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  ## IV. Evaluation Results
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  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.
 
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  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.
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  ### Embodied AI Benchmarks
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  #### Affordacne & Planning
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  <img src="./assets/table5.png" width=800>
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  </div>
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  > Results marked with \* are obtained using our evaluation framework.
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  ## IV. Evaluation Results
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  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.
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  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.
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+ 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.
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  ### Embodied AI Benchmarks
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  #### Affordacne & Planning
 
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  <img src="./assets/table5.png" width=800>
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  </div>
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+ ### General Visual Understanding Benchmarks
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+ <div align="center">
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+ <img src="./assets/table8.png" width=800>
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+ </div>
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  > Results marked with \* are obtained using our evaluation framework.
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