{"id":"https://openalex.org/W7168236621","doi":"https://doi.org/10.48550/arxiv.2607.11643","title":"Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model","display_name":"Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model","publication_year":2026,"publication_date":"2026-07-13","ids":{"openalex":"https://openalex.org/W7168236621","doi":"https://doi.org/10.48550/arxiv.2607.11643"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.11643","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11643","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.11643","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140614457","display_name":"Xinghang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xinghang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140711354","display_name":"Jun Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Jun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140674950","display_name":"Qiwei Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Qiwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140600239","display_name":"Long Qian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian, Long","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140603252","display_name":"Hang Lai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lai, Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140608255","display_name":"Yueze Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yueze","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140647530","display_name":"Hongyu Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Hongyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140699561","display_name":"Jiahang Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Jiahang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140730834","display_name":"Xi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140597021","display_name":"Jingen Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qu, Jingen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140678869","display_name":"Jiaxi Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Jiaxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140681965","display_name":"Nan Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Nan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140638626","display_name":"Hanye Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hanye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140637797","display_name":"Futeng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Futeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140732252","display_name":"Wanli Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Wanli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140638230","display_name":"Heyun Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Heyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140740698","display_name":"Yunhong Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yunhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140721291","display_name":"Caoyu Xia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xia, Caoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140604010","display_name":"Jack Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Jack","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140697314","display_name":"Diyun Xiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiang, Diyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140654637","display_name":"Hangjun Ye","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ye, Hangjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140724438","display_name":"Heng Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qu, Heng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140733298","display_name":"Huaping Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Huaping","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140696472","display_name":"Jason Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jason","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.8855999708175659,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.8855999708175659,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11448","display_name":"Face recognition and analysis","score":0.03550000116229057,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.027300000190734863,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.9351999759674072},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.541100025177002},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.4657999873161316},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4544999897480011},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.42419999837875366},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.42340001463890076}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.9351999759674072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6103000044822693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.541100025177002},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48969998955726624},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.4657999873161316},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4544999897480011},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.42419999837875366},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.42340001463890076},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.3978999853134155},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.39660000801086426},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39100000262260437},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.33340001106262207},{"id":"https://openalex.org/C133162039","wikidata":"https://www.wikidata.org/wiki/Q1061077","display_name":"Code generation","level":3,"score":0.3100000023841858},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26269999146461487}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.11643","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11643","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.11643","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11643","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"foundation":[1,36,70,101,192],"image":[2,71,80],"and":[3,10,28,72,75,87,124,138,147,160,171,202,210],"video":[4,73,89,169],"generation":[5,65,74,119,149,159],"models":[6,37,194,201],"offer":[7],"strong":[8],"generalization":[9,96],"controllability,":[11],"but":[12],"their":[13],"direct":[14],"application":[15],"to":[16,106,114,125,181],"embodied":[17,60,64,82,85,88,107,129,157,168,199,207],"scenarios":[18],"is":[19,110],"limited":[20,39],"by":[21],"requirements":[22],"for":[23,58,131,167,206],"multi-view":[24,117,136],"consistency,":[25],"geometric":[26],"coherence,":[27],"robot":[29,40,122],"embodiment":[30],"constraints.":[31],"Existing":[32],"methods":[33],"typically":[34],"adapt":[35],"with":[38],"data,":[41],"often":[42],"sacrificing":[43],"visual":[44],"knowledge":[45],"acquired":[46],"during":[47],"large-scale":[48],"pre-training.":[49],"We":[50],"present":[51],"Xiaomi-Robotics-U0,":[52],"a":[53],"38-billion-parameter":[54],"multimodal":[55],"autoregressive":[56],"model":[57,102,113],"unified":[59,92],"synthesis.":[61],"It":[62,141],"treats":[63],"as":[66,198],"an":[67],"extension":[68],"of":[69,97,156,177],"jointly":[76],"optimizes":[77],"text-to-image":[78],"generation,":[79,84,170],"editing,":[81],"scene":[83,118,158],"transfer,":[86,161],"generation.":[90],"This":[91],"framework":[93],"preserves":[94],"the":[95,98,111,173],"pre-trained":[99],"world":[100,193,200],"while":[103,134],"adapting":[104],"it":[105],"settings.":[108],"Xiaomi-Robotics-U0":[109],"first":[112,163],"support":[115],"high-quality":[116],"across":[120],"multiple":[121],"embodiments":[123],"introduce":[126],"structured,":[127],"controllable":[128],"transfer":[130],"fine-grained":[132],"editing":[133],"preserving":[135],"consistency":[137],"interaction":[139],"dynamics.":[140],"achieves":[142],"state-of-the-art":[143],"results":[144,189],"on":[145,164,183],"single-step":[146],"sequential":[148],"tasks,":[150],"outperforming":[151],"GPT-Image-2.0":[152],"in":[153],"human":[154],"evaluations":[155],"ranking":[162],"World":[165],"Arena":[166],"improving":[172],"out-of-distribution":[174],"success":[175],"rate":[176],"pi_0.5":[178],"from":[179],"36.9%":[180],"63.2%":[182],"challenging":[184],"real-world":[185],"manipulation":[186],"tasks.":[187],"These":[188],"show":[190],"that":[191],"can":[195],"serve":[196],"both":[197],"scalable":[203],"data":[204],"engines":[205],"intelligence.":[208],"Code":[209],"checkpoints":[211],"are":[212],"available":[213],"at":[214],"https://robotics.xiaomi.com/xiaomi-robotics-u0.html.":[215]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-15T00:00:00"}
