arXiv cs.CL· Xiaomi Embodied Intelligence Team, Yuechen Luo (University of Macau, Tsinghua University), Chong He (University of Macau, Tsinghua University), Fang Li (University of Macau, Tsinghua University), Shaoqing Xu (University of Macau, Tsinghua University), Jingkai Wang (University of Macau, Tsinghua University), Menglun Su (University of Macau, Tsinghua University), Jiaxin Liu (University of Macau, Tsinghua University), Shengyin Jiang (University of Macau, Tsinghua University), Zhiyi Lai (University of Macau, Tsinghua University), Long Chen (University of Macau, Tsinghua University), Longlong Wang (University of Macau, Tsinghua University), Liang Hu (University of Macau, Tsinghua University), Haochen Liu (University of Macau, Tsinghua University), Yuncheng Jiang (University of Macau, Tsinghua University), Hongwei Xie (University of Macau, Tsinghua University), Jieming Cui (University of Macau, Tsinghua University), Hanbing Li (University of Macau, Tsinghua University), Junjie Huang (University of Macau, Tsinghua University), Zhixiang Duan (University of Macau, Tsinghua University), Hexin Zhang (University of Macau, Tsinghua University), Weixiang Liang (University of Macau, Tsinghua University), Ying Gong (University of Macau, Tsinghua University), Yuhan Wang (University of Macau, Tsinghua University), Yong Pan (University of Macau, Tsinghua University), Pengna Li (University of Macau, Tsinghua University), Kangyi Wu (University of Macau, Tsinghua University), Ken Deng (University of Macau, Tsinghua University), Kun Ma (University of Macau, Tsinghua University), Fuxi Wen (University of Macau, Tsinghua University), Zhi-xin Yang (University of Macau, Tsinghua University), Hangjun Ye (University of Macau, Tsinghua University)·· 2 小时前AI 评分47
OmniBrain-0：小米面向具身智能的统一轻量智能体模型
OmniBrain-0: A Unified Agentic Model for Embodied Intelligence
AI 导读
小米具身智能团队提出轻量统一具身智能体模型 OmniBrain-0，用共享高层决策模型统一操作与导航任务。其渐进式训练结合具身预训练、领域专家智能体蒸馏与多教师 on-policy 蒸馏（MOPD），并以 RSI 数据飞轮迭代。在 LIBERO-Pro、RoboTwin 2.0 及真机任务上，其推理与执行开销显著低于闭源教师模型。
来源：arXiv cs.CL · arxiv.org