KRONOS

- KRONOS-1M keeps one unbroken session across terrain, 60 Hz motion, LiDAR, and operator rubrics inside a 1,000,000-token context. - It splits continuous robot trajectories into timed sub-tasks and writes past-and-future action captions for each segment. - It scores the whole episode, then labels every 0.5 second step as normal, suboptimal, or failure. - It grades trajectories against natural-language rubrics, and raises its thinking level when a step fails. - On a failure it checks physics in a sandbox and writes four counterfactual rollouts (one chosen, three rejected), including physics and robot-shape changes, as preference-training pairs.