# MiMo-Embodied: X-Embodied Foundation Model Technical Report

arXiv: https://arxiv.org/abs/2511.16518 · HTML: https://mlsanity.com/paper/2511.16518/

## Key facts

- Cited by 38 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Nov 2025.

## Built on by (most cited first, 30 of 38)

- [DriveWorld-VLA: Unified Latent-Space World Modeling with Vision-Language-Action for Autonomous Driving](https://mlsanity.com/paper/2602.06521/) (2026)
- [PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation](https://mlsanity.com/paper/2601.07060/) (2026)
- [FASTER: Rethinking Real-Time Flow VLAs](https://mlsanity.com/paper/2603.19199/) (2026)
- [Thinking in 360deg: Humanoid Visual Search in the Wild](https://mlsanity.com/paper/2511.20351/) (2025)
- [Xiaomi OneVL: One-Step Latent Reasoning and Planning with Vision-Language Explanation](https://mlsanity.com/paper/2604.18486/) (2026)
- [Qwen-Drive-1.0: An Initial Step towards a Vision-Language Foundation Model for Autonomous Driving](https://mlsanity.com/paper/2609.00111/) (2026)
- [Done, But Not Sure: Disentangling World Completion from Self-Termination in Embodied Agents](https://mlsanity.com/paper/2605.08747/) (2026)
- [FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation](https://mlsanity.com/paper/2606.30367/) (2026)
- [GEM: Generative Supervision Helps Embodied Intelligence](https://mlsanity.com/paper/2605.28548/) (2026)
- [Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Models](https://mlsanity.com/paper/2606.11324/) (2026)
- [Large Vision-Language Models Get Lost in Attention](https://mlsanity.com/paper/2605.05668/) (2026)
- [Vesta: A Generalist Embodied Reasoning Model](https://mlsanity.com/paper/2606.20905/) (2026)
- [ACE-Brain-0.5: A Unified Embodied Foundational Model for Physical Agentic AI](https://mlsanity.com/paper/2607.04426/) (2026)
- [Planning Takes More Than Token Prediction: Causal Plan for Benchmarking and Building Physically Grounded Embodied Reasoners](https://mlsanity.com/paper/2606.01810/) (2026)
- [SEF-MAP: Subspace-Decomposed Expert Fusion for Robust Multimodal HD Map Prediction](https://mlsanity.com/paper/2602.21589/) (2026)
- [Unmasking the Illusion of Embodied Reasoning in Vision-Language-Action Models](https://mlsanity.com/paper/2604.18000/) (2026)
- [XEmbodied: A Foundation Model with Enhanced Geometric and Physical Cues for Large-Scale Embodied Environments](https://mlsanity.com/paper/2604.18484/) (2026)
- [LayerRoute: Action-Conditioned Mixture-of-Layers Routing for Vision-Language-Action Policies](https://mlsanity.com/paper/2609.06079/) (2026)
- [Weather-Conditioned Branch Routing for Robust LiDAR-Radar 3D Object Detection](https://mlsanity.com/paper/2604.05405/) (2026)
- [RAG-KT: Cross-platform Explainable Knowledge Tracing with Multi-view Fusion Retrieval Generation](https://mlsanity.com/paper/2604.10960/) (2026)
- [RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data](https://mlsanity.com/paper/2605.13775/) (2026)
- [EPIC-Bench: A Perception-Centric Benchmark for Fine-Grained Embodied Visual Grounding in Vision-Language Models](https://mlsanity.com/paper/2605.17070/) (2026)
- [SpatioLM: Towards General Physical Spatial Intelligence in Vision-Language Models](https://mlsanity.com/paper/2608.01899/) (2026)
- [ME-VLM: A Unified VLM for Embodied Cognition and Agent Coordination](https://mlsanity.com/paper/2609.24526/) (2026)
- [Transforming Monolithic Foundation Models into Embodied Multi-Agent Architectures for Human-Robot Collaboration](https://mlsanity.com/paper/2512.00797/) (2025)
- [RoboPIN: Grounded Embodied Reasoning via Pinned Chain-of-Thought](https://mlsanity.com/paper/2606.15753/) (2026)
- [Robust 3D Alignment of Generative Reconstructions via Partial Monocular Observations](https://mlsanity.com/paper/2607.00498/) (2026)
- [Text-Driven 3D Indoor Scene Synthesis in Non-Manhattan Environments](https://mlsanity.com/paper/2607.02407/) (2026)
- [UniETP: Unifying Environments for Generalizable Embodied Task Planning](https://mlsanity.com/paper/2607.18062/) (2026)
- [Capek 0.5: An Execution-Centric Vision-Language Model for Embodied Intelligence](https://mlsanity.com/paper/2608.06756/) (2026)

## Abstract (arXiv)

We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied AI. MiMo-Embodied sets new records across 17 embodied AI benchmarks in Task Planning, Affordance Prediction and Spatial Understanding, while also excelling in 12 autonomous driving benchmarks across Environmental Perception, Status Prediction, and Driving Planning. Across these tasks, MiMo-Embodied significantly outperforms existing open-source, closed-source, and specialized baselines. Our results indicate that through multi-stage learning, curated data construction, and CoT/RL fine-tuning, these two domains exhibit strong positive transfer and mutually reinforce one another. We provide a detailed analysis of our model design and training methodologies to facilitate further research. Code and models are available at https://github.com/XiaomiMiMo/MiMo-Embodied.