Diyun Xiang

Rui Cai, Jun Guo, Xinze He et al.

In this report, we introduce Xiaomi-Robotics-0, an advanced vision-language-action (VLA) model optimized for high performance and fast and smooth real-time execution. The key to our method lies in a carefully designed training recipe and deployment strategy. Xiaomi-Robotics-0 is first pre-trained on large-scale cross-embodiment robot trajectories and vision-language data, endowing it with broad and generalizable action-generation capabilities while avoiding catastrophic forgetting of the visual-semantic knowledge of the underlying pre-trained VLM. During post-training, we propose several techniques for training the VLA model for asynchronous execution to address the inference latency during real-robot rollouts. During deployment, we carefully align the timesteps of consecutive predicted action chunks to ensure continuous and seamless real-time rollouts. We evaluate Xiaomi-Robotics-0 extensively in simulation benchmarks and on two challenging real-robot tasks that require precise and dexterous bimanual manipulation. Results show that our method achieves state-of-the-art performance across all simulation benchmarks. Moreover, Xiaomi-Robotics-0 can roll out fast and smoothly on real robots using a consumer-grade GPU, achieving high success rates and throughput on both real-robot tasks. To facilitate future research, code and model checkpoints are open-sourced at https://xiaomi-robotics-0.github.io

Dongting Li, Xingyu Chen, Qianyang Wu et al.

Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated objects with independent dynamics and non-holonomic constraints. These introduce control challenges from coupling forces and occlusions. We present HAIC, a unified framework for robust interaction across diverse object dynamics without external state estimation. Our key contribution is a dynamics predictor that estimates high-order object states (velocity, acceleration) solely from proprioceptive history. These predictions are projected onto static geometric priors to form a spatially grounded dynamic occupancy map, enabling the policy to infer collision boundaries and contact affordances in blind spots. We use asymmetric fine-tuning, where a world model continuously adapts to the student policy's exploration, ensuring robust state estimation under distribution shifts. Experiments on a humanoid robot show HAIC achieves high success rates in agile tasks (skateboarding, cart pushing/pulling under various loads) by proactively compensating for inertial perturbations, and also masters multi-object long-horizon tasks like carrying a box across varied terrain by predicting the dynamics of multiple objects.

Xiaoshuai Hao, Lei Zhou, Zhijian Huang et al.

We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied AI. MiMo-Embodied sets new records across 17 embodied AI benchmarks in Task Planning, Affordance Prediction and Spatial Understanding, while also excelling in 12 autonomous driving benchmarks across Environmental Perception, Status Prediction, and Driving Planning. Across these tasks, MiMo-Embodied significantly outperforms existing open-source, closed-source, and specialized baselines. Our results indicate that through multi-stage learning, curated data construction, and CoT/RL fine-tuning, these two domains exhibit strong positive transfer and mutually reinforce one another. We provide a detailed analysis of our model design and training methodologies to facilitate further research. Code and models are available at https://github.com/XiaomiMiMo/MiMo-Embodied.

Xingyu Chen, Hanyu Wu, Sikai Wu et al.

Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However, current methods focus on motion retargeting frame by frame, which lacks scalability. Could we directly convert large-scale human motion into robot-executable motion through a more efficient approach? To address this issue, we propose Implicit Kinodynamic Motion Retargeting (IKMR), a novel efficient and scalable retargeting framework that considers both kinematics and dynamics. In kinematics, IKMR pretrains motion topology feature representation and a dual encoder-decoder architecture to learn a motion domain mapping. In dynamics, IKMR integrates imitation learning with the motion retargeting network to refine motion into physically feasible trajectories. After fine-tuning using the tracking results, IKMR can achieve large-scale physically feasible motion retargeting in real time, and a whole-body controller could be directly trained and deployed for tracking its retargeted trajectories. We conduct our experiments both in the simulator and the real robot on a full-size humanoid robot. Extensive experiments and evaluation results verify the effectiveness of our proposed framework.