MiMo-Embodied: X-Embodied基盤モデル技術報告書

MiMo-Embodied: X-Embodied Foundation Model Technical Report

November 20, 2025

著者: Xiaoshuai Hao, Lei Zhou, Zhijian Huang, Zhiwen Hou, Yingbo Tang, Lingfeng Zhang, Guang Li, Zheng Lu, Shuhuai Ren, Xianhui Meng, Yuchen Zhang, Jing Wu, Jinghui Lu, Chenxu Dang, Jiayi Guan, Jianhua Wu, Zhiyi Hou, Hanbing Li, Shumeng Xia, Mingliang Zhou, Yinan Zheng, Zihao Yue, Shuhao Gu, Hao Tian, Yuannan Shen, Jianwei Cui, Wen Zhang, Shaoqing Xu, Bing Wang, Haiyang Sun, Zeyu Zhu, Yuncheng Jiang, Zibin Guo, Chuhong Gong, Chaofan Zhang, Wenbo Ding, Kun Ma, Guang Chen, Rui Cai, Diyun Xiang, Heng Qu, Fuli Luo, Hangjun Ye, Long Chen

cs.AI

要旨

私たちは、自律走行とエンボディAIの両分野を統合し、最先端の性能を達成した初のクロスエンボディ基盤モデル「MiMo-Embodied」をオープンソースで公開します。MiMo-Embodiedは、タスク計画、アフォーダンス予測、空間理解における17のエンボディAIベンチマークで新記録を樹立すると同時に、環境認識、状態予測、走行計画にわたる12の自律走行ベンチマークでも卓越した性能を発揮します。これらのタスク全体において、MiMo-Embodiedは既存のオープンソース、クローズドソース、および専門特化型ベースラインを大幅に上回りました。私たちの結果は、多段階学習、精選されたデータ構築、CoT/RLファインチューニングを通じて、これら二つの領域が強い正の転移を示し、相互に強化し合うことを示しています。さらなる研究の発展に貢献するため、モデル設計とトレーニング手法に関する詳細な分析を提供します。コードとモデルはhttps://github.com/XiaomiMiMo/MiMo-Embodied で公開されています。

English

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.