{"id":"https://openalex.org/W7160607275","doi":"https://doi.org/10.48550/arxiv.2605.06234","title":"RobotEQ: Transitioning from Passive Intelligence to Active Intelligence in Embodied AI","display_name":"RobotEQ: Transitioning from Passive Intelligence to Active Intelligence in Embodied AI","publication_year":2026,"publication_date":"2026-05-07","ids":{"openalex":"https://openalex.org/W7160607275","doi":"https://doi.org/10.48550/arxiv.2605.06234"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.06234","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.06234","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.06234","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125742154","display_name":"Kuofei Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Kuofei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135704241","display_name":"Xinyi Che","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Che, Xinyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135691297","display_name":"Haomin Ouyang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ouyang, Haomin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135642528","display_name":"Shufan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Shufan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135676755","display_name":"Xuehao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xuehao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135672259","display_name":"Qi Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Qi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135680512","display_name":"Liyi Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Liyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438531","display_name":"Chenqi Zhang","orcid":"https://orcid.org/0000-0002-2054-6196"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chenqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135686412","display_name":"Wenxi Cai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cai, Wenxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135712860","display_name":"Wenyu Dai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dai, Wenyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135723421","display_name":"Jinyang Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Jinyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135683747","display_name":"Fan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Fan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135686855","display_name":"Haoyu Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Haoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135653570","display_name":"Bin He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135695787","display_name":"Zheng Lian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lian, Zheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.6193000078201294,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.6193000078201294,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.14730000495910645,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.035599999129772186,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.8575000166893005},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5705000162124634},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.5641999840736389},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5527999997138977},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5257999897003174},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5033000111579895},{"id":"https://openalex.org/keywords/social-intelligence","display_name":"Social intelligence","score":0.4878999888896942},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.40130001306533813}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8575000166893005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6229000091552734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6075000166893005},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5705000162124634},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.5641999840736389},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5527999997138977},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5257999897003174},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5033000111579895},{"id":"https://openalex.org/C45801056","wikidata":"https://www.wikidata.org/wiki/Q2273844","display_name":"Social intelligence","level":2,"score":0.4878999888896942},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45239999890327454},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.40130001306533813},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.40049999952316284},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.38119998574256897},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.3718000054359436},{"id":"https://openalex.org/C157170001","wikidata":"https://www.wikidata.org/wiki/Q4781507","display_name":"Applications of artificial intelligence","level":2,"score":0.350600004196167},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.2732999920845032},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2596000134944916}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.06234","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.06234","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.06234","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.06234","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Embodied":[0],"AI":[1,51,58],"is":[2],"a":[3,92],"prominent":[4],"research":[5,13],"topic":[6],"in":[7,85,152,158],"both":[8],"academia":[9],"and":[10,38,55,80,104,117],"industry.":[11],"Current":[12],"centers":[14],"on":[15,19,140],"completing":[16],"tasks":[17],"based":[18],"explicit":[20,44],"user":[21],"instructions.":[22],"However,":[23],"for":[24,69],"robots":[25],"to":[26,48,73,82,133,165,188],"integrate":[27],"into":[28],"human":[29],"society,":[30],"they":[31],"must":[32],"understand":[33],"which":[34,39],"actions":[35,125],"are":[36,40],"permissible":[37],"prohibited,":[41],"even":[42],"without":[43],"commands.":[45],"We":[46],"refer":[47],"the":[49,56,66,135,180],"user-guided":[50,185],"as":[52,59],"passive":[53,186],"intelligence":[54],"unguided":[57],"active":[60,70,155,189],"intelligence.":[61],"This":[62,176],"paper":[63],"introduces":[64],"RobotEQ,":[65],"first":[67],"benchmark":[68],"intelligence,":[71,156],"aiming":[72],"assess":[74],"whether":[75],"existing":[76],"models":[77,139,148],"can":[78,172,178],"comprehend":[79],"adhere":[81],"social":[83,168,190],"norms":[84],"embodied":[86,102],"scenarios.":[87,128],"First,":[88],"we":[89,111,130],"construct":[90],"RobotEQ-Data,":[91],"dataset":[93],"consisting":[94],"of":[95,137,182],"1,894":[96],"egocentric":[97],"images,":[98],"spanning":[99],"10":[100],"representative":[101],"categories":[103],"56":[105],"subcategories.":[106],"Through":[107],"extensive":[108],"manual":[109],"annotation,":[110],"provide":[112],"4,944":[113],"action":[114],"judgment":[115],"questions":[116],"1,157":[118],"spatial":[119,159],"grounding":[120],"questions,":[121],"specifying":[122],"appropriate":[123],"robot":[124],"across":[126],"diverse":[127],"Furthermore,":[129],"establish":[131],"RobotEQ-Bench":[132],"evaluate":[134],"performance":[136],"state-of-the-art":[138],"this":[141],"task.":[142],"Experimental":[143],"results":[144],"demonstrate":[145],"that":[146],"current":[147],"still":[149],"fall":[150],"short":[151],"achieving":[153],"reliable":[154],"particularly":[157],"grounding.":[160],"Meanwhile,":[161],"leveraging":[162],"RAG":[163],"techniques":[164],"incorporate":[166],"external":[167],"norm":[169],"knowledge":[170],"bases":[171],"generally":[173],"enhance":[174],"performance.":[175],"work":[177],"facilitate":[179],"transition":[181],"robotics":[183],"from":[184],"manipulation":[187],"compliance.":[191]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-09T00:00:00"}