arXiv 自然语言处理· 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)·· 8 小时前AI 评分50
OmniBrain-0：面向具身智能的统一智能体模型
OmniBrain-0: A Unified Agentic Model for Embodied Intelligence
AI 导读
OmniBrain-0 是一款轻量级统一具身智能体，通过共享高层决策模型协同操作与导航，集成了任务理解、规划、进度追踪与反馈恢复能力。该框架结合多教师策略内蒸馏（MOPD）与量规引导递归自我改进（RSI）数据飞轮巩固决策能力。在 LIBERO-Pro、RoboCasa365、RoboTwin 2.0 等基准测试中，其推理与执行开销显著低于闭源教师模型。
来源：arXiv 自然语言处理 · arxiv.org