Vesta: A Generalist Embodied Reasoning Model

• URL: http://arxiv.org/abs/2606.20905v1
• Date: Thu, 18 Jun 2026 20:01:32 GMT
• Title: Vesta: A Generalist Embodied Reasoning Model
• Abstract summary: We present Vesta, a unified embodied generalist that consolidates capabilities into a single foundation model.<n>Our approach combines a diverse and massive curated corpus designed to induce spatial grounding and a simple multimodal memory harness.<n>Our work thus demonstrates that a single generalist is a feasible, scalable, and arguably preferable alternative to combining specialists.
• Score: 149.6473783208929
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Robots operating in open-world environments must seamlessly integrate localization, spatial reasoning, navigation, and long-horizon planning. While specialist models excel at individual tasks, deploying a multi-model stack is computationally expensive and prone to cascading errors. We present Vesta, a unified embodied generalist that consolidates these capabilities into a single foundation model. Our approach combines a diverse and massive curated corpus designed to induce spatial grounding and a simple multimodal memory harness that enables reasoning over extended time horizons. Across diverse benchmarks, Vesta on average beats individual SOTA baselines by >$20\%$ and beats an ensemble of per-category-best baselines by $>10\%$ -- thus demonstrating that a generalist model can match or exceed specialists. On real-world robotic tasks requiring memory and reasoning, Vesta improves task success by >35\%. Our work thus demonstrates that a single generalist is a feasible, scalable, and arguably preferable alternative to combining specialists.

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