---
license: apache-2.0
library_name: transformers
pipeline_tag: robotics
tags:
- vision-language-action
- vla
- robotics
---

# Xiaomi-Robotics-0

Xiaomi-Robotics-0 is an advanced vision-language-action (VLA) model with 4.7B parameters, specifically engineered for high-performance robotic reasoning and seamless real-time execution. It is pre-trained on large-scale cross-embodiment robot trajectories and vision-language data, enabling generalizable action generation across complex robotic tasks.

- **Paper:** [Xiaomi-Robotics-0: An Open-Sourced Vision-Language-Action Model with Real-Time Execution](https://huggingface.co/papers/2602.12684)
- **Project Page:** [https://xiaomi-robotics-0.github.io/](https://xiaomi-robotics-0.github.io/)
- **Repository:** [https://github.com/XiaomiRobotics/Xiaomi-Robotics-0](https://github.com/XiaomiRobotics/Xiaomi-Robotics-0)

## Key Features

* **Strong Generalization**: Pre-trained on diverse cross-embodiment trajectories to handle complex, unseen tasks.
* **Real-Time Ready**: Optimized with asynchronous execution to minimize inference latency during real-robot rollouts.
* **Flexible Deployment**: Fully compatible with the Hugging Face `transformers` ecosystem and optimized for consumer-grade GPUs.

## Sample Usage

The model can be loaded and run using the `transformers` library. As the model uses custom code, `trust_remote_code=True` is required.

```python
import torch
from transformers import AutoModel, AutoProcessor

# 1. Load model and processor 
model_path = "XiaomiRobotics/Xiaomi-Robotics-0"
model = AutoModel.from_pretrained(
    model_path, 
    trust_remote_code=True, 
    attn_implementation="flash_attention_2", 
    dtype=torch.bfloat16
).cuda().eval()
processor = AutoProcessor.from_pretrained(model_path, trust_remote_code=True, use_fast=False)


# 2. Construct the prompt with multi-view inputs
language_instruction = "Pick up the red block."
instruction = (
    f"<|im_start|>user
The following observations are captured from multiple views.
"
    f"# Base View
<|vision_start|><|image_pad|><|vision_end|>
"
    f"# Left-Wrist View
<|vision_start|><|image_pad|><|vision_end|>
"
    f"Generate robot actions for the task:
{language_instruction} /no_cot<|im_end|>
"
    f"<|im_start|>assistant
<cot></cot><|im_end|>
"
)

# 3. Prepare inputs
# Assuming `image_base`, `image_wrist` (PIL images), and `proprio_state` (numpy array) are already loaded
inputs = processor(
    text=[instruction],
    images=[image_base, image_wrist], # [PIL.Image, PIL.Image]
    videos=None,
    padding=True,
    return_tensors="pt",
).to(model.device)

# Add proprioceptive state and action mask
robot_type = "libero" # Choose based on dataset/robot type
inputs["state"] = torch.from_numpy(proprio_state).to(model.device, model.dtype).view(1, 1, -1)
inputs["action_mask"] = processor.get_action_mask(robot_type).to(model.device, model.dtype)

# 4. Generate action 
with torch.no_grad():
    outputs = model(**inputs)
    
# Decode raw outputs into actionable control commands
action_chunk = processor.decode_action(outputs.actions, robot_type=robot_type)
print(f"Generated Action Chunk Shape: {action_chunk.shape}")
```

## Citation

If you find this project useful, please consider citing:

```bibtex
@misc{robotics2026xiaomi,
  title        = {Xiaomi-Robotics-0: An Open-Sourced Vision-Language-Action Model with Real-Time Execution},
  author       = {Xiaomi Robotics},
  howpublished={\url{https://xiaomi-robotics-0.github.io}},
  year         = {2026},
  note={Project Website}
}
```