@article{xembodiedafoundationmodelwithenhancedgeo,
  title = {XEmbodied: A Foundation Model with Enhanced Geometric and Physical Cues for Large-Scale Embodied Environments},
  author = {Kangan Qian and ChuChu Xie and Yang Zhong and Jingrui Pang and Siwen Jiao and Sicong Jiang and Zilin Huang and Yunlong Wang and Kun Jiang and Mengmeng Yang and Hao Ye and Guanghao Zhang and Hangjun Ye and Guang Chen and Long Chen and Diange Yang},
  year = {2026},
  eprint = {2604.18484},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.18484},
}