Xiaomi-Robotics-U0: Unified Embodied Synthesis with World Foundation Model
Authors: name: Xinghang Li, name: Jun Guo, name: Qiwei Li, name: Long Qian, name: Hang Lai, name: Yueze Wang, name: Hongyu Yan, name: Jiahang Cao, name: Xi Chen, name: Jingen Qu, name: Jiaxi Song, name: Nan Sun, name: Hanye Zhao, name: Futeng Liu, name: Wanli Peng, name: Heyun Wang, name: Yunhong Wang, name: Caoyu Xia, name: Jack Zhao, name: Diyun Xiang, name: Hangjun Ye, name: Heng Qu, name: Huaping Liu, name: Jason Li
Organization: Xiaomi Robotics

Recent foundation image and video generation models offer strong generalization and controllability, but their direct application to embodied scenarios is limited by requirements for multi-view consistency, geometric coherence, and robot embodiment constraints. Existing methods typically adapt foundation models with limited robot data, often sacrificing visual knowledge acquired during large-scale pre-training. We present Xiaomi-Robotics-U0, a 38-billion-parameter multimodal autoregressive model for unified embodied synthesis. It treats embodied generation as an extension of foundation image and video generation and jointly optimizes text-to-image generation, image editing, embodied scene generation, embodied transfer, and embodied video generation. This unified framework preserves the generalization of the pre-trained world foundation model while adapting it to embodied settings. Xiaomi-Robotics-U0 is the first model to support high-quality multi-view scene generation across multiple robot embodiments and to introduce structured, controllable embodied transfer for fine-grained editing while preserving multi-view consistency and interaction dynamics. It achieves state-of-the-art results on single-step and sequential generation tasks, outperforming GPT-Image-2.0 in human evaluations of embodied scene generation and transfer, ranking first on World Arena for embodied video generation, and improving the out-of-distribution success rate of pi_0.5 from 36.9% to 63.2% on challenging real-world manipulation tasks. These results show that foundation world models can serve both as embodied world models and scalable data engines for embodied intelligence. Code and checkpoints are available at https://robotics.xiaomi.com/xiaomi-robotics-u0.html.