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版本更新 · v3arXiv:2611.08577

美团机器人-0:面向桌面操作视觉-语言-动作基础模型

Meituan-Robotics-0: A Vision-Language-Action Foundation Model for Desktop Manipulation

Meituan Robotics Team, Caicheng Wang, Chen Zhao, Chengpeng Jin, Duo Xu, Fengjiao Chen, Guanglu Wan, Heqing Yang 等 38 位作者

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MR0 是一个面向固定底座桌面操作的视觉-语言-动作基础模型与具身智能体系统,通过三阶段训练和 Rollback 数据机制实现跨本体控制与任务恢复。

cs.RO · cs.CV

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We present Meituan-Robotics-0 (MR0), a vision-language-action foundation model and embodied-agent system for stationary-base desktop manipulation. MR0 combines 147 million vision-language samples with 15,060 hours of curated robot trajectories spanning 12 embodiments. A three-stage training recipe aligns multimodal representations with robot behavior through discrete action-token pre-training, transfers these priors to continuous cross-embodiment control through flow-matching mid-training, and adapts the policy through real-world post-training. We introduce Rollback, which pairs replaced policy segments with human corrections to provide positive and negative supervision for CFG-DAgger without value learning or advantage labeling. A unified end-effector interface supports heterogeneous embodiments, while asynchronous action-chunk merging maintains smooth execution under variable inference latency. An event-driven agent maintains persistent task events and reassesses plans when progress or feasibility changes, enabling cross-task retrieval and conditional task resumption. MR0 achieves 93.6% success on RoboTwin 2.0 and ranks fifth in the RoboDojo VLA track. Under matched HG-DAgger post-training, MR0 achieves higher average success rate and progress score than $π_{0.5}$ across three real-robot tasks. On Ethernet insertion, CFG-DAgger trained with Rollback data reaches 70% success and a progress score of 0.90. Qualitative agent deployments demonstrate cross-task event retrieval and recovery from temporarily unsatisfied task conditions.