei Edward Lever, Guy Liang, Jacky Lin, Li-Heng Liu, Fangchen Long, Shangbang Lu, Caden Maddineni, Sharath Majumdar, Anirudha Maninis, Kevis-Kokitsi Marmon, Andrew Martinez, Sergio Michaely, Assaf Hurwitz Milonopoulos, Niko Moore, Joss Moreno, Robert Neunert, Michael Nori, Francesco Ortiz, Joy Oslund, Kenneth Parada, Carolina Parisotto, Emilio Paryag, Amaris Pooley, Acorn Power, Thomas Quaglino, Alessio Qureshi, Haroon Raju, Rajkumar Vasudeva Ran, Helen Rao, Dushyant Rao, Kanishka Reid, Isaac Rendleman, David Reymann, Krista Rivas, Miguel Romano, Francesco Rubanova, Yulia Sampedro, Peter Pastor Sanketi, Pannag R Shah, Dhruv Sharma, Mohit Shea, Kathryn Shridhar, Mohit Shu, Charles Sindhwani, Vikas Singh, Sumeet Soricut, Radu Sterneck, Rachel Storz, Ian Surdulescu, Razvan Tan, Jie Tompson, Jonathan Tunyasuvunakool, Saran Varley, Jake Vesom, Grace Vezzani, Giulia Villalonga, Maria Bauza Vinyals, Oriol Wagner, René Wahid, Ayzaan Welker, Stefan Wohlhart, Paul Wu, Chengda Wulfmeier, Markus Xia, Fei Xiao, Ted Xie, Annie Xie, Jinyu Xu, Peng Xu, Sichun Xu, Ying Xu, Zhuo Yan, Jimmy Yang, Sherry Yang, Skye Yang, Yuxiang Yu, Hiu Hong Yu, Wenhao Yuan, Wentao Yuan, Yuan Zhang, Jingwei Zhang, Tingnan Zhang, Zhiyuan Zhou, Allan Zhou, Guangyao Zhou, Yuxiang Robotics General-purpose robots need a deep understanding of the physical world, advanced reasoning, and general and dexterous control. This report introduces the latest generation of the Gemini Robotics model family: Gemini Robotics 1.5, a multi-embodiment Vision-Language-Action (VLA) model, and Gemini Robotics-ER 1.5, a state-of-the-art Embodied Reasoning (ER) model. We are bringing together three major innovations. First, Gemini Robotics 1.5 features a novel architecture and a Motion Transfer (MT) mechanism, which enables it to learn from heterogeneous, multi-embodiment robot data and makes the VLA more general. Second, Gemini Robotics 1.5 interleaves actions with a multi-level internal reasoning process in natural language. This enables the robot to "think before acting" and notably improves its ability to decompose and execute complex, multi-step tasks, and also makes the robot's behavior more interpretable to the user. Third, Gemini Robotics-ER 1.5 establishes a new state-of-the-art for embodied reasoning, i.e., for reasoning capabilities that are critical for robots, such as visual and spatial understanding, task planning, and progress estimation. Together, this family of models takes us a step towards an era of physical agents-enabling robots to perceive, think and then act so they can solve complex multi-step tasks. |
| title | Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.03342 |