# MIO: A Foundation Model on Multimodal Tokens

arXiv: https://arxiv.org/abs/2409.17692 · HTML: https://mlsanity.com/paper/2409.17692/

## Key facts

- Cited by 24 papers in the map (data through 14 Oct 2026).
- Builds on 97 of its 135 references that are in the map.
- First posted on arXiv 26 Sep 2024.

## Builds on (most cited first, 30 of 97)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Measuring Massive Multitask Language Understanding](https://mlsanity.com/paper/2009.03300/) (2020)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [wav2vec 2.0: A Framework for Self-Supervised Learning of Speech Representations](https://mlsanity.com/paper/2006.11477/) (2020)
- [FlashAttention: Fast and Memory-Efficient Exact Attention with IO-Awareness](https://mlsanity.com/paper/2205.14135/) (2022)
- [Taming Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2012.09841/) (2020)
- [Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context](https://mlsanity.com/paper/2403.05530/) (2024)
- [Sigmoid Loss for Language Image Pre-Training](https://mlsanity.com/paper/2303.15343/) (2023)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)
- [InstructPix2Pix: Learning to Follow Image Editing Instructions](https://mlsanity.com/paper/2211.09800/) (2022)
- [FlashAttention-2: Faster Attention with Better Parallelism and Work Partitioning](https://mlsanity.com/paper/2307.08691/) (2023)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [Making the V in VQA Matter: Elevating the Role of Image Understanding in Visual Question Answering](https://mlsanity.com/paper/1612.00837/) (2016)
- [HuBERT: Self-Supervised Speech Representation Learning by Masked Prediction of Hidden Units](https://mlsanity.com/paper/2106.07447/) (2021)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [Learn to Explain: Multimodal Reasoning via Thought Chains for Science Question Answering](https://mlsanity.com/paper/2209.09513/) (2022)

## Built on by (most cited first, 24 of 24)

- [Qwen2.5-Omni Technical Report](https://mlsanity.com/paper/2503.20215/) (2025)
- [Show-o2: Improved Native Unified Multimodal Models](https://mlsanity.com/paper/2506.15564/) (2025)
- [A Survey of Context Engineering for Large Language Models](https://mlsanity.com/paper/2507.13334/) (2025)
- [Unified Multimodal Understanding and Generation Models: Advances, Challenges, and Opportunities](https://mlsanity.com/paper/2505.02567/) (2025)
- [EVEv2: Improved Baselines for Encoder-Free Vision-Language Models](https://mlsanity.com/paper/2502.06788/) (2025)
- [RealUnify: Do Unified Models Truly Benefit from Unification? A Comprehensive Benchmark](https://mlsanity.com/paper/2509.24897/) (2025)
- [InteractiveOmni: A Unified Omni-modal Model for Audio-Visual Multi-turn Dialogue](https://mlsanity.com/paper/2510.13747/) (2025)
- [Next Token Prediction Towards Multimodal Intelligence: A Comprehensive Survey](https://mlsanity.com/paper/2412.18619/) (2024)
- [MME-Unify: A Comprehensive Benchmark for Unified Multimodal Understanding and Generation Models](https://mlsanity.com/paper/2504.03641/) (2025)
- [From Specific-MLLMs to Omni-MLLMs: A Survey on MLLMs Aligned with Multi-modalities](https://mlsanity.com/paper/2412.11694/) (2024)
- [BlendServe: Optimizing Offline Inference for Auto-regressive Large Models with Resource-aware Batching](https://mlsanity.com/paper/2411.16102/) (2024)
- [HumanVBench: Probing Human-Centric Video Understanding in MLLMs with Automatically Synthesized Benchmarks](https://mlsanity.com/paper/2412.17574/) (2024)
- [UniM: A Unified Any-to-Any Interleaved Multimodal Benchmark](https://mlsanity.com/paper/2603.05075/) (2026)
- [Towards Unifying Understanding and Generation in the Era of Vision Foundation Models: A Survey from the Autoregression Perspective](https://mlsanity.com/paper/2410.22217/) (2024)
- [Position: Foundation Models Need Digital Twin Representations](https://mlsanity.com/paper/2505.03798/) (2025)
- [Discrete Tokenization for Multimodal LLMs: A Comprehensive Survey](https://mlsanity.com/paper/2507.22920/) (2025)
- [Evolution of Video Generative Foundations](https://mlsanity.com/paper/2604.06339/) (2026)
- [Can3Tok: Canonical 3D Tokenization and Latent Modeling of Scene-Level 3D Gaussians](https://mlsanity.com/paper/2508.01464/) (2025)
- [UniModel: A Visual-Only Framework for Unified Multimodal Understanding and Generation](https://mlsanity.com/paper/2511.16917/) (2025)
- [AR-Omni: A Unified Autoregressive Model for Any-to-Any Generation](https://mlsanity.com/paper/2601.17761/) (2026)
- [A Unified Language Model for Large Scale Search, Recommendation, and Reasoning](https://mlsanity.com/paper/2603.17533/) (2026)
- [FlowBind: Efficient Any-to-Any Generation with Bidirectional Flows](https://mlsanity.com/paper/2512.15420/) (2025)
- [A Vision for Multisensory Intelligence: Sensing, Science, and Synergy](https://mlsanity.com/paper/2601.04563/) (2026)
- [BirdsongChat: A Hybrid Multi-Agent Framework for Multimodal Embodied Behavior Simulation](https://mlsanity.com/paper/2609.20887/) (2026)

## Abstract (arXiv)

In this paper, we introduce MIO, a novel foundation model built on multimodal tokens, capable of understanding and generating speech, text, images, and videos in an end-to-end, autoregressive manner. While the emergence of large language models (LLMs) and multimodal large language models (MM-LLMs) propels advancements in artificial general intelligence through their versatile capabilities, they still lack true any-to-any understanding and generation. Recently, the release of GPT-4o has showcased the remarkable potential of any-to-any LLMs for complex real-world tasks, enabling omnidirectional input and output across images, speech, and text. However, it is closed-source and does not support the generation of multimodal interleaved sequences. To address this gap, we present MIO, which is trained on a mixture of discrete tokens across four modalities using causal multimodal modeling. MIO undergoes a four-stage training process: (1) alignment pre-training, (2) interleaved pre-training, (3) speech-enhanced pre-training, and (4) comprehensive supervised fine-tuning on diverse textual, visual, and speech tasks. Our experimental results indicate that MIO exhibits competitive, and in some cases superior, performance compared to previous dual-modal baselines, any-to-any model baselines, and even modality-specific baselines. Moreover, MIO demonstrates advanced capabilities inherent to its any-to-any feature, such as interleaved video-text generation, chain-of-visual-thought reasoning, visual guideline generation, instructional image editing, etc.