# RoboEgo System Card: An Omnimodal Model with Native Full Duplexity

arXiv: https://arxiv.org/abs/2506.01934 · HTML: https://mlsanity.com/paper/2506.01934/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 41 references that are in the map.
- First posted on arXiv 2 Jun 2025.

## Builds on (most cited first, 30 of 32)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context](https://mlsanity.com/paper/2403.05530/) (2024)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Are We on the Right Way for Evaluating Large Vision-Language Models?](https://mlsanity.com/paper/2403.20330/) (2024)
- [Cambrian-1: A Fully Open, Vision-Centric Exploration of Multimodal LLMs](https://mlsanity.com/paper/2406.16860/) (2024)
- [Qwen2.5-Omni Technical Report](https://mlsanity.com/paper/2503.20215/) (2025)
- [AudioLM: a Language Modeling Approach to Audio Generation](https://mlsanity.com/paper/2209.03143/) (2022)
- [Qwen-Audio: Advancing Universal Audio Understanding via Unified Large-Scale Audio-Language Models](https://mlsanity.com/paper/2311.07919/) (2023)
- [Moshi: a speech-text foundation model for real-time dialogue](https://mlsanity.com/paper/2410.00037/) (2024)
- [FLEURS: Few-shot Learning Evaluation of Universal Representations of Speech](https://mlsanity.com/paper/2205.12446/) (2022)
- [Seed-TTS: A Family of High-Quality Versatile Speech Generation Models](https://mlsanity.com/paper/2406.02430/) (2024)
- [Mini-Omni: Language Models Can Hear, Talk While Thinking in Streaming](https://mlsanity.com/paper/2408.16725/) (2024)
- [WenetSpeech: A 10000+ Hours Multi-domain Mandarin Corpus for Speech Recognition](https://mlsanity.com/paper/2110.03370/) (2021)
- [Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI](https://mlsanity.com/paper/2407.06886/) (2024)
- [OCRBench v2: An Improved Benchmark for Evaluating Large Multimodal Models on Visual Text Localization and Reasoning](https://mlsanity.com/paper/2501.00321/) (2024)
- [Spoken Question Answering and Speech Continuation Using Spectrogram-Powered LLM](https://mlsanity.com/paper/2305.15255/) (2023)
- [MinMo: A Multimodal Large Language Model for Seamless Voice Interaction](https://mlsanity.com/paper/2501.06282/) (2025)
- [OmniFlatten: An End-to-end GPT Model for Seamless Voice Conversation](https://mlsanity.com/paper/2410.17799/) (2024)
- [Scaling Speech-Text Pre-training with Synthetic Interleaved Data](https://mlsanity.com/paper/2411.17607/) (2024)
- [A Full-duplex Speech Dialogue Scheme Based On Large Language Models](https://mlsanity.com/paper/2405.19487/) (2024)
- [How Far Are We From AGI: Are LLMs All We Need?](https://mlsanity.com/paper/2405.10313/) (2024)

## Built on by (most cited first, 5 of 5)

- [Do Audio-Visual Large Language Models Really See and Hear?](https://mlsanity.com/paper/2604.02605/) (2026)
- [EgoMem: Lifelong Memory Agent for Full-duplex Omnimodal Models](https://mlsanity.com/paper/2509.11914/) (2025)
- [End-to-end Listen, Look, Speak and Act](https://mlsanity.com/paper/2510.16756/) (2025)
- [TurnGuide: Enhancing Meaningful Full Duplex Spoken Interactions via Dynamic Turn-Level Text-Speech Interleaving](https://mlsanity.com/paper/2508.07375/) (2025)
- [MultiTalk: Scaling Full-Duplex Speech Models to Long, Multi-Party, Bilingual Conversation](https://mlsanity.com/paper/2609.36903/) (2026)

## Abstract (arXiv)

Humans naturally process real-world multimodal information in a full-duplex manner. In artificial intelligence, replicating this capability is essential for advancing model development and deployment, particularly in embodied contexts. The development of multimodal models faces two primary challenges: (1) effectively handling more than three modalities-such as vision, audio, and text; and (2) delivering full-duplex responses to rapidly evolving human instructions. To facilitate research on models that support both omnimodal processing and full duplexity, we present RoboEgo (alias: FLM-Ego), a unified model system designed to address both challenges. RoboEgo incorporates a backbone architecture and algorithms that natively support full duplexity, achieving a theoretical duplex latency of 80 ms. In streaming visually grounded conversations under real-world conditions, RoboEgo exhibits superior responsiveness and speech naturalness, while maintaining comparable content qualities to state-of-the-art semi-duplex omnimodal models-a feat previously considered unattainable by native full-duplex systems.