README.md

---
base_model:
- XiaomiMiMo/MiMo-Embodied
library_name: transformers
license: mit
---

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  <img src="./assets/xfmlogo.svg" width=600>
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<br/>

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  |
  <a href="https://huggingface.co/XiaomiMiMo/MiMo-Embodied-7B" target="_blank">🤗 HuggingFace</a>
  &nbsp;|
  <a href="https://arxiv.org/abs/2511.16518" target="_blank">📔 Technical Report</a>
  &nbsp;|
  <br/>
</div>

## I. Introduction

**MiMo-Embodied**, a powerful cross-embodied vision-language model that shows state-of-the-art performance in both **autonomous driving** and **embodied AI tasks**, the first open-source VLM that integrates these two critical areas, significantly enhancing understanding and reasoning in dynamic physical environments.

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  <img src="./assets/fig1.svg" width=800>
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## II. Model Capabilities

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  <img src="./assets/fig2.svg" width=800>
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## III. Model Details

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  <img src="./assets/fig3_img.png" width=800>
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## IV. Evaluation Results

MiMo-Embodied demonstrates superior performance across **17 benchmarks in three key embodied AI capabilities: Task Planning, Affordance Prediction, and Spatial Understanding**, significantly surpassing existing open-source embodied VLM models and rivaling closed-source models.

Additionally, MiMo-Embodied excels in **12 autonomous driving benchmarks across three key capabilities: Environmental Perception, Status Prediction, and Driving Planning**—significantly outperforming both existing open-source and closed-source VLM models, as well as proprietary VLM models.

Moreover, evaluation on **8 general visual understanding benchmarks** confirms that MiMo-Embodied retains and even strengthens its general capabilities, showing that domain-specialized training enhances rather than diminishes overall model proficiency.

### Embodied AI Benchmarks

####  Affordance & Planning

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  <img src="./assets/table2.png" width=800>
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#### Spatial Understanding

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  <img src="./assets/table3.png" width=800>
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### Autonomous Driving Benchmarks

#### Single-View Image & Multi-View Video

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  <img src="./assets/table4.png" width=800>
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#### Multi-View Image & Single-View Video

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  <img src="./assets/table5.png" width=800>
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### General Visual Understanding Benchmarks

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  <img src="./assets/table8.png" width=800>
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> Results marked with \* are obtained using our evaluation framework.


## V. Case Visualization

### Embodied AI

#### Affordance Prediction

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  <img src="./assets/afford-1.svg" width=800>
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#### Task Planning

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  <img src="./assets/planning-1.svg" width=800>
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#### Spatial Understanding

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  <img src="./assets/spatial-1.svg" width=800>
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### Autonomous Driving

#### Environmental Perception

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  <img src="./assets/ad-perception-1.svg" width=800>
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#### Status Prediction

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  <img src="./assets/ad-prediction-1.png" width=800>
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#### Driving Planning

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  <img src="./assets/ad-planning-1.png" width=800>
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### Real-world Tasks

#### Embodied Navigation

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  <img src="./assets/figure_navigation.svg" width=800>
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#### Embodied Manipulation

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  <img src="./assets/figure_manipulation.svg" width=800>
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## VI. Citation

```bibtex
@misc{hao2025mimoembodiedxembodiedfoundationmodel,
      title={MiMo-Embodied: X-Embodied Foundation Model Technical Report}, 
      author={Xiaomi Embodied Intelligence Team},
      year={2025},
      eprint={2511.16518},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2511.16518}, 
}
```