Self-Supervised Bootstrapping of Action-Predictive Embodied Reasoning

In three linesR&B-EnCoRe enables Vision-Language-Action models to self-generate and refine embodied reasoning without human annotation or external rewards. Tested on manipulation (Franka Panda, WidowX), navigation (bipedal, wheeled, bicycle, quadruped), and autonomous driving: +28% manipulation success, +101% navigation scores, −21% collision rate vs baselines.

Summary generated by Claude — human-verified