# RynnUnify Releases 16B Unified Embodied Model Combining Visual Planning and Robot Control

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fferr3rgycks4i6p58oe36c1h
- Original: https://arxiv.org/abs/2610.32965

## Summary

RynnUnify is a 16B unified embodied model that combines embodied understanding with long-horizon visual planning through interleaved video-language reasoning, covering spatial reasoning, physical prediction, and grounding. The authors also developed an agentic extension based on reinforcement learning to selectively use video prediction to reason about unobserved states and interaction outcomes, and a world-action extension that translates understanding and prediction capabilities into robot control.