MIMo v2模拟婴儿从出生到24个月的身心发育，支持身体增长与感官运动能力动态变化。
MIMo grows! Simulating body and sensory development in a multimodal infant model
- 构建可随年龄增长的仿真婴儿，包含逐步增强的肌肉力与视觉聚焦机制
- 模拟视敏度发展与神经信号传输延迟，真实反映婴儿运动反应滞后
- 适用于研究婴幼儿认知发展、机器人仿生系统或具身智能的研究者
婴儿期以身体快速生长和感官运动能力的爆发式变化为特征。然而，现有发展类机器人和仿真平台通常基于特定年龄设计，难以捕捉发育过程中能力与限制的动态变化。为此，我们提出 MIMo v2，一个全新的多模态婴儿模型版本。该模型包含覆盖出生至24个月的可生长身体，其执行器强度随年龄递增；具备随发育变化的中央凹视觉（foveated vision）与视敏度；并引入神经信号传输延迟，模拟婴儿大脑与身体间有限的信号传递速度。此外，MIMo v2 还新增逆运动学模块、随机环境生成器，并兼容第三方仿真与学习库。整体上，该版本显著提升了对感知运动发育多方面建模的保真度。代码已公开于官方仓库（https://github.com/trieschlab/MIMo）。
原文摘要 · Abstract (English)
Infancy is characterized by rapid body growth and an explosive change of sensory and motor abilities. However, developmental robots and simulation platforms are typically designed in the image of a specific age, which limits their ability to capture the changing abilities and constraints of developing infants. To address this issue, we present MIMo v2, a new version of the multimodal infant model. It includes a growing body with increasing actuation strength covering the age range from birth to 24 months. It also features foveated vision with developing visual acuity as well as sensorimotor delays modeling finite signal transmission speeds to and from an infant's brain. Further enhancements of this MIMo version include an inverse kinematics module, a random environment generator and updated compatiblity with third-party simulation and learning libraries. Overall, this new MIMo version permits increased realism when modeling various aspects of sensorimotor development. The code is available on the official repository (https://github.com/trieschlab/MIMo).
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