# Xiaomi MiMo-VL-Miloco Technical Report

arXiv: https://arxiv.org/abs/2512.17436 · HTML: https://mlsanity.com/paper/2512.17436/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 42 of its 47 references that are in the map.
- First posted on arXiv 19 Dec 2025.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)
- Multimodal LLMs / vision-language models / [MLLM training and visual instruction tuning](https://mlsanity.com/mllm/mllm-training-and-visual-instruction-tuning/)

## Builds on (most cited first, 30 of 42)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Measuring Mathematical Problem Solving With the MATH Dataset](https://mlsanity.com/paper/2103.03874/) (2021)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [GPQA: A Graduate-Level Google-Proof Q&A Benchmark](https://mlsanity.com/paper/2311.12022/) (2023)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)
- [MMMU: A Massive Multi-discipline Multimodal Understanding and Reasoning Benchmark for Expert AGI](https://mlsanity.com/paper/2311.16502/) (2023)
- [MMLU-Pro: A More Robust and Challenging Multi-Task Language Understanding Benchmark](https://mlsanity.com/paper/2406.01574/) (2024)
- [InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models](https://mlsanity.com/paper/2504.10479/) (2025)
- [Gemma 3 Technical Report](https://mlsanity.com/paper/2503.19786/) (2025)
- [ChartQA: A Benchmark for Question Answering about Charts with Visual and Logical Reasoning](https://mlsanity.com/paper/2203.10244/) (2022)
- [Video-MME: The First-Ever Comprehensive Evaluation Benchmark of Multi-modal LLMs in Video Analysis](https://mlsanity.com/paper/2405.21075/) (2024)
- [DocVQA: A Dataset for VQA on Document Images](https://mlsanity.com/paper/2007.00398/) (2020)
- [A Survey on Multimodal Large Language Models](https://mlsanity.com/paper/2306.13549/) (2023)
- [TALL: Temporal Activity Localization via Language Query](https://mlsanity.com/paper/1705.02101/) (2017)
- [SeeClick: Harnessing GUI Grounding for Advanced Visual GUI Agents](https://mlsanity.com/paper/2401.10935/) (2024)
- [MMMU-Pro: A More Robust Multi-discipline Multimodal Understanding Benchmark](https://mlsanity.com/paper/2409.02813/) (2024)
- [TimeChat: A Time-sensitive Multimodal Large Language Model for Long Video Understanding](https://mlsanity.com/paper/2312.02051/) (2023)
- [LMMs-Eval: Reality Check on the Evaluation of Large Multimodal Models](https://mlsanity.com/paper/2407.12772/) (2024)
- [MME-RealWorld: Could Your Multimodal LLM Challenge High-Resolution Real-World Scenarios that are Difficult for Humans?](https://mlsanity.com/paper/2408.13257/) (2024)
- [Video-MMMU: Evaluating Knowledge Acquisition from Multi-Discipline Professional Videos](https://mlsanity.com/paper/2501.13826/) (2025)
- [VideoChat-Flash: Hierarchical Compression for Long-Context Video Modeling](https://mlsanity.com/paper/2501.00574/) (2024)
- [MMBench-Video: A Long-Form Multi-Shot Benchmark for Holistic Video Understanding](https://mlsanity.com/paper/2406.14515/) (2024)

## Built on by (most cited first, 15 of 15)

- [Zooming without Zooming: Region-to-Image Distillation for Fine-Grained Multimodal Perception](https://mlsanity.com/paper/2602.11858/) (2026)
- [Advancing General-Purpose Reasoning Models with Modular Gradient Surgery](https://mlsanity.com/paper/2602.02301/) (2026)
- [OpenSpatial: A Principled Data Engine for Empowering Spatial Intelligence](https://mlsanity.com/paper/2604.07296/) (2026)
- [Proteo-R1: Reasoning Foundation Models for De Novo Protein Design](https://mlsanity.com/paper/2605.02937/) (2026)
- [Unified Multimodal Autoregressive Modeling with Shared Context-Visual Tokenizer is Key to Unification](https://mlsanity.com/paper/2606.18249/) (2026)
- [Intend, Reflect, Refine: An Adaptive Multimodal Reflection Framework for Autonomous Driving](https://mlsanity.com/paper/2606.22913/) (2026)
- [DataComp-VLM: Improved Open Datasets for Vision-Language Models](https://mlsanity.com/paper/2606.28551/) (2026)
- [Perception or Prejudice: Can MLLMs Go Beyond First Impressions of Personality?](https://mlsanity.com/paper/2605.22109/) (2026)
- [AnE: Pushing the Reasoning Frontier of Multimodal LLMs via Anchor Evolution](https://mlsanity.com/paper/2605.25571/) (2026)
- [VideoVIBE: A Video-Grounded Diagnostic Benchmark for One-Shot Interactive Website Generation](https://mlsanity.com/paper/2608.09573/) (2026)
- [Thinking with Drafting: Optical Decompression via Logical Reconstruction](https://mlsanity.com/paper/2602.11731/) (2026)
- [Reinforcing 3D Understanding in Point-VLMs via Geometric Reward Credit Assignment](https://mlsanity.com/paper/2604.21160/) (2026)
- [Advantage-Guided Gate: Reshaping Open-Ended Reasoning for Vision-Based Spatial Intelligence](https://mlsanity.com/paper/2608.07987/) (2026)
- [SciGen-Verifier: A Multimodal Reasoner for Explainable Verification in Scientific Image Generation](https://mlsanity.com/paper/2609.33399/) (2026)
- [Token-Disentangled Latent Test-Time Scaling for Vision-Language Reasoning](https://mlsanity.com/paper/2609.35228/) (2026)

## Abstract (arXiv)

We open-source MiMo-VL-Miloco-7B and its quantized variant MiMo-VL-Miloco-7B-GGUF, a pair of home-centric vision-language models that achieve strong performance on both home-scenario understanding and general multimodal reasoning. Built on the MiMo-VL-7B backbone, MiMo-VL-Miloco-7B is specialized for smart-home environments, attaining leading F1 scores on gesture recognition and common home-scenario understanding, while also delivering consistent gains across video benchmarks such as Video-MME, Video-MMMU, and Charades-STA, as well as language understanding benchmarks including MMMU-Pro and MMLU-Pro. In our experiments, MiMo-VL-Miloco-7B outperforms strong closed-source and open-source baselines on home-scenario understanding and several multimodal reasoning benchmarks. To balance specialization and generality, we design a two-stage training pipeline that combines supervised fine-tuning with reinforcement learning based on Group Relative Policy Optimization, leveraging efficient multi-domain data. We further incorporate chain-of-thought supervision and token-budget-aware reasoning, enabling the model to learn knowledge in a data-efficient manner while also performing reasoning efficiently. Our analysis shows that targeted home-scenario training not only enhances activity and gesture understanding, but also improves text-only reasoning with only modest trade-offs on document-centric tasks. Model checkpoints, quantized GGUF weights, and our home-scenario evaluation toolkit are publicly available at https://github.com/XiaoMi/xiaomi-mimo-vl-miloco to support research and deployment in real-world smart-home applications.