# Robix: A Unified Model for Robot Interaction, Reasoning and Planning

arXiv: https://arxiv.org/abs/2509.01106 · HTML: https://mlsanity.com/paper/2509.01106/

## Key facts

- Cited by 23 papers in the map (data through 14 Oct 2026).
- Builds on 73 of its 86 references that are in the map.
- First posted on arXiv 1 Sep 2025.

## Builds on (most cited first, 30 of 73)

- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Qwen2.5 Technical Report](https://mlsanity.com/paper/2412.15115/) (2024)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [MMBench: Is Your Multi-modal Model an All-around Player?](https://mlsanity.com/paper/2307.06281/) (2023)
- [MMMU: A Massive Multi-discipline Multimodal Understanding and Reasoning Benchmark for Expert AGI](https://mlsanity.com/paper/2311.16502/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [HybridFlow: A Flexible and Efficient RLHF Framework](https://mlsanity.com/paper/2409.19256/) (2024)
- [MathVista: Evaluating Mathematical Reasoning of Foundation Models in Visual Contexts](https://mlsanity.com/paper/2310.02255/) (2023)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Video-MME: The First-Ever Comprehensive Evaluation Benchmark of Multi-modal LLMs in Video Analysis](https://mlsanity.com/paper/2405.21075/) (2024)
- [LVIS: A Dataset for Large Vocabulary Instance Segmentation](https://mlsanity.com/paper/1908.03195/) (2019)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [Cambrian-1: A Fully Open, Vision-Centric Exploration of Multimodal LLMs](https://mlsanity.com/paper/2406.16860/) (2024)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [NExT-QA:Next Phase of Question-Answering to Explaining Temporal Actions](https://mlsanity.com/paper/2105.08276/) (2021)
- [EgoSchema: A Diagnostic Benchmark for Very Long-form Video Language Understanding](https://mlsanity.com/paper/2308.09126/) (2023)
- [BridgeData V2: A Dataset for Robot Learning at Scale](https://mlsanity.com/paper/2308.12952/) (2023)
- [Thinking in Space: How Multimodal Large Language Models See, Remember, and Recall Spaces](https://mlsanity.com/paper/2412.14171/) (2024)
- [UI-TARS: Pioneering Automated GUI Interaction with Native Agents](https://mlsanity.com/paper/2501.12326/) (2025)
- [BLINK: Multimodal Large Language Models Can See but Not Perceive](https://mlsanity.com/paper/2404.12390/) (2024)
- [Measuring Multimodal Mathematical Reasoning with MATH-Vision Dataset](https://mlsanity.com/paper/2402.14804/) (2024)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data](https://mlsanity.com/paper/2111.08897/) (2021)

## Built on by (most cited first, 23 of 23)

- [Actions as Language: Fine-Tuning VLMs into VLAs Without Catastrophic Forgetting](https://mlsanity.com/paper/2509.22195/) (2025)
- [Vlaser: Vision-Language-Action Model with Synergistic Embodied Reasoning](https://mlsanity.com/paper/2510.11027/) (2025)
- [Steerable Vision-Language-Action Policies for Embodied Reasoning and Hierarchical Control](https://mlsanity.com/paper/2602.13193/) (2026)
- [AURA: Always-On Understanding and Real-Time Assistance via Video Streams](https://mlsanity.com/paper/2604.04184/) (2026)
- [SpatialDreamer: Incentivizing Spatial Reasoning via Active Mental Imagery](https://mlsanity.com/paper/2512.07733/) (2025)
- [Demystifying Action Space Design for Robotic Manipulation Policies](https://mlsanity.com/paper/2602.23408/) (2026)
- [Long-Horizon Manipulation via Trace-Conditioned VLA Planning](https://mlsanity.com/paper/2604.21924/) (2026)
- [Mind to Hand: Purposeful Robotic Control via Embodied Reasoning](https://mlsanity.com/paper/2512.08580/) (2025)
- [ForeAct: Steering Your VLA with Efficient Visual Foresight Planning](https://mlsanity.com/paper/2602.12322/) (2026)
- [Abstract 3D Perception for Spatial Intelligence in Vision-Language Models](https://mlsanity.com/paper/2511.10946/) (2025)
- [RoboAgent: Chaining Basic Capabilities for Embodied Task Planning](https://mlsanity.com/paper/2604.07774/) (2026)
- [How Do VLAs Effectively Inherit from VLMs?](https://mlsanity.com/paper/2511.06619/) (2025)
- [VLA-Thinker: Boosting Vision-Language-Action Models through Thinking-with-Image Reasoning](https://mlsanity.com/paper/2603.14523/) (2026)
- [MindVLA-U1: VLA Beats VA with Unified Streaming Architecture for Autonomous Driving](https://mlsanity.com/paper/2605.12624/) (2026)
- [KEEP: A KV-Cache-Centric Memory Management System for Efficient Embodied Planning](https://mlsanity.com/paper/2602.23592/) (2026)
- [ReMoT: Reinforcement Learning with Motion Contrast Triplets](https://mlsanity.com/paper/2603.00461/) (2026)
- [StreamArena: Toward Continuous, Interactive, and Long-Horizon Agentic Streaming Video Understanding](https://mlsanity.com/paper/2608.05703/) (2026)
- [Lucida: Parse, Generate, and Place for Composable Real-to-Sim Scene Modeling](https://mlsanity.com/paper/2608.30821/) (2026)
- [RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data](https://mlsanity.com/paper/2605.13775/) (2026)
- [Task-Focused Memorization for Multimodal Agents](https://mlsanity.com/paper/2605.31075/) (2026)
- [RoboInter1.5: A Holistic Intermediate Representation Suite for Embodied World Modeling and Robotic Manipulation](https://mlsanity.com/paper/2607.18709/) (2026)
- [GST-Bench: Can VLMs Develop Global Spatial Awareness from Video?](https://mlsanity.com/paper/2608.05747/) (2026)
- [EmbodiedMind: Adaptive Data Curation and Prefix-Tree Reinforcement Learning for Efficient Embodied Intelligence](https://mlsanity.com/paper/2609.19659/) (2026)

## Abstract (arXiv)

We introduce Robix, a unified model that integrates robot reasoning, task planning, and natural language interaction within a single vision-language architecture. Acting as the high-level cognitive layer in a hierarchical robot system, Robix dynamically generates atomic commands for the low-level controller and verbal responses for human interaction, enabling robots to follow complex instructions, plan long-horizon tasks, and interact naturally with human within an end-to-end framework. Robix further introduces novel capabilities such as proactive dialogue, real-time interruption handling, and context-aware commonsense reasoning during task execution. At its core, Robix leverages chain-of-thought reasoning and adopts a three-stage training strategy: (1) continued pretraining to enhance foundational embodied reasoning abilities including 3D spatial understanding, visual grounding, and task-centric reasoning; (2) supervised finetuning to model human-robot interaction and task planning as a unified reasoning-action sequence; and (3) reinforcement learning to improve reasoning-action consistency and long-horizon task coherence. Extensive experiments demonstrate that Robix outperforms both open-source and commercial baselines (e.g., GPT-4o and Gemini 2.5 Pro) in interactive task execution, demonstrating strong generalization across diverse instruction types (e.g., open-ended, multi-stage, constrained, invalid, and interrupted) and various user-involved tasks such as table bussing, grocery shopping, and dietary filtering.