UnifoLM-ER-1-4B
Across 16 multimodal perception and understanding benchmarks, UnifoLM-ER-1 leads open-source models on seven and delivers overall performance comparable to leading proprietary models. Built on Qwen3-VL-4B, UnifoLM-ER-1 is trained on more than 5 million samples spanning image point prediction, object detection, multi-image reasoning, 2D trajectory prediction, 3D object detection, and multi-image spatial question answering. These data are co-trained with general image-text data, preserving broad vision-language capabilities while substantially improving spatial understanding and reasoning in embodied environments.
Benchmark Results
| Model | Open Source | RoboVQA | Ego-Plan2 | RefSpatial-Bench | Where2Place | Pixmo-Point | BLINK | CV-Bench | EmbSpatial | RoboSpatial | SAT | VSI-Bench | VSR | ERQA | RealWorldQA | MME | MMMU_VAL |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| UnifoLM-ER-1-4B | Yes | 62.4 | 55.1 | 61.7 | 82.0 | 73.8 | 93.4† | 88.6 | 88.9 | 73.1 | 76.0 | 54.2 | 88.1 | 50.0 | 69.8 | 2223.3 | 54.7 |
| RoboBrain2.0-7B* | Yes | 30.0 | 33.23 | 42.2 | 63.6 | 54.7 | 83.9 | 85.7 | 76.3 | 54.2 | 75.3 | 36.1 | 84.0 | — | 69.4 | 2057.4 | 44.4 |
| Robix-7B* | No | 63.6 | — | — | 41.9 | 29.5 | 87.6 | 86.5 | 77.4 | — | 71.1 | 44.6 | 83.3 | 42.5 | 70.7 | 2332.8 | — |
| Pelican-7B* | Yes | 31.8 | 33.7 | 22.3 | 57.3 | 20.4 | — | 79.4 | 73.2 | 57.5 | 52.0 | 52.8 | 82.2 | 39.8 | 69.3 | 2141.9 | 51.1 |
| Cosmos-R1-7B* | Yes | 38.8 | 26.0 | 5.6 | 2.9 | 8.2 | — | 76.7 | 68.9 | 42.4 | 82.7 | 25.4 | 82.4 | — | 67.6 | 2157.4 | 37.4 |
| Cosmos3-Super-64B* | Yes | — | — | 57.0 | 71.0 | — | 90.3† | 88.0 | — | 70.0 | — | 60.9 | — | 51.2 | — | — | — |
| Qwen3-VL-4B* | Yes | 47.7 | 40.7 | 46.6 | 63.0 | 48.3 | 85.0† | 85.1 | 79.6 | 61.7 | 68.7 | 59.3 | 81.6 | 41.3 | 71.0 | 2325.2 | 57.8 |
| Qwen3-VL-8B* | Yes | 43.3 | 49.7 | 54.2 | 61.9 | 51.0 | 73.8† | 86.2 | 78.5 | 66.9 | 67.3 | 59.4 | 83.2 | 45.8 | 70.6 | 2412.5 | 62.3 |
| Embodied-R1-3B* | Yes | 51.8 | 26.5 | 39.7 | 69.5 | 49.4 | 78.5† | 82.7 | 67.4 | 47.4 | 76.3 | 26.6 | — | 35.2 | — | — | — |
| Embodied-R1.5-8B* | Yes | 61.0 | 53.8 | 54.2 | 74.0 | 64.8 | 83.0† | 86.9 | 78.1 | 69.7 | 74.7 | 56.1 | — | 46.0 | — | — | — |
| Molmo2-ER-4B* | Yes | — | — | 52.5 | 54.0 | — | 85.7† | 87.8 | 78.8 | — | 78.0 | 74.5 | — | 46.8 | — | — | — |
| Hy-Embodied-VLM-1.0-30B-A3B* | Yes | — | 49.6 | 53.4 | 65.0 | 64.6 | 87.3† | 89.7 | 82.7 | 69.4 | 78.0 | — | — | 60.8 | — | — | — |
| MiMo-Emb-7B* | Yes | 62.0 | 43.0 | 48.0 | 63.6 | 42.35 | 81.3 | 88.2 | 76.2 | 61.7 | 78.6 | 48.5 | 79.0 | 46.7 | 66.3 | 2320.8 | 26.4 |
| Thinker-4B* | Yes | 62.7 | 63.7 | 61.0 | 72.0 | 57.4 | 84.6 | 86.3 | 80.2 | 70.8 | 72.7 | 65.4 | 81.5 | — | 71.9 | 2323.4 | 46.2 |
| Wall-OSS-0.5-3B* | Yes | — | — | — | 15.0 | — | — | — | — | — | — | — | — | 33 | 44 | — | — |
| Lumo-1-Stage1-7B* | No | — | — | 51.0 | 69.1 | — | 82.4 | 86.4 | 75.6 | 62.6 | 74.7 | — | — | — | — | — | — |
| Gemini-ER 2‡ | No | — | — | 35.4 | — | — | 90.6† | 90.4 | 81.4 | 51.1 | — | — | — | 71.0 | — | — | — |
| Gemini-ER 1.5‡ | No | — | — | 41.8 | 48.0 | — | — | 83.6 | 73.4 | 57.7 | 62.0 | 39.9 | — | 47.0 | — | — | — |
| Gemini 2.5 Pro‡ | No | — | — | 33.6 | 37.0 | — | 88.6† | 85.9 | 78.0 | 71.3 | 74.7 | 51.1 | — | 56.0 | — | — | — |
| Gemini 2.5 Flash‡ | No | — | — | 41.2 | 48.0 | — | 80.3† | 85.5 | 76.2 | 73.4 | 73.3 | 45.3 | — | 47.5 | — | — | — |
| Gemini 3.1 Pro‡ | No | — | — | 70.0 | 61.0 | — | 86.1† | 88.6 | — | 65.1 | — | 47.5 | — | 65.2 | — | — | — |
| GPT-5.6-sol‡ | No | — | — | 58.3 | 51.1 | — | 85.6† | 85.2 | 80.7 | 66.8 | 21.3 | — | — | 64.8 | — | — | — |
| GPT-6-Astra‡ | No | — | — | 79.6 | 69.0 | — | 90.4† | 87.3 | 83.3 | 73.4 | 31.3 | — | — | 77.7 | — | — | — |
* Results are sourced from the models' official technical reports or publicly available papers.
‡ Results were obtained through tests using the models' official APIs.
† BLINK scores are averaged over the Relative Depth and Spatial Relation subtasks only; all reported results were obtained in our own testing.
Citation
@misc{unifolm-er-1,
author = {Unitree},
title = {UnifoLM-WLA-1.0: One Model Driven, Whole-Body Coordination},
year = {2026},
}