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OmniBrain-0: A Unified Agentic Model for Embodied Intelligence

Xiaomi Embodied Intelligence Team, Yuechen Luo, Chong He, Fang Li, Shaoqing Xu, Jingkai Wang, Menglun Su, Jiaxin Liu 等 32 位作者

General-purpose embodied intelligence requires robots to coordinate diverse skills over long horizons, track task progress, and recover from failures. Specialist policies alone do not ensure task-level reliability, while powerful multimodal agents rely on costly reasoning and external experience that compact models struggle to reproduce. We introduce OmniBrain-0, a lightweight unified embodied agent that coordinates manipulation and navigation through a shared high-level decision model, integrating task understanding, planning, progress tracking, and feedback-driven recovery. Our progressive training framework combines embodied pretraining, domain-specialized agent distillation, and multi-teacher on-policy distillation (MOPD). It distills powerful teachers' interaction experience into manipulation and navigation experts, then consolidates their decision capabilities into OmniBrain-0. Unification therefore occurs within the learned decision model rather than only at the tool interface. We further introduce Rubric-Guided Recursive Self-Improvement (RSI), a data flywheel in which a Meta-Agent turns execution evidence into refined rubrics, step-level reminders, and verified trajectories for domain-expert updates before their reconsolidation into OmniBrain-0 through MOPD. We evaluate OmniBrain-0 on LIBERO-Pro, LIBERO-Plus, RoboCasa365, RoboTwin 2.0, and R2R-CE Val-Unseen, as well as multiple real-world manipulation tasks. OmniBrain-0 combines strong cross-domain task performance with substantially lower inference and execution overhead than its closed-source teacher, demonstrating efficient transfer and consolidation of embodied capabilities into a compact unified agent.

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League of LLMs: A Benchmark-Free Paradigm for Mutual Evaluation of Large Language Models

Qianhong Guo, Wei Xie, Xiaofang Cai, Enze Wang, Shuoyoucheng Ma, Xiaobing Sun A*STAR, Tian Xia, Kai Chen 等 10 位作者

Although large language models (LLMs) have shown exceptional capabilities across a wide range of tasks, reliable evaluation remains a critical challenge due to data contamination, opaque operation, and subjective preferences. To address these issues, we propose League of LLMs (LOL), a novel benchmark-free evaluation paradigm that organizes multiple LLMs into a self-governed league for multi-round mutual evaluation. LOL integrates four core criteria (dynamic, transparent, objective, and professional) to mitigate key limitations of existing paradigms. Experiments on eight mainstream LLMs in mathematics and programming demonstrate that LOL can effectively distinguish LLM capabilities while maintaining high internal ranking stability (Top-k consistency = 70.7\%). Beyond ranking, LOL reveals empirical findings that are difficult for traditional paradigms to capture. For instance, “memorization-based answering” behaviors are observed in some models, and higher in-family scores are found in the OpenAI model family (\Delta = 9, p < 0.05). Finally, we make our framework and code publicly available as a valuable complement to the current LLM evaluation ecosystem.

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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表